[Etherlab-users] Failing to configure PDOs of a MTS Temposonics V slave

[Joachim Sällvin]

Hi all,

Any ideas on how to configure the pdos of a MTS Temposonics slave? A brand new linear position sensor that doesn't seem to have any default configuration. Shouldn't it be possible to configure it from the command line?
When I try I get:

SDO transfer aborted with code 0x08000000: General error (see details below), why?


Some information about the system
ethercat slaves
Master0
  0  1402:0  PREOP  +  ifm IO-Link Master AL1332
  1  1401:0  PREOP  +  S300/S400/S600/S700 EtherCAT Drive (CoE)
  2  1403:0  PREOP  +  MTS Device V
  3  1444:0  PREOP  +  ifm IO-Link Master AL1332

ethercat -m0 -p2 cstruct
/* Master 0, Slave 2, "MTS Temposonics V"
 * Vendor ID:       0x00000040
 * Product code:    0x0000000f
 * Revision number: 0x00000029
 */

ec_sync_info_t slave_2_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {0xff}
};


ethercat -m0 -p2 pdos
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x74, Enable 1
SM3: PhysAddr 0x1400, DefaultSize  448, ControlRegister 0x30, Enable 1

ethercat -m0 -p2 sdos
.....
SDO 0x1a00, "Magnet 1"
  0x1a00:00, r-r-r-, uint8, 8 bit, "Number of elements"
  0x1a00:01, rwrwrw, uint16, 16 bit, "Status"
  0x1a00:02, rwrwrw, uint32, 32 bit, "Position"
  0x1a00:03, rwrwrw, uint32, 32 bit, "Velocity"
  0x1a00:04, rwrwrw, uint32, 32 bit, "Acceleration"
......
SDO 0x1c13, "Sync Manager TxPDO Assign"
  0x1c13:00, rwrwrw, uint8, 8 bit, "Number of elements"
  0x1c13:01, rwrwrw, uint16, 16 bit, ""
  0x1c13:02, rwrwrw, uint16, 16 bit, ""
  0x1c13:03, rwrwrw, uint16, 16 bit, ""


I thought I could do like this
sudo ethercat -m0 -p2 download 0x1C13 0 -tuint8 0        # Clear SM PDO 0x1c13
sudo ethercat -m0 -p2 download 0x1A00 0 -tuint8 0               # Clear TxPDO 0x1A00
ethercat -m0 -p2 download 0x1A00 2 -tuint32 0x31010020
SDO transfer aborted with code 0x08000000: General error

dmesg
 Failed to process SDO request.
 EtherCAT ERROR 0-2: SDO download 0x1A00:02 (4 bytes) aborted.
 EtherCAT ERROR 0-2: SDO abort message 0x08000000: "General error".
 EtherCAT ERROR 0-2: Failed to process SDO request.


Thanks,

Joachim Sällvin

Joachim Sällvin


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