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

[Andreas Stewering-Bone]

Dear Joachim,

No, that is not what I meant.

Take a simple Beckhoff terminal like EL1004
Do a 
ethercat -m0 -p2 cstruct
 
on it.
You will see some PDos and PDo-Entries.

The cstruct output of the MTS sensor is empty. 
You will have to fill it with PDos and PDo-Entries in your C++
application.
After this the master can configure the PDos on the slave
automatically.
So no need to configure it via sdo call.

Best regards

Andreas

Am Montag, dem 26.09.2022 um 08:35 +0000 schrieb Joachim Sällvin:
> Hi Andreas,
> 
> Thank you for your reply.
> 
> I've tried to configure from the c++ application (is this what you
> meant?) using:
> 
>           ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 0 ); //
> clear sm pdo 0x1c13
>           ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 0 ); //
> clear TxPdo 0x1A00
>           // Define TxPdo 
>           ecrt_slave_config_sdo32( slave_config, 0x1A00, 1,
> 0x31010010 );  // Status
>           ecrt_slave_config_sdo32( slave_config, 0x1A00, 2,
> 0x31010020 );  // Pos
>           ecrt_slave_config_sdo32( slave_config, 0x1A00, 3,
> 0x31010020 );  // Velocity
>           ecrt_slave_config_sdo8( slave_config, 0x1A00, 0, 3 );      
>      // Number of PDO entries for 0x1A00
>           ecrt_slave_config_sdo16( slave_config, 0x1C13, 1, 0x1A00 );
>      // TxPdo in 0x1C13:1
>           ecrt_slave_config_sdo8( slave_config, 0x1C13, 0, 1 );      
>      // Number of TxPDO
> 
> But I get this in the log:
> 
> Sep 26 10:10:06 ctrlPC5 kernel: [253808.144369] EtherCAT ERROR 0-2:
> SDO download 0x1A00:00 (1 bytes) aborted.
> Sep 26 10:10:06 ctrlPC5 kernel: [253808.144372] EtherCAT ERROR 0-2:
> SDO abort message 0x06010002: "Attempt to write a read-only object".
> Sep 26 10:10:06 ctrlPC5 kernel: [253808.144373] EtherCAT ERROR 0-2:
> SDO configuration failed.
> 
> 
> Is there something that needs to be enabled in order to configure?
> 
> The device seems to be configured for one magnet:
> ethercat -m0 -p2 upload 0x2000 0x0b  replies with 0x01 1
> 
> 
> Best regards,
> 
> Joachim
> 
> 
> 
> 
> 
> 
> Från: Andreas Stewering-Bone
> Skickat: Måndag, 26 september 2022 08:30
> Till: Joachim Sällvin; etherlab-users at etherlab.org
> Ämne: Re: [Etherlab-users] Failing to configure PDOs of a MTS
> Temposonics V slave
> 
> Dear Joachim,
> 
> The master configures the specific  slaves during application
> startup. 
> So no need to do it manually.
> 
> The PDO mapping for this slave is dynamically, 
> because you can configure the number of measurment magnets.
> Please read the sensor EtherCAT documentation and the XML slave
> description.
> With this information you can extend the cstruct to configure the
> specific PDO mapping.
> Please see the user space example in the master git repo.
> 
> Best regards
> 
> Andreas
> 
> Am Sonntag, dem 25.09.2022 um 17:08 +0000 schrieb 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 pdosSM0: 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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