[Etherlab-users] IL EC BK ethercat modules configuration seems to prevent going to SAFEOP

[Jonas Vantilt]

Dear etherlab users,

I am working with an ethercat bus coupler of Phoenix Contact: IL EC BK. This works differently from Beckhoff ethercat bus couplers (EK1100), which I have been using in the past. Phoenix Contact works with Ethercat modules which are added to the bus coupler. Hence, there is only 1 Slave with multiple modules depending on what you add to the coupler.

I cannot get the IL EC BK to SafeOp or Op from PreOP: it keeps getting a timeout when going from PreOp to SafeOp. I don't have any experience with Ethercat modules and I suspect the modules might be the issue. The IL EC BK automatically detects the correct module (tested with IB IL 24/230 DOR4/W-PAC, which is a relais module with 4 outputs). To be more precise, the coupler detects the generic 4DO module automatically => also in 0xf050, "Detected Module Ident List", entry 0x01. The mapping to the PDO's also seems correct: you can view the module1 (generic 4DO) outputs mapped on 0x1600:

SDO 0x1600, "Module 01 RxPDO-Mapping"
  0x1600:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
  0x1600:01, r-r-r-, uint32, 32 bit, "SubIndex 001"

and the value written on 0x1600:01 (ethercat upload 0x1600 0x01) is 0x70000104. However the PDOs dont seem to be set,
ethercat cstruct:
/* Master 0, Slave 0, "IL EC BK"
 * Vendor ID:       0x00000084
 * Product code:    0x00293cab
 * Revision number: 0x00000001
 */

ec_sync_info_t slave_0_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 pdos:
SM0: PhysAddr 0x1000, DefaultSize  512, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1200, DefaultSize  512, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1400, DefaultSize    0, ControlRegister 0x44, Enable 1
SM3: PhysAddr 0x2000, DefaultSize    0, ControlRegister 0x00, Enable 1

The module is not in the configured module list: 0xf030, "Configured Module Ident List". Also adding the module manually to this configured list does not change anything to the PDOs or cstruct.
 
Here is the output of syslog when trying to go to SafeOp:
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.167479] EtherCAT: 1 master waiting for devices.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.173760] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 1.5.2-287-gc022ddb
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.173768] EtherCAT: Accepting 10:65:30:5D:9A:60 as main device for master 0.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.173776] ec_generic: Binding socket to interface 2 (enp0s31f6).
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.196955] EtherCAT 0: Starting EtherCAT-IDLE thread.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.197068] EtherCAT 0: Link state of ecm0 changed to UP.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.204739] EtherCAT 0: 1 slave(s) responding on main device.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.204741] EtherCAT 0: Slave states on main device: INIT.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.205304] EtherCAT 0: Scanning bus.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.617592] EtherCAT 0: Bus scanning completed in 412 ms.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.617593] EtherCAT 0: No DC reference clock found.
Mar 20 14:14:23 jonas-Latitude-5580 kernel: [ 2446.624880] EtherCAT 0: Slave states on main device: PREOP.
Mar 20 14:15:22 jonas-Latitude-5580 kernel: [ 2505.093969] EtherCAT ERROR 0-0: Timeout while setting state SAFEOP.
Mar 20 14:16:17 jonas-Latitude-5580 kernel: [ 2560.107046] EtherCAT 0: Slave states on main device: PREOP + ERROR.
Mar 20 14:17:01 jonas-Latitude-5580 CRON[6321]: (root) CMD (   cd / && run-parts --report /etc/cron.hourly)
Mar 20 14:30:22 jonas-Latitude-5580 kernel: [ 3405.294456] EtherCAT ERROR 0-0: AL status message 0x0001: "Unspecified error".

I also tried with Twincat 3 and there the slave works correctly after loading the ESI file and selecting the correct module from the list of modules. So the hardware itself works. I have found out that Twincat does 3 Startup steps between PreOp and SafeOp:
1) CoE download pdo 0x1c12     0x1c12 C 0
2) CoE download pdo 0x1c13     0x1c13 C 0
3) CoE download slot cfg            0xF030 C 0
However i cannot write with SDO download to these 0x1c12 and 0x1c13, writing to 0xF030 works, but does not seem to have any effect. So, I believe some additional steps are done in Twincat, which are not done automatically in etherlab.

I don't know which steps are missing to correctly configure/set the EtherCat modules and thus the corresponding PDOs of the slave with Etherlab on ubuntu. Has anyone experience with EtherCat modules?


Thank you and with kind regards,

Jonas