[Etherlab-users] Slave shows INVALID PDO MAPPING even after giving PDO mapping

[Gavin Lambert]

Is your colleague using exactly the same device as you are (i.e. you are moving your device to their desk) or are they using a different but theoretically identical device? If one or both devices have previously been used with a different master then they may have different default configurations, or you may be relying on a configured address that is not the default device state.  Or if the devices are not identical (they might be the same model but different revisions) then they might require or default to different PDO layouts.

Ensure that you have called ecrt_slave_config_pdos or equivalent in addition to ecrt_domain_reg_pdo_entry_list or equivalent.

Inspect the output of ethercat slaves -v on both systems before attempting to run your application (reboot the device first if you have previously attempted to run your app).

Gavin Lambert

Software Engineer



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From: Pranay Tummalapalli
Sent: Friday, April 5, 2024 8:07 PM
To: etherlab-users at etherlab.org
Subject: [Etherlab-users] Slave shows INVALID PDO MAPPING even after giving PDO mapping



I have a fully functional and tested setup in my system for Ethercat running a DC Motor with a single EtherCAT drive. Below are my system configurations:

Master source: vectioneer/stable branch

OS: Ubuntu 22.04

Kernel: 5.15.0-97-generic

I am using the systemd ethercat service. And I have a custom folder under the examples where I have all source and exec files for my project. I have added the folder in examples/Makefile.am and added the directory to configure.ac<http://configure.ac>. In my system it build well and everything works. Motor runs, all EtherCAT functionalities work and motor goes to setpoint position in OP.

When I try to run the same setup in my colleague's system with the same configuration as my system including master source and kernel version, the same drive remains in PREOP. When I try to run the same script as my system, the drive goes to PREOP+ERR and system logs display INVALID PDO MAPPING, SLAVE REFUSED TO CHANGE STATE with error 0x0024.
What a I missing in this?
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