Hi, On Fri, Jul 10, 2009 at 03:51:42PM +0200, Andrea Fumarco - Syco wrote:I'm testing a Beckhoff EL9820 Evaluation Kit configured in PIC mode. I'm not able to set the slave to OP state, when I send the command:probably you don't have specified a slave configuration, have you?. You'll need an application using the master's application interface to provide a slave configuration for your slave. Please consult the master documentation first and have a look at the application examples. -- Best regards, Florian Pose http://etherlab.org
Hi everyone,I've made an application which makes a configuration as you can see in attached file mini.c, but It doesn't work yet. I attached also sii_read, posd and sdos command output, I hope they could be useful to understand what's happening.
Useing command line I can read sdo at index 0x6020 subindex 0x11: ethercat upload -t int16 0x6020 0x11 with this result: 492 0x01ec But when I try to set to OP the state of my slave useing the command: ethercat states OP It responds withkernel: EtherCAT ERROR: Failed to set SAFEOP state, slave 0 refused state change (PREOP + ERROR). kernel: EtherCAT ERROR: AL status message 0x001E: "Invalid input configuration".
kernel: EtherCAT: Acknowledged state PREOP on slave 0. and it goes to PREOP + ERROR state. Thanks. Andrea.
SII Area: 05 0c 03 00 00 00 00 00 05 00 00 00 00 00 c0 00 02 00 00 00 52 30 48 26 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 80 00 00 14 80 00 0e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0f 00 01 00 SII Category 0x000a (STRINGS), 136 words 19 0b 45 4c 39 38 30 30 2d 30 31 30 30 0c 45 76 61 42 6f 61 72 64 44 65 6d 6f 1f 45 76 61 20 42 6f 61 72 64 20 28 53 61 6d 70 6c 65 20 53 6f 75 72 63 65 20 44 65 6d 6f 73 29 1c 45 4c 39 38 30 30 20 28 56 34 2e 30 38 29 20 28 53 50 49 2c 20 45 54 31 31 30 30 29 06 44 45 56 49 43 45 08 53 79 6e 63 68 72 6f 6e 02 44 43 09 44 49 20 49 6e 70 75 74 73 08 53 77 69 74 63 68 20 31 08 53 77 69 74 63 68 20 32 08 53 77 69 74 63 68 20 33 08 53 77 69 74 63 68 20 34 09 41 49 20 49 6e 70 75 74 73 0a 55 6e 64 65 72 72 61 6e 67 65 09 4f 76 65 72 72 61 6e 67 65 07 4c 69 6d 69 74 20 31 07 4c 69 6d 69 74 20 32 0b 54 78 50 44 4f 20 53 74 61 74 65 0c 54 78 50 44 4f 20 54 6f 67 67 6c 65 0c 41 6e 61 6c 6f 67 20 69 6e 70 75 74 0a 44 4f 20 4f 75 74 70 75 74 73 05 4c 45 44 20 31 05 4c 45 44 20 32 05 4c 45 44 20 33 05 4c 45 44 20 34 SII Category 0x001e (General), 16 words 02 05 01 04 01 03 01 03 00 00 00 04 00 00 03 00 11 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 SII Category 0x0028 (FMMU), 2 words 01 02 03 ff SII Category 0x0029 (SyncM), 16 words 00 10 80 00 26 00 01 01 00 14 80 00 22 00 01 02 00 18 02 00 24 00 01 03 00 1c 06 00 20 00 01 04 SII Category 0x0032 (TXPDO), 60 words 00 1a 05 03 00 08 11 00 00 60 01 09 01 01 00 00 00 60 02 0a 01 01 00 00 00 60 03 0b 01 01 00 00 00 60 04 0c 01 01 00 00 00 00 00 00 00 0c 00 00 02 1a 08 03 00 0d 11 00 20 60 01 0e 01 01 00 00 20 60 02 0f 01 01 00 00 20 60 03 10 0a 02 00 00 20 60 05 11 0a 02 00 00 00 00 00 00 00 08 00 00 02 18 07 12 01 01 00 00 02 18 09 13 01 01 00 00 20 60 11 14 03 10 00 00 SII Category 0x0033 (RXPDO), 24 words 01 16 05 02 00 15 11 00 10 70 01 16 01 01 00 00 10 70 02 17 01 01 00 00 10 70 03 18 01 01 00 00 10 70 04 19 01 01 00 00 00 00 00 00 00 0c 00 00 SII Category 0x003c (DC), 24 words 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 00 00 07 00 00 00 00 00
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1400, DefaultSize 128, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1800, DefaultSize 2, ControlRegister 0x24, Enable 1 RxPDO 0x1601 "DO RxPDO-Map" PDO entry 0x7010:01, 1 bit, "LED 1" PDO entry 0x7010:02, 1 bit, "LED 2" PDO entry 0x7010:03, 1 bit, "LED 3" PDO entry 0x7010:04, 1 bit, "LED 4" PDO entry 0x0000:00, 12 bit, "Gap" SM3: PhysAddr 0x1c00, DefaultSize 6, ControlRegister 0x20, Enable 1 TxPDO 0x1a00 "DI TxPDO-Map" PDO entry 0x6000:01, 1 bit, "Switch 1" PDO entry 0x6000:02, 1 bit, "Switch 2" PDO entry 0x6000:03, 1 bit, "Switch 3" PDO entry 0x6000:04, 1 bit, "Switch 4" PDO entry 0x0000:00, 12 bit, "Gap" TxPDO 0x1a02 "AI TxPDO-Map" PDO entry 0x6020:01, 1 bit, "Underrange" PDO entry 0x6020:02, 1 bit, "Overrange" PDO entry 0x6020:03, 2 bit, "Limit 1" PDO entry 0x6020:05, 2 bit, "Limit 2" PDO entry 0x0000:00, 8 bit, "Gap" PDO entry 0x1802:07, 1 bit, "" PDO entry 0x1802:09, 1 bit, "" PDO entry 0x6020:11, 16 bit, "Analog input"
SDO 0x1000, "Device type" 0x1000:00, uint32, 32 bit, "Device type" SDO 0x1008, "Device name" 0x1008:00, string, 88 bit, "Device name" SDO 0x1009, "Hardware version" 0x1009:00, string, 64 bit, "Hardware version" SDO 0x100a, "Software version" 0x100a:00, string, 40 bit, "Software version" SDO 0x1018, "Identity" 0x1018:00, uint8, 8 bit, "SubIndex 000" 0x1018:01, uint32, 32 bit, "Vendor ID" 0x1018:02, uint32, 32 bit, "Product code" 0x1018:03, uint32, 32 bit, "Revision" 0x1018:04, uint32, 32 bit, "Serial number" SDO 0x1601, "DO RxPDO-Map" 0x1601:00, uint8, 8 bit, "SubIndex 000" 0x1601:01, uint32, 32 bit, "SubIndex 001" 0x1601:02, uint32, 32 bit, "SubIndex 002" 0x1601:03, uint32, 32 bit, "SubIndex 003" 0x1601:04, uint32, 32 bit, "SubIndex 004" 0x1601:05, uint32, 32 bit, "SubIndex 005" SDO 0x1a00, "DI TxPDO-Map" 0x1a00:00, uint8, 8 bit, "SubIndex 000" 0x1a00:01, uint32, 32 bit, "SubIndex 001" 0x1a00:02, uint32, 32 bit, "SubIndex 002" 0x1a00:03, uint32, 32 bit, "SubIndex 003" 0x1a00:04, uint32, 32 bit, "SubIndex 004" 0x1a00:05, uint32, 32 bit, "SubIndex 005" SDO 0x1a02, "AI TxPDO-Map" 0x1a02:00, uint8, 8 bit, "SubIndex 000" 0x1a02:01, uint32, 32 bit, "SubIndex 001" 0x1a02:02, uint32, 32 bit, "SubIndex 002" 0x1a02:03, uint32, 32 bit, "SubIndex 003" 0x1a02:04, uint32, 32 bit, "SubIndex 004" 0x1a02:05, uint32, 32 bit, "SubIndex 005" 0x1a02:06, uint32, 32 bit, "SubIndex 006" 0x1a02:07, uint32, 32 bit, "SubIndex 007" 0x1a02:08, uint32, 32 bit, "SubIndex 008" SDO 0x1c00, "Sync manager type" 0x1c00:00, uint8, 8 bit, "SubIndex 000" 0x1c00:01, uint8, 8 bit, "SubIndex 001" 0x1c00:02, uint8, 8 bit, "SubIndex 002" 0x1c00:03, uint8, 8 bit, "SubIndex 003" 0x1c00:04, uint8, 8 bit, "SubIndex 004" SDO 0x1c02, "Cycle diagnosis" 0x1c02:00, uint8, 8 bit, "SubIndex 000" 0x1c02:01, uint16, 16 bit, "SM-Event Missed Counter" 0x1c02:02, uint16, 16 bit, "Shift Time Too Short Counter" 0x1c02:03, uint16, 16 bit, "Cycle Time Exceeded Counter" 0x1c02:04, uint16, 16 bit, "SYNC0 Missed Counter" SDO 0x1c12, "RxPDO assign" 0x1c12:00, uint8, 8 bit, "SubIndex 000" 0x1c12:01, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, uint8, 8 bit, "SubIndex 000" 0x1c13:01, uint16, 16 bit, "SubIndex 001" 0x1c13:02, uint16, 16 bit, "SubIndex 002" SDO 0x1c32, "SM output parameter" 0x1c32:00, uint8, 8 bit, "SubIndex 000" 0x1c32:01, uint16, 16 bit, "Sync mode" 0x1c32:02, uint32, 32 bit, "Cycle time" 0x1c32:03, uint32, 32 bit, "Shift time" 0x1c32:04, uint16, 16 bit, "Sync modes supported" 0x1c32:05, uint32, 32 bit, "Minimum cycle time" 0x1c32:06, uint32, 32 bit, "Minimum shift time" SDO 0x1c33, "SM input parameter" 0x1c33:00, uint8, 8 bit, "SubIndex 000" 0x1c33:01, uint16, 16 bit, "Sync mode" 0x1c33:02, uint32, 32 bit, "Cycle time" 0x1c33:03, uint32, 32 bit, "Shift time" 0x1c33:04, uint16, 16 bit, "Sync modes supported" 0x1c33:05, uint32, 32 bit, "Minimum cycle time" 0x1c33:06, uint32, 32 bit, "Minimum shift time" SDO 0x6000, "DI Inputs" 0x6000:00, uint8, 8 bit, "SubIndex 000" 0x6000:01, type 0001, 1 bit, "Switch 1" 0x6000:02, type 0001, 1 bit, "Switch 2" 0x6000:03, type 0001, 1 bit, "Switch 3" 0x6000:04, type 0001, 1 bit, "Switch 4" SDO 0x6020, "AI Inputs" 0x6020:00, uint8, 8 bit, "SubIndex 000" 0x6020:01, type 0001, 1 bit, "Underrange" 0x6020:02, type 0001, 1 bit, "Overrange" 0x6020:03, type 0031, 2 bit, "Limit 1" 0x6020:04, type 0000, 0 bit, "SubIndex 004" 0x6020:05, type 0031, 2 bit, "Limit 2" 0x6020:06, type 0000, 0 bit, "SubIndex 006" 0x6020:07, type 0000, 8 bit, "SubIndex 007" 0x6020:08, type 0000, 0 bit, "SubIndex 008" 0x6020:09, type 0000, 0 bit, "SubIndex 009" 0x6020:0a, type 0000, 0 bit, "SubIndex 010" 0x6020:0b, type 0000, 0 bit, "SubIndex 011" 0x6020:0c, type 0000, 0 bit, "SubIndex 012" 0x6020:0d, type 0000, 0 bit, "SubIndex 013" 0x6020:0e, type 0000, 0 bit, "SubIndex 014" 0x6020:0f, type 0001, 1 bit, "TxPDO State" 0x6020:10, type 0001, 1 bit, "TxPDO Toggle" 0x6020:11, int16, 16 bit, "Analog input" SDO 0x7010, "DO Outputs" 0x7010:00, uint8, 8 bit, "SubIndex 000" 0x7010:01, type 0001, 1 bit, "LED 1" 0x7010:02, type 0001, 1 bit, "LED 2" 0x7010:03, type 0001, 1 bit, "LED 3" 0x7010:04, type 0001, 1 bit, "LED 4" SDO 0x8020, "AI Settings" 0x8020:00, uint8, 8 bit, "SubIndex 000" 0x8020:01, type 0001, 1 bit, "Enable user scale" 0x8020:02, type 0800, 3 bit, "Presentation" 0x8020:03, type 0000, 0 bit, "SubIndex 003" 0x8020:04, type 0000, 0 bit, "SubIndex 004" 0x8020:05, type 0000, 2 bit, "SubIndex 005" 0x8020:06, type 0000, 0 bit, "SubIndex 006" 0x8020:07, type 0001, 1 bit, "Enable limit 1" 0x8020:08, type 0001, 1 bit, "Enable limit 2" 0x8020:09, type 0000, 8 bit, "SubIndex 009" 0x8020:0a, type 0000, 0 bit, "SubIndex 010" 0x8020:0b, type 0000, 0 bit, "SubIndex 011" 0x8020:0c, type 0000, 0 bit, "SubIndex 012" 0x8020:0d, type 0000, 0 bit, "SubIndex 013" 0x8020:0e, type 0000, 0 bit, "SubIndex 014" 0x8020:0f, type 0000, 0 bit, "SubIndex 015" 0x8020:10, type 0000, 0 bit, "SubIndex 016" 0x8020:11, int16, 16 bit, "Offset" 0x8020:12, int32, 32 bit, "Gain" 0x8020:13, int16, 16 bit, "Limit 1" 0x8020:14, int16, 16 bit, "Limit 2" SDO 0xf000, "Modular device profile" 0xf000:00, uint8, 8 bit, "SubIndex 000" 0xf000:01, uint16, 16 bit, "Module index distance" 0xf000:02, uint16, 16 bit, "Maximum number of modules" SDO 0xf010, "Module list" 0xf010:00, uint8, 8 bit, "SubIndex 000" 0xf010:01, uint16, 16 bit, "SubIndex 001" 0xf010:02, uint16, 16 bit, "SubIndex 002" 0xf010:03, uint16, 16 bit, "SubIndex 003"
mini.c
Description: Binary data
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