Hello Mike,
Ethercat pdos reads out the pdo from the eeprom.
Normally Drive has configureable pdos, so they are not listed in the eeprom.
Did you get the slave to OP?
Maybe you need to configure DC?
Greatings
Andreas
Mike Trethewey schrieb:
Hi all,
First, I should say I am new to both EtherCAT and CAN so please excuse
and correct any misunderstandings.
We are trying to get an ELMO SoloGuitar drive working using CoE. We
have installed the EtherCAT master and can get a response from the
ELMO drive. The responses to "ethercat master", "ethercat slaves" and
ethercat sii_read -v" is shown below.
The command "ethercat sdos" give the full list of SDO commands from
the dictionary. We can read from and write to these OK and can enable
and disable the drive successfully. I am happy that the SDO commands
work fine.
Using the SDO commands we can see the default PDO mappings. However,
when we do "ethercat pdos" the result is nothing. We have tried to
write software to map the PDOs but cannot get a response either.
How do we make the master know about the PDO mappings.?
We have vendor produced XML file. Can we load this in some way?
If so how please?
Thank you in advance,
Mike
***************************************************************
Response to ethercat master:
>>ethercat master
Master0
Phase: Idle
Active: no
Slaves: 1
Ethernet devices:
Main: 00:03:1d:07:e5:c0 (attached)
Link: UP
Tx frames: 30138851
Rx frames: 30138850
Lost frames: 0
Tx bytes: 1809517648
Tx errors: 0
Tx frame rate [1/s]: 992 992 992
Tx rate [KByte/s]: 58.1 58.1 58.1
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Backup: None.
Distributed clocks:
Reference clock: Slave 0
Application time: 0
2000-01-01 00:00:00.000000000
***************************************************************
Response to ethercat slaves:
>> ethercat slaves -v
=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x0000009a
Product code: 0x00030923
Revision number: 0x000103f4
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns]
NextDc [ns]
0 MII down closed no - -
- -
1 MII up open yes - 2404253442
602577344 0
2 N/A down closed no - -
- -
3 N/A down closed no - -
- -
Mailboxes:
Bootstrap RX: 0x1800/140, TX: 0x1900/140
Standard RX: 0x1800/140, TX: 0x1900/140
Supported protocols: EoE, CoE, FoE
***************************************************************
Response to ethercat sii_read -v
>> ethercat sii_read -v
SII Area:
05 0e 03 04 e8 03 00 00 00 00 00 00 00 00 35 00
9a 00 00 00 23 09 03 00 f4 03 01 00 00 00 00 00
00 00 00 00 00 00 00 00 00 18 8c 00 00 19 8c 00
00 18 8c 00 00 19 8c 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
***************************************************************
Mike Trethewey
Control Loop Concepts Ltd
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