Unfortunately, I'm still trying to establish PDO-exchange between my
master and a Beckhoff FB1111-014X SPI slave.
Main problem seems to be the absence of pdo-entries in the slave
configuration. Output of "ethercat cstruct":
------------------------------------------------------------------------
/* Master 0, Slave 0, "FB1111 SPI-Slave"
* Vendor ID: 0x00000002
* Product code: 0x04570862
* Revision number: 0x0258008d
*/
ec_pdo_info_t slave_0_pdos[] = {
{0x1a00, 0, NULL}, /* Outputs */
{0x1600, 0, NULL}, /* Inputs */
};
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, 1, slave_0_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
------------------------------------------------------------------------
"ethercat pdos":
------------------------------------------------------------------------
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x1a00 "Outputs"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 1
TxPDO 0x1600 "Inputs"
------------------------------------------------------------------------
Seems to me the Output and Input SyncManagers are of size '0' and thus
disabled. Hence, I cannot map a PDO entry to a PDO. Looking at the XML
provided by Beckhoff, I notice that both the digital I/O and the uC
variants of this slave module do have a PDO entry list!
My goal is to put a certain value in a register (arbitrairly which, but
within the Process Data RAM area), which I will then read over the SPI
interface (by means of an FPGA, acting as SPI-master). Vice versa I
would like to have a value, written over SPI in another register, read
by the same master thread.
Should I modify the ESI descriptive XML, compile a binary sii-file using
TwinCAT or the EtherCAT Configurator, and download that to the slave
with the IgH master? Or is there another way to simply put (cyclic of
course!) a value in a certain registry?
Kind regards,
Maarten Burghout - University of Twente
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