Dear Richard, thanks for your answer.
I've tried with 'mini.c' example, I've changed the Beckhoff modules
from the example by my modules configuration.
I'm still having the same problem, although digital output works
properly, analog input/output modules are not in 'OP' mode.
At the output of 'dmesg' shows an error message that I don't understand.
root@rtai:~/etherlabmaster/examples/mini# ethercat slaves
0 0:0 OP + EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)
1 0:1 INIT + EL2004 4K. Dig. Ausgang 24V, 0.5A
2 0:2 PREOP + EL4132 2Ch. Ana. Ausgang +/-10V, 16bit
3 0:3 PREOP + EL3102 2K. Ana. Eingang +/-10V, Diff.
root@rtai:~/etherlabmaster/examples/mini# dmesg
....
EtherCAT 0: Domain 0: 10 working counter changes - now 2/5.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
EtherCAT 0: Domain 0: 8 working counter changes - now 2/5.
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
ec_mini: Domain1: WC 0.
ec_mini: Domain1: State 0.
ec_mini: Domain1: WC 2.
ec_mini: Domain1: State 1.
EtherCAT ERROR 0: No app_time received up to now, but master
already active).
....
ec_mini: Stopping...
ec_mini: Releasing master...
EtherCAT 0: Releasing master...
EtherCAT 0: Master thread exited.
EtherCAT 0: Starting EtherCAT-IDLE thread.
EtherCAT 0: Released.
ec_mini: Unloading.
Quoting Richard Hacker <[email protected]>:
On Friday 23 September 2011 16:42:00 [email protected] wrote:
Hello everybody,
I've just started now with EtherCAT stuff and I'm having several
problems.
I have some Beckhoff modules to make tests, but when I try to run the
example program, included in its code, I can't make it work all of them
correctly. I have a digital outputs module (EL2004), another one of
digital inputs (EL1004). One module of analog outputs (EL41342) and an
other of analog inputs (EL3102). I also have the bus coupler (EK1101).
I've modified rtai example to make them work, but I found problems in OP
mode, not all of them get's slave status, and it doesn't work. Does
somebody knows what it happens? I can't find where is the error. Thank
you in advance. Here there is my code and my modules configuration:
Please take small steps.
First of all, try the examples, such as mini.c and rtai_example.c.
Get them to
compile and load first. Change your hardware so that the examples
load. When
that works, you may start modifying in _small_ steps until you are
confident
enough to start your own projects.
Apart from attaching the output of
ethercat slaves
also attach output
dmesg
(and please not everything, only the important parts!!)
Mit freundlichem Gruß
Richard Hacker
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