Just to be extra confusing, output and input are from the perspective of the master, but RxPDO and TxPDO are from the perspective of the slave. So output == RxPDO.
This isnt unique to Etherlab, BTW, these are the standard EtherCAT definitions, which I think may have been inherited from CANopen. From: etherlab-users-boun...@etherlab.org [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of hamelin.phili...@ireq.ca Sent: Tuesday, 22 January 2013 09:48 To: etherlab-users@etherlab.org Subject: [etherlab-users] EL2252: SII eeprom and XML config mismatch Hi, I'm having troubles using the Beckhoff EL2252 with Etherlab. According to the documentation and the XML file, I should have 5 sync managers: Outputs: - SM0: DC Sync Activate - SM1: DC Sync Start - SM2: Channel 1 & 2 outputs Inputs: - SM3: SysTime and Feedback However, when connecting the slave to the Etherlab master I get the following config (which is fixed by the device): $ ethercat -p 1 pdo SM0: PhysAddr 0x0981, DefaultSize 0, ControlRegister 0x00, Enable 12 TxPDO 0x1602 "DC Sync Activate" PDO entry 0x1d09:81, 8 bit, "Activate" SM1: PhysAddr 0x0990, DefaultSize 0, ControlRegister 0x00, Enable 4 TxPDO 0x1603 "DC Sync Start" PDO entry 0x1d09:90, 64 bit, "StartTime" SM2: PhysAddr 0x0f00, DefaultSize 0, ControlRegister 0x44, Enable 9 RxPDO 0x1600 "Channel 1" PDO entry 0x7000:01, 1 bit, "Output" PDO entry 0x7000:02, 1 bit, "TriState" RxPDO 0x1601 "Channel 2" PDO entry 0x7010:01, 1 bit, "Output" PDO entry 0x7010:02, 1 bit, "TriState" PDO entry 0x0000:00, 4 bit, "" RxPDO 0x1604 "Reserved" SM3: PhysAddr 0x0910, DefaultSize 0, ControlRegister 0x00, Enable 4 SM4: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x00, Enable 4 Is doesn't make any sense to me that SM2 is a RxPDO since this is the output state that the master should provides. Moreover, the PDO mapping is fixed by the device so I can't configure my own mapping. I see two possibles problems: a) The SII eeprom isn't correct; or, b) I don't understand the meaning of these lines :-) Any ideas? Thank you, ------------------------------------ Philippe Hamelin, ing., M. Ing Chercheur / Researcher T: 450-652-8499 x2198 F: 450-652-1316 Expertise robotique et civil Institut de recherche d'Hydro-Québec (IREQ) 1740, boul. Lionel-Boulet Varennes (QC) J3X 1S1, Canada
_______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
