Hi,
you are right. I am busy corresponding with Beckhoff about this issue.
The problem is that the XML files only document the slaves and requires
diligence to keep in sync with source code in the slaves.
Precluding that Beckhoff will have to update the XML files, I have
changed it in the latest release of EtherLab 2.0 already. This is
available on sourceforge.
In any event, since these slaves are not reconfigurable, the master will
only complain about the misconfiguration. Not being able to do anything
about it, it will try to bring the slave into OP and everything will run
as expected. Nonetheless, this contradiction will have to be addressed.
- Richard
On 12/06/2013 01:12 AM, LYNCH, Damien wrote:
Hi,
When I run "ethercat pdos" on an EL4024 I get the output below. The subindexes
for the analog output channels are 1.
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 8, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "RxPDO-Map OutputsCh.1"
PDO entry 0x7000:01, 16 bit, "Analog output"
RxPDO 0x1601 "RxPDO-Map OutputsCh.2"
PDO entry 0x7010:01, 16 bit, "Analog output"
RxPDO 0x1602 "RxPDO-Map OutputsCh.3"
PDO entry 0x7020:01, 16 bit, "Analog output"
RxPDO 0x1603 "RxPDO-Map OutputsCh.4"
PDO entry 0x7030:01, 16 bit, "Analog output"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 0
Should the subindexes not be 0x11? In the "Beckhoff EL4xxx.xml" file the EL4024
subindexes are 17. E.g.:
<RxPdo Fixed="1" Mandatory="1" Sm="2">
<Index>#x1600</Index>
<Name>AO Outputs Channel 1</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name>Analog output</Name>
<DataType DScale="0-20">INT</DataType>
</Entry>
</RxPdo>
TwinCAT reports the subindexes as 17 as well. On top of this "ethercat
sii_read" seems to indicate the subindexes are 0x11 as well, though I must admit I
am not proficient at deciphering the SII.
Thanks,
Damien
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Richard Hacker
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