Hi, I have new problem. "sii_write" can not update slaves's sii.
I generated new sii binary file (1024 byte), base on xml file in twincat. use etherlab cmd "sii_write" write the bin file to slave without any error info. sudo ./ethercat sii_write -p 0 sii-new.bin power off motor and restart etherlab, power on motor. check slave's sii content, still same. it is 128 byes. sudo ./ethercat sii_read -v SII Area: 08 00 00 08 00 00 00 00 00 00 00 00 00 00 f5 00 e4 00 00 00 33 11 00 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 18 10 00 00 19 10 00 04 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 07 00 01 00 Regards, Max 2014-02-04 19:01 GMT+08:00 Jeroen Van den Keybus < [email protected]>: > It looks like your SII only contains the mandatory items. Beckhoff TwinCAT > relies on this information in combination with the .XML description file to > derive the full config. But EtherLab requires the full config in the SII. > You can use the Beckhoff TwinCAT software to create this SII image and > write it into the SII EEPROM (provided it is large enough to hold it). > > J. > > > > 2014-02-04 Zhiyong Weng <[email protected]>: > >> Hi ALL, >> >> I am newbie for ethercat and trying to use etherlab to exchange data >> with a motor. >> >> After installing etherlab, I managed to read some device info from the >> motor, with command line tools, like "ethercat slaves". also can conduct >> SDO access successfully. >> >> So I wrote a piece of code to send the PDOs. but failed and get errors >> in syslog as below. >> My guess is the motor's slave controller missing sync manager(2 and >> 3) addresses in the SII, as it only show sm0, sm1. >> But in the xml provied by vendor, it do has 4 sm. file attached. >> Pls help! >> >> Regards, >> Max >> >> Feb 4 17:59:12 MAX kernel: [13654.005940] EtherCAT DEBUG 0-0: *Slave >> does not provide mailbox sync manager configurations.* >> Feb 4 17:59:12 MAX kernel: [13654.005943] EtherCAT DEBUG 0-0: SM0: Addr >> 0x1800, Size 16, Ctrl 0x26, En 1 >> Feb 4 17:59:12 MAX kernel: [13654.005944] EtherCAT DEBUG 0-0: SM1: Addr >> 0x1900, Size 16, Ctrl 0x22, En 1 >> >> *sm info in xml: * >> <Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1800" >> ControlByte="#x26" Enable="1">MBoxOut</Sm> >> <Sm MinSize="6" MaxSize="40" DefaultSize="16" StartAddress="#x1900" >> ControlByte="#x12" Enable="1">MBoxIn</Sm> >> <Sm StartAddress="#x1600" ControlByte="#x24" Enable="1">Outputs</Sm> >> <Sm StartAddress="#x1A00" ControlByte="#x10" Enable="1">Inputs</Sm> >> >> *my PDO configure:* >> >> const static ec_pdo_entry_reg_t domain1_regs[] = { >> >> {AliasAndPositon, VendorID_ProductCode, 0x1A00, 4, &off_1A00}, >> >> {} >> >> }; >> >> ec_pdo_entry_info_t duetfl80_channel1[] = { >> >> {0x1A00, 4, 32} // modes_of_operation_display >> >> }; >> >> static ec_pdo_info_t duetfl80_pdos[] = { >> >> {0x1900,1 , duetfl80_channel1} // pdo index input 0x1A00? >> >> }; >> >> static ec_sync_info_t duetfl80_syncs[] = { >> >> {3, EC_DIR_INPUT, 1, duetfl80_pdos}, >> >> {0xff} >> >> }; >> >> *ethercat slaves* >> 0 0:0 PREOP + 0x000000e4:0x00001133 >> >> *ethercat slaves -v* >> === Master 0, Slave 0 === >> Device: Main >> State: PREOP >> Flag: + >> Identity: >> Vendor Id: 0x000000e4 >> Product code: 0x00001133 >> Revision number: 0x00020000 >> Serial number: 0x00000000 >> DL information: >> FMMU bit operation: no >> Distributed clocks: no >> Port Type Link Loop Signal NextSlave >> 0 N/A up open yes - >> 1 N/A down closed no - >> 2 N/A down closed no - >> 3 N/A down closed no - >> Mailboxes: >> Bootstrap RX: 0x0000/0, TX: 0x0000/0 >> Standard RX: 0x1800/16, TX: 0x1900/16 >> Supported protocols: CoE >> >> *ethercat sii_read -v* >> SII Area: >> 08 00 00 08 00 00 00 00 00 00 00 00 00 00 f5 00 >> e4 00 00 00 33 11 00 00 00 00 02 00 00 00 00 00 >> 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 >> 00 18 10 00 00 19 10 00 04 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 00 00 01 00 >> >> >> >> _______________________________________________ >> etherlab-users mailing list >> [email protected] >> http://lists.etherlab.org/mailman/listinfo/etherlab-users >> >> >
sii-new.bin
Description: Binary data
sii-ori.bin
Description: Binary data
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