Hello Ronaldo, glad to hear that you have your problem resolved.
Generally, you can refer to the XML Device Description file from Beckhoff to check whether a object can be mapped into pdo entry (looking for the tag <PdoMapping>), and whether the RxPDO or TxPDO mapping can be changed (attribute Fixed="1" means not changeable) Regards, Jun On Wed, Mar 12, 2014 at 1:12 PM, <[email protected]> wrote: > Hello again and thanks to Jun for pointing me in the right direction. > > > > I changed the second set of PDO mappings to one entry only {0x7000, 0x11, > 16} and the slave accepted to go into “OP”. > > > > Ronaldo > > > > *From:* [email protected] [mailto: > [email protected]] > *Sent:* 12 March 2014 11:14 > *To:* [email protected] > > *Cc:* [email protected] > *Subject:* Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: > "Invalid input configuration" > > > > Hi Jun and thanks for the reply. > > > > The messages with your suggested change modify the resulting error to > "Invalid output configuration", but the slave still refuses to switch to > “OP”. > > > > Ronaldo > > > > Mar 12 11:02:38 pc0074 kernel: EtherCAT: Requesting master 0... > > Mar 12 11:02:38 pc0074 kernel: EtherCAT: Successfully requested master 0. > > Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Domain0: Logical address > 0x00000000, 12 byte, expected working counter 1. > > Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Datagram domain0-0-main: > Logical offset 0x00000000, 12 byte, type LWR. > > Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Master thread exited. > > Mar 12 11:02:38 pc0074 kernel: EtherCAT 0: Starting EtherCAT-OP thread. > > Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! > > Mar 12 11:02:38 pc0074 kernel: EtherCAT WARNING 0: No app_time received up > to now, but master already active. > > Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: Failed to set SAFEOP > state, slave refused state change (PREOP + ERROR). > > Mar 12 11:02:39 pc0074 kernel: EtherCAT ERROR 0-1: AL status message > 0x001D: "Invalid output configuration". > > Mar 12 11:02:39 pc0074 kernel: EtherCAT 0-1: Acknowledged state PREOP. > > Mar 12 11:02:39 pc0074 kernel: EtherCAT 0: Slave states on main device: > PREOP, OP. > > Mar 12 11:03:40 pc0074 kernel: EtherCAT 0: Releasing master... > > > > *From:* Jun Yuan [mailto:[email protected] <[email protected]>] > *Sent:* 12 March 2014 09:24 > *To:* Mercado, Ronaldo (DLSLtd,RAL,TEC) > *Cc:* [email protected] > *Subject:* Re: [etherlab-users] Beckhoff EL2595 AL status message 0x001E: > "Invalid input configuration" > > > > Hello ronaldo, > > @@ -73,7 +73,7 @@ > ec_sync_info_t slave_1_syncs[] = { > {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, > {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, > {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE}, > - {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE}, > + {3, EC_DIR_INPUT, 1, slave_1_pdos + 2, EC_WD_DISABLE}, > {0xff} > }; > > To avoid such a mistake, it would be better to seperate the rxpdo and > txpdo, using slave_1_rxpdos[] and slave_1_txpdos[] instead of only one > slave_1_pdos[] > > Regards, > > Jun > > > > > > On Tue, Mar 11, 2014 at 7:13 PM, <[email protected]> wrote: > > Hello, > > > > I am struggling with the control the constant current output slave EL2595. > > > > The unit provides a few PDOs by default, to control the on/off > > state. I wish to control the current output, (I believe at address > 0x7000:11 > > "Output Current"). This should allow a slider to control the dimming of > > an LED. This is not on the default PDO set. > > > > I know it's supported because it was demonstrated with TwinCAT. TwinCAT > > adds it to sync manager 2 with a check box. > > > > My attempt with the attached c source program fails to set the slave > > in the "OP" state, and the messages report "Invalid input > > configuration". > > > > Could you suggest what to do differently? > > How do I add the PDO for the current control to the slave? > > > > Thanks, > > > > Ronaldo > > > > > > > > > > -- > > This e-mail and any attachments may contain confidential, copyright and or > privileged material, and are for the use of the intended addressee only. If > you are not the intended addressee or an authorised recipient of the > addressee please notify us of receipt by returning the e-mail and do not > use, copy, retain, distribute or disclose the information in or attached to > the e-mail. > Any opinions expressed within this e-mail are those of the individual and > not necessarily of Diamond Light Source Ltd. > Diamond Light Source Ltd. cannot guarantee that this e-mail or any > attachments are free from viruses and we cannot accept liability for any > damage which you may sustain as a result of software viruses which may be > transmitted in or with the message. > Diamond Light Source Limited (company no. 4375679). Registered in England > and Wales with its registered office at Diamond House, Harwell Science and > Innovation Campus, Didcot, Oxfordshire, OX11 0DE, United Kingdom > > > > > > _______________________________________________ > etherlab-users mailing list > [email protected] > http://lists.etherlab.org/mailman/listinfo/etherlab-users > > > > > -- > Jun Yuan > [Aussprache: Djün Üän] > > Robotics Technology Leaders GmbH > Am Loferfeld 58, D-81249 München > Tel: +49 89 189 0465 24 > Fax: +49 89 189 0465 11 > mailto: [email protected] > > Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, > j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => > tschü, xu => schü. > -- Jun Yuan [Aussprache: Djün Üän] Robotics Technology Leaders GmbH Am Loferfeld 58, D-81249 München Tel: +49 89 189 0465 24 Fax: +49 89 189 0465 11 mailto: [email protected] Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
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