[etherlab-users] Using Ethercatmaster with Beckhoff EK1100, EL6731, EL6631, EL6752

Carlos Herkt Fri, 05 Sep 2014 07:57:12 -0700

Hello,

i'm doing a  feasability study with Etherlab's Ethercatmaster.  As i'm
quite new to to this topic some questions arose. I'd be glad to find
some help here.


My hardware i'm using:
- EtherCAT Coupler EK1100
- Digital Output EL2002
- Digital Input EL1002
- DeviceNet Master EL6752
- ProfiNet Master EL6631
- ProfiBus Master EL6731

As slave i'm using an IPC with corresponding Profi*/DeviceNet - Slave
cards from Hilscher GmbH.

A PC has been setup with Ethercatmaster (Stable 1.5.2) on a Fedora
machine (3.15.7.x86_64).
(Later i'd like to convert to a BeagleBoneBlack or Raspberry Pi.)
Adapting the program in /~/ethercat-hg/examples/user/ i was happy to
achive some blinking on my EL2002.

What i'm trying to achive now is:
- First i'd like to establish a basic communication between
master<->slave (all LEDs green)
- On slave side i've got a program sending a heartbeatsignal to the
master (set bit 0 or 1).  I'd like to see that heartbeat for example
using /$ ./ethercat data /and in the next step let the DigitalII EL1002
blink to that heartbeat.

Is thi*s generally achieveable? Has someone experimented with
Ethercatmaster & EL6631?
*
I startet off analogically to this email:
http://lists.etherlab.org/pipermail/etherlab-users/2012/001862.html
Also I understand i have to enter my desired Inputs/Outputs via
/ec_pdo_entry_info_t/?
But do i need to somehow add the GSDML file of the slave to my porgram?
Like in TwinCat?

Are there any tutorials or example programs out there to
wrap my head around and if, could someone please point me there? Google
didn't dig up a lot to nothing.

Attached you'll find the xml file of the EL6631.

Any help, tips, links will be greatly appreciated! :)

With best regards,

Carlos Herkt

ÿþ<?xml version="1.0" encoding="UTF-16"?>

<TreeItem>

	<ItemName>Term 5 (EL6631)</ItemName>

	<PathName>TIID^Device 2 (EtherCAT)^Term 1 (EK1100)^Term 5 (EL6631)</PathName>

	<ItemType>5</ItemType>

	<ItemId>5</ItemId>

	<ObjectId>#x03020005</ObjectId>

	<ItemSubType>9106</ItemSubType>

	<ItemSubTypeName>EL6631 PROFINET IO Controller</ItemSubTypeName>

	<ChildCount>0</ChildCount>

	<Disabled>false</Disabled>

	<TreeImageId>124</TreeImageId>

	<BoxDef>

		<FieldbusAddress>1005</FieldbusAddress>

		<AmsAddress>

			<AmsPort>0</AmsPort>

			<AmsPortTimeout>5</AmsPortTimeout>

		</AmsAddress>

	</BoxDef>

	<EtherCAT>

		<Slave>

			<Info>

				<Name><![CDATA[Term 5 (EL6631)]]></Name>

				<PhysAddr>1005</PhysAddr>

				<AutoIncAddr>65532</AutoIncAddr>

				<Physics>KK</Physics>

				<VendorId>2</VendorId>

				<ProductCode>434581586</ProductCode>

				<RevisionNo>1179648</RevisionNo>

				<SerialNo>0</SerialNo>

				<ProductRevision>EL6631-0000-0018</ProductRevision>

				<Type>EL6631</Type>

			</Info>

			<ProcessData>

				<Send>

					<BitStart>936</BitStart>

					<BitLength>368</BitLength>

				</Send>

				<Recv>

					<BitStart>936</BitStart>

					<BitLength>416</BitLength>

				</Recv>

				<Sm2>

					<Type>Outputs</Type>

					<StartAddress>6144</StartAddress>

					<ControlByte>100</ControlByte>

					<Enable>1</Enable>

					<Pdo>5632</Pdo>

					<Pdo>6142</Pdo>

					<Pdo>6143</Pdo>

				</Sm2>

				<Sm3>

					<Type>Inputs</Type>

					<StartAddress>9216</StartAddress>

					<ControlByte>32</ControlByte>

					<Enable>1</Enable>

					<Pdo>6656</Pdo>

					<Pdo>7166</Pdo>

					<Pdo>7167</Pdo>

				</Sm3>

				<TxPdo Mandatory="true" Sm="3">

					<Index>#x1a00</Index>

					<Name>cifxrepns_In</Name>

					<Entry>

						<Index>#x6000</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>cifxrepns_BoxState</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483531</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#x6000</Index>

						<SubIndex>2</SubIndex>

						<BitLen>16</BitLen>

						<Name>cifxrepns_BoxDiag</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483529</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#x6001</Index>

						<SubIndex>1</SubIndex>

						<BitLen>160</BitLen>

						<Name>Input Data Submodule 1</Name>

						<DataType>ARRAY [0..19] OF BYTE</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483527</IndexOffset>

							<Length>20</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#x6001</Index>

						<SubIndex>2</SubIndex>

						<BitLen>160</BitLen>

						<Name>Input Data Submodule 2</Name>

						<DataType>ARRAY [0..19] OF BYTE</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483507</IndexOffset>

							<Length>20</Length>

						</AdsInfo>

					</Entry>

				</TxPdo>

				<RxPdo Mandatory="true" Sm="2">

					<Index>#x1600</Index>

					<Name>cifxrepns_Out</Name>

					<Entry>

						<Index>#x7000</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>cifxrepns_BoxCtrl</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2130706315</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#x7001</Index>

						<SubIndex>1</SubIndex>

						<BitLen>160</BitLen>

						<Name>Output Data Submodule 1</Name>

						<DataType>ARRAY [0..19] OF BYTE</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2130706313</IndexOffset>

							<Length>20</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#x7001</Index>

						<SubIndex>2</SubIndex>

						<BitLen>160</BitLen>

						<Name>Output Data Submodule 2</Name>

						<DataType>ARRAY [0..19] OF BYTE</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2130706293</IndexOffset>

							<Length>20</Length>

						</AdsInfo>

					</Entry>

				</RxPdo>

				<TxPdo Mandatory="true" Sm="3">

					<Index>#x1bfe</Index>

					<Name>PnIoProtocolState</Name>

					<Entry>

						<Index>#xf100</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>DevState</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483487</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#xf100</Index>

						<SubIndex>2</SubIndex>

						<BitLen>16</BitLen>

						<Name>PnIoError</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483485</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

					<Entry>

						<Index>#xf100</Index>

						<SubIndex>3</SubIndex>

						<BitLen>16</BitLen>

						<Name>PnIoDiag</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483483</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

				</TxPdo>

				<TxPdo Mandatory="true" Sm="3">

					<Index>#x1bff</Index>

					<Name>ECatState</Name>

					<Entry>

						<Index>#xf101</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>ECatState</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2147483481</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

				</TxPdo>

				<RxPdo Mandatory="true" Sm="2">

					<Index>#x17fe</Index>

					<Name>PnIoProtocolCtrl</Name>

					<Entry>

						<Index>#xf200</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>DevCtrl</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2130706273</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

				</RxPdo>

				<RxPdo Mandatory="true" Sm="2">

					<Index>#x17ff</Index>

					<Name>ECatCtrl</Name>

					<Entry>

						<Index>#xf201</Index>

						<SubIndex>1</SubIndex>

						<BitLen>16</BitLen>

						<Name>ECatCtrl</Name>

						<DataType>UINT</DataType>

						<AdsInfo>

							<AmsAddress>

								<AmsPort>11</AmsPort>

							</AmsAddress>

							<IndexGroup>50593808</IndexGroup>

							<IndexOffset>-2130706271</IndexOffset>

							<Length>2</Length>

						</AdsInfo>

					</Entry>

				</RxPdo>

			</ProcessData>

			<Mailbox DataLinkLayer="true">

				<Send>

					<Start>4096</Start>

					<Length>1024</Length>

				</Send>

				<Recv>

					<Start>5120</Start>

					<Length>1024</Length>

					<StatusBitAddr>1</StatusBitAddr>

				</Recv>

				<Timeout>

					<ReturningRequest>100</ReturningRequest>

					<Response>1000</Response>

				</Timeout>

				<BootStrap>

					<Send>

						<Start>4096</Start>

						<Length>1024</Length>

					</Send>

					<Recv>

						<Start>5120</Start>

						<Length>1024</Length>

					</Recv>

				</BootStrap>

				<Protocol>AoE</Protocol>

				<Protocol>CoE</Protocol>

				<Protocol>FoE</Protocol>

				<CoE>

					<InitCmds>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[EL6631 CoE Init Cmd 0 (F800:00)]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>63488</Index>

							<SubIndex>0</SubIndex>

							<Data>0f000100656c363633312d706e636f6e74726f6c6c657200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002500200160ea48eec0a80101ffffff00c0a80101c0a8b2fd0501ffff000000000100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[EL6631 CoE Init Cmd 1 (F820:00)]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>63520</Index>

							<SubIndex>0</SubIndex>

							<Data>0200c0a8b2fd01012203</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[EL6631 CoE Init Cmd 2 (8000:00)]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>32768</Index>

							<SubIndex>0</SubIndex>

							<Data>3a00636966787265706e7300000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000003014c0200000810c0a8b2fd050120000100c0a80109ffffff00c0a8010100c001000000010001000100050008000200000000000000000000000000000000000000200004000100030000000000020000000000000000000000000000000000000000000000000000000000000000000000</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[EL6631 CoE Init Cmd 3 (8002:00)]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>32770</Index>

							<SubIndex>0</SubIndex>

							<Data>7800000000000000008001110000011100000000000000000000000002000503240980003200e803000000000000000000000000000000000000000000000000000000000180011100000211000000000000000000000100040054015c000000000000000000010001000000000000000000000000000000000000000280011100000311000000000000000000000200040054015c000000000000000000000000000000000000000000000000000000000000000100011100000011000000000000000000000300080000000000000000000000000000000000000000000000000000000000000000000000010001001100000010000000000000001400000004000800000000000000000000000000000000000000000000000000000000000000000000000200010011000000100000000000000014000000050008000000000000000000000000000000000000000000000000000000000000000000000005000100100000000f0000001400000000000000060008000000000000000000000000000000000000000000000000000000000000000000000006000100100000000f000000140000000000000007000800000000000000000000000000000000000000000000000000000000000000</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1A00 entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>6656</Index>

							<SubIndex>0</SubIndex>

							<Data>04001001006010020060a0010160a0020160</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1600 entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>5632</Index>

							<SubIndex>0</SubIndex>

							<Data>030010010070a0010170a0020170</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1BFE entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>7166</Index>

							<SubIndex>0</SubIndex>

							<Data>0300100100f1100200f1100300f1</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1BFF entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>7167</Index>

							<SubIndex>0</SubIndex>

							<Data>0100100101f1</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x17FE entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>6142</Index>

							<SubIndex>0</SubIndex>

							<Data>0100100100f2</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x17FF entries]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>6143</Index>

							<SubIndex>0</SubIndex>

							<Data>0100100101f2</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1C12 index]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>7186</Index>

							<SubIndex>0</SubIndex>

							<Data>03000016fe17ff17</Data>

						</InitCmd>

						<InitCmd Fixed="true" CompleteAccess="true">

							<Transition>PS</Transition>

							<Comment><![CDATA[download pdo 0x1C13 index]]></Comment>

							<Timeout>0</Timeout>

							<Ccs>1</Ccs>

							<Index>7187</Index>

							<SubIndex>0</SubIndex>

							<Data>0300001afe1bff1b</Data>

						</InitCmd>

					</InitCmds>

					<Profile>

						<ChannelInfo>

							<ProfileNo>5001</ProfileNo>

							<AddInfo>0</AddInfo>

						</ChannelInfo>

					</Profile>

				</CoE>

				<AoE>

					<InitCmds>

						<InitCmd Fixed="true">

							<Transition>IP</Transition>

							<Transition>PS</Transition>

							<Comment><![CDATA[AoE Init Cmd (download NetId)]]></Comment>

							<Timeout>0</Timeout>

							<Data>c0a8b2fd0301ed03c0a8b2fd0301ed0303000400120000000000000001000000010000000300000006000000c0a8b2fd0501</Data>

						</InitCmd>

					</InitCmds>

					<NetId>192.168.178.253.5.1</NetId>

				</AoE>

			</Mailbox>

			<InitCmds>

				<InitCmd>

					<Transition>PI</Transition>

					<Transition>BI</Transition>

					<Transition>SI</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[set device state to INIT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>288</Ado>

					<Data>1100</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SI</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear DC activation]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>2432</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PI</Transition>

					<Transition>SI</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[check device state for INIT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>1</Cmd>

					<Adp>65532</Adp>

					<Ado>304</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

					<Validate>

						<Data>0100</Data>

						<DataMask>0f00</DataMask>

						<Timeout>20000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>BI</Transition>

					<Comment><![CDATA[check device state for INIT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>1</Cmd>

					<Adp>65532</Adp>

					<Ado>304</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

					<Validate>

						<Data>0100</Data>

						<DataMask>0f00</DataMask>

						<Timeout>40000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Comment><![CDATA[set device state to INIT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>288</Ado>

					<Data>1100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Comment><![CDATA[check device state for INIT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>1</Cmd>

					<Adp>65532</Adp>

					<Ado>304</Ado>

					<Data>0000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>0100</Data>

						<DataMask>0f00</DataMask>

						<Timeout>10000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[assign EEPROM to ECAT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>1280</Ado>

					<Data>00</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[check vendor id]]></Comment>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>1282</Ado>

					<Data>000108000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[check vendor id]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>1</Cmd>

					<Adp>65532</Adp>

					<Ado>1288</Ado>

					<Data>00000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>02000000</Data>

						<Timeout>100</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[check product code]]></Comment>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>1282</Ado>

					<Data>00010a000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[check product code]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>1</Cmd>

					<Adp>65532</Adp>

					<Ado>1288</Ado>

					<Data>00000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>5230e719</Data>

						<Timeout>100</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Comment><![CDATA[set physical address]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>16</Ado>

					<Data>ed03</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Transition>PI</Transition>

					<Transition>SI</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2048</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>BI</Transition>

					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>2048</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[set sm 0 (mailbox out)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2048</Ado>

					<Data>0010000426000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[set sm 1 (mailbox in)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2056</Ado>

					<Data>0014000422000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IB</Transition>

					<Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2048</Ado>

					<Data>0010000426000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IB</Transition>

					<Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2056</Ado>

					<Data>0014000422000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set DC start time]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2448</Ado>

					<Data>0000000000000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set DC activation]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2432</Ado>

					<Data>0001</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set DC latch cfg]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2472</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>PP</Transition>

					<Comment><![CDATA[clear DC activation]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2432</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SP</Transition>

					<Transition>OP</Transition>

					<Comment><![CDATA[set device state to PREOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>1200</Data>

					<Retries>300</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>SP</Transition>

					<Transition>SI</Transition>

					<Transition>OP</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear sms]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2064</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set sm 2 (outputs)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2064</Ado>

					<Data>00182e0064000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set sm 3 (inputs)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2072</Ado>

					<Data>0024340020000100</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set fmmu 0 (outputs)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1536</Ado>

					<Data>001800012e0000070018000201000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set fmmu 1 (inputs)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1552</Ado>

					<Data>00180001340000070024000101000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Comment><![CDATA[set fmmu 2 (mailbox state)]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1568</Ado>

					<Data>00000009010001010d08000101000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>OS</Transition>

					<Comment><![CDATA[set device state to SAFEOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>0400</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SP</Transition>

					<Transition>SI</Transition>

					<Transition>OP</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear fmmu 0]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1536</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SP</Transition>

					<Transition>SI</Transition>

					<Transition>OP</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear fmmu 1]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1552</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PI</Transition>

					<Transition>BI</Transition>

					<Transition>SI</Transition>

					<Transition>OI</Transition>

					<Comment><![CDATA[clear fmmu 2]]></Comment>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1568</Ado>

					<Data>00000000000000000000000000000000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SP</Transition>

					<Transition>OP</Transition>

					<Comment><![CDATA[clear DC activation]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>2432</Ado>

					<Data>0000</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SP</Transition>

					<Transition>OP</Transition>

					<Comment><![CDATA[check device state for PREOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Retries>3</Retries>

					<Validate>

						<Data>020000000000</Data>

						<DataMask>0f0000000000</DataMask>

						<Timeout>20000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>IB</Transition>

					<Comment><![CDATA[assign EEPROM to PDI]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>1280</Ado>

					<Data>01</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>II</Transition>

					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>1280</Ado>

					<Data>00</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[set device state to PREOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>1200</Data>

					<Cnt>1</Cnt>

					<Retries>300</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Comment><![CDATA[check device state for PREOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>020000000000</Data>

						<DataMask>1f0000000000</DataMask>

						<Timeout>10000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>IP</Transition>

					<Transition>BI</Transition>

					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>2</Cmd>

					<Adp>65532</Adp>

					<Ado>1280</Ado>

					<Data>00</Data>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IB</Transition>

					<Comment><![CDATA[set device state to BOOT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>1300</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>IB</Transition>

					<Comment><![CDATA[check device state for BOOT]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>030000000000</Data>

						<DataMask>1f0000000000</DataMask>

						<Timeout>10000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[set device state to SAFEOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>0400</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>PS</Transition>

					<Comment><![CDATA[check device state for SAFEOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>040000000000</Data>

						<DataMask>1f0000000000</DataMask>

						<Timeout>10000</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>OS</Transition>

					<Comment><![CDATA[check device state for SAFEOP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Retries>3</Retries>

					<Validate>

						<Data>040000000000</Data>

						<DataMask>0f0000000000</DataMask>

						<Timeout>200</Timeout>

					</Validate>

				</InitCmd>

				<InitCmd>

					<Transition>SO</Transition>

					<Comment><![CDATA[set device state to OP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>5</Cmd>

					<Adp>1005</Adp>

					<Ado>288</Ado>

					<Data>0800</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

				</InitCmd>

				<InitCmd>

					<Transition>SO</Transition>

					<Comment><![CDATA[check device state for OP]]></Comment>

					<Requires>cycle</Requires>

					<Cmd>4</Cmd>

					<Adp>1005</Adp>

					<Ado>304</Ado>

					<Data>000000000000</Data>

					<Cnt>1</Cnt>

					<Retries>3</Retries>

					<Validate>

						<Data>080000000000</Data>

						<DataMask>1f0000000000</DataMask>

						<Timeout>10000</Timeout>

					</Validate>

				</InitCmd>

			</InitCmds>

			<PreviousPort Selected="true">

				<Port>B</Port>

				<PhysAddr>1004</PhysAddr>

			</PreviousPort>

			<SyncUnits>

				<SyncUnit>Profinet</SyncUnit>

			</SyncUnits>

			<DC>

				<PotentialReferenceClock>false</PotentialReferenceClock>

				<ReferenceClock>true</ReferenceClock>

				<CycleTime0>4000000</CycleTime0>

				<CycleTime1>0</CycleTime1>

				<ShiftTime>0</ShiftTime>

			</DC>

			<Settings>

				<StateMachine>

					<AutoRestoreStates>true</AutoRestoreStates>

					<WaitForWcStateOkay>true</WaitForWcStateOkay>

					<ReInitAfterCommError>true</ReInitAfterCommError>

					<LogCommChanges>true</LogCommChanges>

					<FinalState>OP</FinalState>

					<Timeout>

						<I2P>10000</I2P>

						<P2S2O>10000</P2S2O>

						<Back2PI>20000</Back2PI>

						<O2S>200</O2S>

					</Timeout>

					<CheckVendorId>EQ</CheckVendorId>

					<CheckProductCode>EQ</CheckProductCode>

					<CheckRevisionNo></CheckRevisionNo>

					<CheckSerialNo></CheckSerialNo>

				</StateMachine>

				<Watchdog>

					<Divider0400 Enabled="false">2498</Divider0400>

					<PdiTime0410 Enabled="false">1000</PdiTime0410>

					<SmTime0420 Enabled="false">1000</SmTime0420>

				</Watchdog>

				<PdoSettings>

					<PdoAssign>1</PdoAssign>

					<PdoConfig>1</PdoConfig>

				</PdoSettings>

			</Settings>

			<AssociatedDevice>Device 4 (EL6631)</AssociatedDevice>

		</Slave>

		<AmsAddress>

			<AmsNetId>192.168.178.253.3.1</AmsNetId>

			<AmsPort>1005</AmsPort>

		</AmsAddress>

	</EtherCAT>

</TreeItem>

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[etherlab-users] Using Ethercatmaster with Beckhoff EK1100, EL6731, EL6631, EL6752

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