Hi, I'm trying to write a driver for EL7041-1000 for LinuxCNC, I'm getting in dmesg:
[19022.235581] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [19022.239594] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration". The PDO mapping source code of the driver is here: https://github.com/koppi/linuxcnc-ethercat/blob/add-el7041-1000/src/lcec_el7041_1000.c#L146-L228 Can't find the root cause and the drive refuses to go into OP: $ ethercat slaves 0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus) 1 0:1 OP + EL2004 4K. Dig. Ausgang 24V, 0.5A 2 0:2 OP + EL1004 4K. Dig. Eingang 24V, 3ms 3 0:3 PREOP E EL7041-1000 1K. Schrittmotor-Endstufe (50V, 5A, standard) For reference: $ ethercat -p3 cstruct /* Master 0, Slave 3, "EL7041-1000" * Vendor ID: 0x00000002 * Product code: 0x1b813052 * Revision number: 0x001403e8 */ ec_pdo_entry_info_t slave_3_pdo_entries[] = { {0x0000, 0x00, 1}, {0x7000, 0x02, 1}, {0x7000, 0x03, 1}, {0x7000, 0x04, 1}, {0x0000, 0x00, 4}, {0x0000, 0x00, 8}, {0x7000, 0x11, 16}, {0x7020, 0x01, 1}, {0x7020, 0x02, 1}, {0x7020, 0x03, 1}, {0x0000, 0x00, 5}, {0x0000, 0x00, 8}, {0x7020, 0x21, 16}, {0x0000, 0x00, 1}, {0x6000, 0x02, 1}, {0x6000, 0x03, 1}, {0x6000, 0x04, 1}, {0x6000, 0x05, 1}, {0x0000, 0x00, 2}, {0x6000, 0x08, 1}, {0x6000, 0x09, 1}, {0x6000, 0x0a, 1}, {0x0000, 0x00, 1}, {0x0000, 0x00, 1}, {0x6000, 0x0d, 1}, {0x1c32, 0x20, 1}, {0x0000, 0x00, 1}, {0x1800, 0x09, 1}, {0x6000, 0x11, 16}, {0x6000, 0x12, 16}, {0x6020, 0x01, 1}, {0x6020, 0x02, 1}, {0x6020, 0x03, 1}, {0x6020, 0x04, 1}, {0x6020, 0x05, 1}, {0x6020, 0x06, 1}, {0x6020, 0x07, 1}, {0x0000, 0x00, 1}, {0x0000, 0x00, 3}, {0x6020, 0x0c, 1}, {0x6020, 0x0d, 1}, {0x1c32, 0x20, 1}, {0x0000, 0x00, 1}, {0x1806, 0x09, 1}, {0x6020, 0x11, 16}, {0x6020, 0x12, 16}, }; ec_pdo_info_t slave_3_pdos[] = { {0x1600, 7, slave_3_pdo_entries + 0}, /* ENC RxPDO-Map Control compact */ {0x1604, 5, slave_3_pdo_entries + 7}, /* STM RxPDO-Map Velocity */ {0x1606, 1, slave_3_pdo_entries + 12}, {0x1a00, 17, slave_3_pdo_entries + 13}, /* ENC TxPDO-Map Status compact */ {0x1a06, 14, slave_3_pdo_entries + 30}, {0x1a07, 2, slave_3_pdo_entries + 44}, }; ec_sync_info_t slave_3_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 3, slave_3_pdos + 0, EC_WD_DISABLE}, {3, EC_DIR_INPUT, 3, slave_3_pdos + 3, EC_WD_DISABLE}, {0xff} }; _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
