Hello Etherlab experts, I can't register a PDO entry at index 6000:11 that the 'ethercat cstruct' command tells me should be possible for a Beckhoff EL3356-0010:
/* Master 0, Slave 2, "EL3356-0010"
* Vendor ID: 0x00000002
* Product code: 0x0d1c3052
* Revision number: 0x0013000a
*/
static ec_pdo_entry_info_t EL3356_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Start calibration */
{0x7000, 0x02, 1}, /* Disable calibration */
{0x7000, 0x03, 1}, /* Input freeze */
{0x7000, 0x04, 1}, /* Sample mode */
{0x7000, 0x05, 1}, /* Tare */
{0x0000, 0x00, 11}, /* Gap */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x02, 1}, /* Overrange */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x04, 1}, /* Data invalid */
{0x0000, 0x00, 2}, /* Gap */
{0x6000, 0x07, 1}, /* Error */
{0x6000, 0x08, 1}, /* Calibration in progress */
{0x6000, 0x09, 1}, /* Steady state */
{0x0000, 0x00, 4}, /* Gap */
{0x1c32, 0x20, 1}, /* Sync error */
{0x0000, 0x00, 1}, /* Gap */
{0x1800, 0x09, 1},
{0x6000, 0x11, 32}, /* Value */
};
static ec_pdo_info_t EL3356_pdos[] = {
{0x1600, 6, EL3356_pdo_entries + 0}, /* RMB RxPDO-Map Control */
{0x1a00, 12, EL3356_pdo_entries + 6}, /* RMB TxPDO-Map Status */
{0x1a01, 1, EL3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (INT32) */
};
static ec_sync_info_t EL3356_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, EL3356_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, EL3356_pdos + 1, EC_WD_DISABLE},
{0xff}
};
I use the following code to try to register it:
if (!(el3356_ana_in_sc = ecrt_master_slave_config(master, EL3356Pos,
Beckhoff_EL3356))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Attempting to register the pain-in-the-ass PDO entry\n");
off_el3356_value = ecrt_slave_config_reg_pdo_entry(el3356_ana_in_sc,
0x6000, 11, domain1, NULL);
if (off_el3356_value < 0)
fprintf(stderr, "Failed to register PDO entry 0x6000 0x11.");
return -1;
and I get:
Failed to register PDO entry: No such file or directory
When I try 0x6000:02 I get:
PDO entry 0x6000:02 does not byte-align in config 0:2.
I have triple checked to make sure all fields in my code snippet are
correct. How is it still failing to register? Could my SII be corrupted?
I have attached full code to this email.
I have also attached the SII.bin and xml output from using etherlab
sii_read and xml commands
Thanks for the help!
-Will
/*****************************************************************************
*
* $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
*
* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/****************************************************************************/
#include "ecrt.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *el3356_ana_in_sc = NULL;
static ec_slave_config_state_t el3356_ana_in_sc_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
#define EK1100Pos 0, 0
#define EL9510Pos 0, 1
#define EL3356Pos 0, 2
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL9510 0x00000002, 0x25263052
#define Beckhoff_EL3356 0x00000002, 0x0d1c3052
// offsets for PDO entries
static unsigned int off_el3356_value;
static unsigned int off_el9510_bit;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{EL9510Pos, Beckhoff_EL9510, 0x6000, 1, &off_el9510_bit},
// {EL3356Pos, Beckhoff_EL3356, 0x6000, 11, &off_el3356_value},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if CONFIGURE_PDOS
/* Master 0, Slave 1, "EL9510"
* Vendor ID: 0x00000002
* Product code: 0x25263052
* Revision number: 0x00100000
*/
static ec_pdo_entry_info_t EL9510_pdo_entries[] = {
{0x6000, 0x01, 1}, /* Power OK */
{0x6000, 0x02, 1}, /* Overload */
};
static ec_pdo_info_t EL9510_pdos[] = {
{0x1a00, 2, EL9510_pdo_entries + 0}, /* Status Uo */
};
static ec_sync_info_t EL9510_syncs[] = {
{0, EC_DIR_INPUT, 1, EL9510_pdos + 0, EC_WD_DISABLE},
{0xff}
};
/* Master 0, Slave 2, "EL3356-0010"
* Vendor ID: 0x00000002
* Product code: 0x0d1c3052
* Revision number: 0x0013000a
*/
static ec_pdo_entry_info_t EL3356_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Start calibration */
{0x7000, 0x02, 1}, /* Disable calibration */
{0x7000, 0x03, 1}, /* Input freeze */
{0x7000, 0x04, 1}, /* Sample mode */
{0x7000, 0x05, 1}, /* Tare */
{0x0000, 0x00, 11}, /* Gap */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x02, 1}, /* Overrange */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x04, 1}, /* Data invalid */
{0x0000, 0x00, 2}, /* Gap */
{0x6000, 0x07, 1}, /* Error */
{0x6000, 0x08, 1}, /* Calibration in progress */
{0x6000, 0x09, 1}, /* Steady state */
{0x0000, 0x00, 4}, /* Gap */
{0x1c32, 0x20, 1}, /* Sync error */
{0x0000, 0x00, 1}, /* Gap */
{0x1800, 0x09, 1},
{0x6000, 0x11, 32}, /* Value */
};
static ec_pdo_info_t EL3356_pdos[] = {
{0x1600, 6, EL3356_pdo_entries + 0}, /* RMB RxPDO-Map Control */
{0x1a00, 12, EL3356_pdo_entries + 6}, /* RMB TxPDO-Map Status */
{0x1a01, 1, EL3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (INT32) */
};
static ec_sync_info_t EL3356_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, EL3356_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, EL3356_pdos + 1, EC_WD_DISABLE},
{0xff}
};
#endif
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(el3356_ana_in_sc, &s);
if (s.al_state != el3356_ana_in_sc_state.al_state)
printf("AnaIn: State 0x%02X.\n", s.al_state);
if (s.online != el3356_ana_in_sc_state.online)
printf("AnaIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != el3356_ana_in_sc_state.operational)
printf("AnaIn: %soperational.\n",
s.operational ? "" : "Not ");
el3356_ana_in_sc_state = s;
}
/****************************************************************************/
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// calculate new process data
blink = !blink;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
}
#if 1
// read process data
if(!counter){
printf("EL9510: POWER_OK=%u\n", EC_READ_BIT(domain1_pd + off_el9510_bit,0));
printf("EL3356: VALUE=%u\n", EC_READ_U32(domain1_pd + off_el3356_value));
// printf(" EL3356: value %u\n", EC_READ_U32(domain1_pd + off_el3356_value));
}
#endif
#if 0
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
#endif
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
#if CONFIGURE_PDOS
if (!(sc = ecrt_master_slave_config(
master, EL9510Pos, Beckhoff_EL9510))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
if (ecrt_slave_config_pdos(sc, EC_END, EL9510_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (!(el3356_ana_in_sc = ecrt_master_slave_config(
master, EL3356Pos, Beckhoff_EL3356))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Attempting to register the pain-in-the-ass PDO entry\n");
off_el3356_value = ecrt_slave_config_reg_pdo_entry(el3356_ana_in_sc,
0x6000, 2, domain1, NULL);
if (off_el3356_value < 0)
fprintf(stderr, "Failed to register PDO entry.");
return -1;
// if (ecrt_slave_config_pdos(el3356_ana_in_sc, EC_END, EL3356_syncs)) {
// fprintf(stderr, "Failed to configure PDOs.\n");
// return -1;
// }
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, EK1100Pos, Beckhoff_EK1100);
if (!sc)
return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
/****************************************************************************/
SII.bin
Description: Binary data
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 2 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x0d1c3052" RevisionNo="#x0013000a">EL3356-0010</Type>
<Name><![CDATA[EL3356-0010 1K . Ana. Eingang, Widerstandsbrücke, 24bit, hochge]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x24" DefaultSize="2" />
<Sm Enable="1" StartAddress="#x1180" ControlByte="#x20" DefaultSize="6" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>RMB RxPDO-Map Control</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Start calibration</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Disable calibration</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>3</SubIndex>
<BitLen>1</BitLen>
<Name>Input freeze</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>Sample mode</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>Tara</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>11</BitLen>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>RMB TxPDO-Map Status</Name>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Overrange</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>Data invalid</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>2</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>Error</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>8</SubIndex>
<BitLen>1</BitLen>
<Name>Calibration in progress</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>Steady state</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>4</BitLen>
</Entry>
<Entry>
<Index>#x1c32</Index>
<SubIndex>32</SubIndex>
<BitLen>1</BitLen>
<Name>Sync error</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x1800</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name>RMB TxPDO-Map Value (INT32)</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>17</SubIndex>
<BitLen>32</BitLen>
<Name>Value</Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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