Hallo all,
I'm testing a setup with 3 modules, EL1018 (input) EL2008 (output) and a
EL5151-0021 (encoder).
After succesfull configuring PDO using information gathered with
"ethercat cstruct" command (see pdo_entry struct below) ,
when I write to digital output with
EC_WRITE_U8(domain1_pd + off_dig_out, outval);
it doesn't work!
meanwhile EL1018 end El5151 work correctly.
If I leave EL5151 unconfigured (USE_ENC21 undefined) EL2008 works
properly.
What I noted is in the output of "ethercat domains --verbose" the
digital output slave has size 14
while it should be equal to 1
Can anyone help me?
Thanks
Mirco
#ethercat domains --verbose
Domain0: LogBaseAddr 0x00000000, Size 47, WorkingCounter 4/6
SlaveConfig 0:1, SM2 (Output), LogAddr 0x00000000, Size 14
00 00 00 00 00 00 00 00 00 00 00 00 00 00
SlaveConfig 0:1, SM3 ( Input), LogAddr 0x0000000e, Size 18
00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00
SlaveConfig 0:2, SM0 ( Input), LogAddr 0x00000020, Size 1
00
SlaveConfig 0:3, SM2 (Output), LogAddr 0x00000021, Size 14
20 00 00 00 00 00 00 00 00 00 00 00 00 00
#ethercat domains --verbose
Domain0: LogBaseAddr 0x00000000, Size 2, WorkingCounter 3/3
SlaveConfig 0:2, SM0 ( Input), LogAddr 0x00000000, Size 1
00
SlaveConfig 0:3, SM0 (Output), LogAddr 0x00000001, Size 1
00
const static ec_pdo_entry_reg_t domain1_regs[] = {
#ifdef USE_ENC21
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x1,
&offw_5151_ctrl, &bit_enable_latchC}, //EC_WRITE_BIT(DATA, POS, VAL)
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x2,
&offw_5151_ctrl, &bit_enable_exTlatch_pos},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x3,
&offw_5151_ctrl, &bit_set_counter},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x4,
&offw_5151_ctrl, &bit_enable_extlatch_neg},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x5,
&offw_5151_ctrl, &bit_set_output},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x6,
&offw_5151_ctrl, &bit_enable_output_func},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x7,
&offw_5151_ctrl, &bit_enable_measure},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x8,
&offw_5151_ctrl, &bit_set_counter_on_latchC},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x11,
&offw_5151_set_counter_value},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x12,
&offw_5151_set_on_thr_value},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x7000, 0x13,
&offw_5151_set_off_thr_value},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x1,
&offr_5151_status1, &bit_latchC_valid},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x2,
&offr_5151_status1, &bit_exTlatch_valid},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x3,
&offr_5151_status1, &bit_set_counter_done},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6001, 0x2,
&offr_5151_status3, &bit_measurement_done},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x9,
&offr_5151_status2, &bit_A_status},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xa,
&offr_5151_status2, &bit_B_status},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xb,
&offr_5151_status2, &bit_C_status},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6001, 0x1,
&offr_5151_status4, &bit_output_status},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xd,
&offr_5151_status2, &bit_exTlatch_status},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0xe,
&offr_5151_status5, &bit_counter_high},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x10,
&offr_5151_status6, &bit_txpod_toggle},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x11,
&offr_5151_couter_value},
{EncTrgSlavePos, Beckhoff_EL5151_0021, 0x6000, 0x12,
&offr_5151_latch_value},
#endif
{DigInSlavePos, Beckhoff_EL1018, 0x6000, 1, &off_dig_in,NULL},
{DigOutSlavePos, Beckhoff_EL2008, 0x7000, 1, &off_dig_out,NULL},
{}
};
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