My config matches output of 'ethercat cstruct' with one difference. Is it
normally ok to zero out receive pdo's if I don't plan to using those? I've
written an empty SM2 in place of what 'ethercat cstruct' populates with
defaults. My syncs appear as:
ec_sync_info_t slave_0_syncs[] = {
{2, EC_DIR_OUTPUT, 0, 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 1, 0x8dd315021341, EC_WD_DISABLE},
{255, EC_DIR_INVALID, 0, 0, EC_WD_DEFAULT},
};
On Wed, Jun 3, 2020 at 7:26 PM Gavin Lambert <gavin.lamb...@tomra.com>
wrote:
> Typically, yes.
>
>
>
> What you should try is this:
>
> 1. Ensure that your master app is not running.
> 2. Physically reboot the slave (eg. power cycle).
> 3. Run “ethercat cstruct -p0” (substitute the position of your actual
> slave if different)
> 4. Compare the output to the code in your master app.
>
>
>
> This will tell you the default PDO layout of the slave, which is typically
> what you want to use in your master app – unless you can prove otherwise,
> assume anything different in your code is a bug.
>
>
>
> In some cases you may want to use some non-default PDOs, and there are
> ways to get the cstruct output for that as well, but typically slaves will
> only support a limited set of alternative configurations.
>
>
>
>
> *Gavin Lambert*Senior Software Developer
>
>
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> *From:* William Zumwalt
> *Sent:* Thursday, 4 June 2020 12:15
> *To:* etherlab-users@etherlab.org
> *Subject:* [etherlab-users] Invalid output configuration
>
>
>
> I getting "Invalid output configuration" when starting up a slave. Can
> anyone help narrow this down, to what this might refer to?
>
> [ 4101.757740] EtherCAT DEBUG 0-main-0: PREOP -> PREOP + ERROR.
> [ 4101.757751] EtherCAT ERROR 0-main-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> [ 4101.765760] EtherCAT 0: Slave states on main device: PREOP + ERROR.
> [ 4101.765769] EtherCAT ERROR 0-main-0: AL status message 0x001D: "Invalid
> output configuration".
>
> Could this be configuration issue with the sync EC_DIR_OUTPUT?
>
>
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