Hi Matthias,
Thank you for the tip. I'm using ecrt_slave_config_pdos for the
configuration. To use domains and to get the pdo data offset, I'm using
ecrt_slave_config_reg_pdo_entry. I also happen to configure the outputs
first on this slave. From now on I'll make sure the outputs are
configured first.
I noticed I had another problem though. One of the devices on the bus
has both output and input data. But I noticed I used the read domain for
both outputs and inputs by mistake. It's been a few years since I wrote
that code. So it took me a while to figure out the problem.
Best regards,
Oguz.
On 2020-07-08 3:21 PM, Matthias Bartsch wrote:
Hi Oguz,
I got the interface running. I made a test program from the scratch and it was
working. The difference was that in my test code I had configured the Output
domain first and after the input domain.
When I do like this it's working.
Please check if you configure the output domain first. This was what had resolved
my problem with the B&R slave (Hilscher).
My code:
if (uiGetDomainEntriesOutput() > 0)
{
if (0 != ecrt_domain_reg_pdo_entry_list(m_po_domainOutput,
m_po_domainOutput_regs))
{
PostMessage(CMessages::MS_ERROR, eMsg_RegisterDomainPDOsFailed, 1);
return false;
}
}
if (uiGetDomainEntriesInput() > 0)
{
if (0 != ecrt_domain_reg_pdo_entry_list(m_po_domainInput,
m_po_domainInput_regs ))
{
PostMessage(CMessages::MS_ERROR, eMsg_RegisterDomainPDOsFailed, 0);
return false;
}
}
Best regards
Matthias
-----Ursprüngliche Nachricht-----
Von: Bilko AS, Oguz Dilmac <odil...@bilko-automation.com>
Gesendet: Dienstag, 7. Juli 2020 18:00
An: Matthias Bartsch <mbart...@aradex.com>
Cc: Gavin Lambert <gavin.lamb...@tomra.com>; 'etherlab-users@etherlab.org'
<etherlab-users@etherlab.org>
Betreff: Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4 EtherCAT
slave B&R X20 IF 10G3
Hi,
We have a similar problem. Did you succeeded to use the BNR device with
Hilscher interface? If so how? :)
We are trying to use IPG laser resonator. It has a Hilscher EtherCAT interface.
We get the PDO configuration using "ethercat cstruct" command. The device goes to OP
mode. It has a debug interface and we see that the sent command data is received by the device. But
all the response data in the process data is always 0. We can read the related objects with SDO
using "ethercat upload" command. But we can't read them with process data.
We tried to use two domains but nothing changed. We also tried to configure the
PDO mapping with objects 0x1c12, 0x1c13, 0x1600 and 0x1A00 as the configuration
we got from cstruct command. But it gave an error complaining that these
objects are read-only. Also it didn't go to OP mode.
But twincat works. We can read response data on free run.
Do you have any suggestion?
Best regards,
Oguz.
On 2019-02-21 1:46 AM, Gavin Lambert wrote:
Note that there are two different kinds of PDO reconfiguration:
1. Configuration of the PDO Assign objects, to specify which PDO objects are
included in each Sync Manager.
2. Configuration of the PDO objects themselves, to specify which individual
data elements are included in each PDO.
Some slaves support neither. Most slaves (where they support CoE at all)
support #1 only. Very few support #2.
Etherlab handles both through the same ecrt_slave_config_pdos configuration
call; the distinction between the two is simply that for slaves that don't
support #2 you have to be careful to specify the layout of the PDO objects
exactly identical to what the slave itself specifies (including order and
padding). Etherlab will log a warning when it notices that the slave doesn't
support altering the configuration but as long as the configuration matches
then it doesn't need to, and overall configuration will proceed successfully.
If it works with TwinCAT then it is unlikely that the slave is buggy (although
it is possible that there is some important difference between the SII XML and
SII EEPROM contents); it is more likely that your configuration code has an
error.
With your app not running, try hard-rebooting the slave and letting Etherlab re-detect it
(this is important to clear any configuration set in error), then run the "ethercat
cstruct" command to get the code for the slave's default configuration, then compare
this with your existing code and with your desired configuration.
You can also use the "ethercat download" command to manually assign new values to the PDO Assign
objects to match your desired configuration. Verify your selection with "ethercat pdos -v", and
then use "ethercat cstruct" to get the corresponding code to put into your application to select
the same configuration in the future.
Gavin Lambert
Senior Software Developer
COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland
1061 | New Zealand
Switchboard: +49 2630 96520 | https://www.tomra.com
The information contained in this communication and any attachment is
confidential and may be legally privileged. It should only be read by the
person(s) to whom it is addressed. If you have received this communication in
error, please notify the sender and delete the communication.
-----Original Message-----
From: Matthias Bartsch
Sent: Thursday, 21 February 2019 06:02
To: 'etherlab-users@etherlab.org' <etherlab-users@etherlab.org>
Subject: Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4
EtherCAT slave B&R X20 IF 10G3
Hello Gavin,
thank you very much for your answer, The slave doesn't support the
reconfiguration of the PDOs. I have tried it anyway but the slave
gives an error. I tried also the configure only the sync managers but
it didn't resolve the problem. I also use different input and output
domains as the slave doesn't support LRW command.
I assume the slave implementation is buggy but as it's working with
Twincat it's difficult to convince the supplier of the module.
Best regards
Matthias
-----Ursprüngliche Nachricht-----
Von: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] Im
Auftrag von etherlab-users-requ...@etherlab.org
Gesendet: Montag, 18. Februar 2019 23:25
An: etherlab-users@etherlab.org
Betreff: etherlab-users Digest, Vol 140, Issue 4
Send etherlab-users mailing list submissions to
etherlab-users@etherlab.org
To subscribe or unsubscribe via the World Wide Web, visit
https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F
%2Flists.etherlab.org%2Fmailman%2Flistinfo%2Fetherlab-
users&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8
d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0
%7C636862789071638451&sdata=UJOWUhHX2rg8ZuZQFHmJa8lbkUTMo
1vqHDre%2FX8mz%2F0%3D&reserved=0
or, via email, send a message with subject or body 'help' to
etherlab-users-requ...@etherlab.org
You can reach the person managing the list at
etherlab-users-ow...@etherlab.org
When replying, please edit your Subject line so it is more specific than "Re:
Contents of etherlab-users digest..."
Today's Topics:
1. Re: EtherCAT slave B&R X20 IF 10G3 goes into operatonal mode
but doesn't update the process image (Gavin Lambert)
---------------------------------------------------------------------
-
Message: 1
Date: Mon, 18 Feb 2019 22:24:54 +0000
From: Gavin Lambert <gavin.lamb...@tomra.com>
To: Matthias Bartsch <mbart...@aradex.com>,
"'etherlab-users@etherlab.org'" <etherlab-users@etherlab.org>
Subject: Re: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into
operatonal mode but doesn't update the process image
Message-ID:
<AM4PR0302MB28207C8409F8484113478363E8630@AM4PR0302MB2
820.eurprd03.prod.outlook.com>
Content-Type: text/plain; charset="us-ascii"
I'm not familiar with that specific slave, but if a slave has
reconfigurable PDOs then you may be required to actually configure
them before you can successfully communicate with it.
This requires calling ecrt_slave_config_pdos with the appropriate PDO
definitions, which must be compatible with some configuration that
the slave supports (check the syslog when you activate the master to
see if there are any errors occurring during configuration, possibly with "ethercat
debug 1"
active before running your app). See the example code included with
Etherlab.
(If you don't call this, then Etherlab assumes the slave's default
PDO layout, which might be empty for some slaves. If you do call it
with invalid arguments, then depending on the slave it may be left
with its original configuration, an empty configuration, or some
subset of your intended
configuration.)
Some slaves may also require specific SDO setup before entering OP
state - you can use ecrt_slave_config_sdo* functions to register
these. (Note that you should not use this to configure the PDO
Config/Assign objects; that's what the previous function takes care
of for you.)
The slave device's manual should explain the supported PDO layouts
and other configuration options.
Gavin Lambert
Senior Software Developer
[cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png]
[cid:compacicon_82e8a8c7-154a-4a32-9720-
a5badb6258e0.png]<https://emea01.safelinks.protection.outlook.com/?ur
l= http%3A%2F%2Fwww.compacsort.com&data=02%7C01%7Cgavin.lamb
ert%40tomra.com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd
143008a37cfeba8ad5898%7C0%7C0%7C636862789071638451&sdata=Xsj
PB0amlFGKqLpQQCpfMQ9d2%2BPYGHmWYSwslQ7FCmg%3D&reserve
d=0> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png]
<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fw
ww.facebook.com%2FCompacsort&data=02%7C01%7Cgavin.lambert%4
0tomra.com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd14300
8a37cfeba8ad5898%7C0%7C0%7C636862789071638451&sdata=OIsyEcPY
pmZs1mgdimsqGvK46Bk1RIa8YSIrxf%2FCiFs%3D&reserved=0>
[cid:linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png]
<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fw
ww.linkedin.com%2Fcompany%2Fcompac-sorting-
equipment%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7C51
1fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898
%7C0%7C0%7C636862789071638451&sdata=cl1zYOKAxYWP7FK6%2BAIO
YKZYlY8WB9f9tn%2FDQygTidw%3D&reserved=0>
[cid:youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png]
<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fv
i meo.com%2Fcompacsort&data=02%7C01%7Cgavin.lambert%40tomra.c
om%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeb
a8ad5898%7C0%7C0%7C636862789071638451&sdata=chKSJMVz84bXTa
PsGRfdijsV90U0MOhM2DWOUJ3r9Hw%3D&reserved=0>
[cid:twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png]
<https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Ft
witter.com%2Fcompacsort&data=02%7C01%7Cgavin.lambert%40tomra.
com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfe
ba8ad5898%7C0%7C0%7C636862789071638451&sdata=hOfcZOX7xZpIv8
%2FhZuz9odVtpR%2Fcs5ZI0HTMA6Mkn1E%3D&reserved=0>
COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland
1061 | New Zealand
Switchboard: +64 96 34 00 88 |
tomra.com<https://emea01.safelinks.protection.outlook.com/?url=http%3
A %2F%2Fwww.tomra.com&data=02%7C01%7Cgavin.lambert%40tomra.c
om%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeb
a8ad5898%7C0%7C0%7C636862789071638451&sdata=aZoHckiYH38kcwb
Bpf8nuzkwIkY%2BY%2BilDRWxmmkDTFc%3D&reserved=0>
The information contained in this communication and any attachment is
confidential and may be legally privileged. It should only be read by
the
person(s) to whom it is addressed. If you have received this
communication in error, please notify the sender and delete the communication.
From: etherlab-users <etherlab-users-boun...@etherlab.org> On Behalf
Of Matthias Bartsch
Sent: Monday, 18 February 2019 23:47
To: 'etherlab-users@etherlab.org' <etherlab-users@etherlab.org>
Subject: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into
operatonal mode but doesn't update the process image
Hello @all!
I'm trying to use a "B&R X20 IF 10G3" EtherCAT interface device with
the IgH
1.5.2 EtherCAT master and Gavin's patch set 20171102.
The B&R device use the Hilscher EtherCAT slave implementation.
The configuration and startup of the device seems OK and the device
is going into operational state. But the working counter for the
device isn't increased and no cyclic (PDO) communication is possible.
Access via SDO in preoperational state works.
I have checked the communication with TwinCAT and it's working.
TwinCAT doesn't set any special SDO at startup and the addresses of
the sync managers seems to be the same as the IgH stack uses.
I have also created a new SII eeprom image from the slaves ESI file
but no success.
Has somebody faced already a similar situation?
I have logged the startup sequence with wireshark and itlooks like
that TwinCAT configures every parameter each time when it starts but
the IgH stack doesn't do that (maybe because the settings from the
SII memory are the same used for the communication?). I'm not so
familiar in interpreting the wireshark log so maybe somebody can give
me an advice what's maybe the problem.
Best regards
Matthias
-------------- next part -------------- An HTML attachment was
scrubbed...
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment.html&
data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8d4ad7c95a0
8d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C636862
789071638451&sdata=l7xBFeZw71weZ37XuO5jawNav56G1ylor1z9NG2d
vvo%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png
Type: image/png
Size: 11438 bytes
Desc: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment.png&d
ata=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8d4ad7c95a08
d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C6368627
89071638451&sdata=MLjaGoiwKFEKYaWzLLk27pZvp4niRuyfY%2FIEl92hE
Wo%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png
Type: image/png
Size: 1629 bytes
Desc: compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment-
0001.png&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad44
7e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%
7C0%7C636862789071638451&sdata=luhaV3WMuMNdZS4NJtsoCX21qV
xL3nvLCmhrVyUqAPk%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png
Type: image/png
Size: 1750 bytes
Desc: facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment-
0002.png&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad44
7e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%
7C0%7C636862789071638451&sdata=3mPHTMhlod5bYe9ANBL0xTiB%2F
P%2F2WPoKH1Ij9XGTq9s%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png
Type: image/png
Size: 1855 bytes
Desc: linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment-
0003.png&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad44
7e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%
7C0%7C636862789071638451&sdata=BW0H1VSZmZXFu79ZungtjGrszIxYI
trGC7uYENUHOKA%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png
Type: image/png
Size: 1970 bytes
Desc: youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment-
0004.png&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad44
7e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%
7C0%7C636862789071638451&sdata=QjRrF5TyVE3k2Wa9%2FZZPAWW2
gll2IYvHN6IkvJiifmg%3D&reserved=0>
-------------- next part -------------- A non-text attachment was
scrubbed...
Name: twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png
Type: image/png
Size: 20278 bytes
Desc: twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png
URL:
<https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fli
st
s.etherlab.org%2Fpipermail%2Fetherlab-
users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment-
0005.png&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad44
7e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%
7C0%7C636862789071648460&sdata=dj9EbvQJa66Mmic2qDXy8ymmZW
qssV9sq4YaSEj1gJE%3D&reserved=0>
------------------------------
Subject: Digest Footer
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Flists.
etherlab.org%2Fmailman%2Flistinfo%2Fetherlab-
users&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8
d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0
%7C636862789071648460&sdata=uiewTcdeQDseCcLaoZng5bg2sKIPV8M
Adt3yEAhWAR8%3D&reserved=0
------------------------------
End of etherlab-users Digest, Vol 140, Issue 4
**********************************************
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Flists.
etherlab.org%2Fmailman%2Flistinfo%2Fetherlab-
users&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8
d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0
%7C636862789071648460&sdata=uiewTcdeQDseCcLaoZng5bg2sKIPV8M
Adt3yEAhWAR8%3D&reserved=0
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users
--
Oguz Dilmac
ARGE Bolumu
Bilko AS, R&D Department
====================================
Perpa Ticaret Merkezi B Blok Kat 11 Nr. 1740
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 220 07 40 Fax : +90 212 210 47 01
e-mail : odil...@bilko-automation.com
web site : http://www.bilko-automation.com
--
Oguz Dilmac
ARGE Bolumu
Bilko AS, R&D Department
====================================
Perpa Ticaret Merkezi B Blok Kat 11 Nr. 1740
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 220 07 40 Fax : +90 212 210 47 01
e-mail : odil...@bilko-automation.com
web site : http://www.bilko-automation.com
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users
