Hi Sebastien,
Thanks for your reply! The output of the cstruct command is as follows:
ethercat cstruct -p0
/* Master 0, Slave 0, "LeineAndLinde Encoder"
* Vendor ID: 0x00000194
* Product code: 0x00000600
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6004, 0x00, 32}, /* SubIndex 000 */
{0x1001, 0x00, 16}, /* SubIndex 000 */
{0x6503, 0x00, 16}, /* SubIndex 000 */
{0x6505, 0x00, 16}, /* SubIndex 000 */
{0x2060, 0x00, 32}, /* SubIndex 000 */
{0x6030, 0x00, 16}, /* SubIndex 000 */
{0x6040, 0x00, 16}, /* SubIndex 000 */
{0x2100, 0x00, 16}, /* SubIndex 000 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1a00, 8, slave_0_pdo_entries + 0}, /* Configurable TxPDO map with max 8
PDO */
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
{0xff}
};
Greetings,
Gabriel
-----Original Message-----
From: Etherlab-users <etherlab-users-boun...@etherlab.org> On Behalf Of
Sebastien BLANCHET
Sent: Tuesday, February 23, 2021 6:50 PM
To: etherlab-users@etherlab.org
Subject: Re: [Etherlab-users] Communicate with slave via terminal
Hi,
Could you specify the exact model of your slave ?
Could you post the output of
"ethercat cstruct -p0"
---
Sebastien BLANCHET
Le 23/02/2021 à 18:24, Gabriel Forstner a écrit :
Dear etherlab-users,
I am quite new to the use of ethercat in linux and struggling to get a
particular slave from state PREOP to OP, and to read values of this
slave. I have found some commends on this topic already, where it is
suggested to do a “reg_write” at “0x500 -tbool 1”. Other suggested to
generate a SII file out of an XML file with TwinCAT and to download it
to the slave. I did both but without success. The slave I am
struggling with is an absolute encoder, and the problem might be
related to the memory architecture of the EEPROM.
I am using “ethercat version IgH EtherCAT master 1.5.2” on “Ubuntu
20.04.2 LTS” with “uname -r 5.4.84-rt47” kernel.
First, I am wondering if it is required to have an application in
order to communicate with slaves or is this also possible via the
terminal. I can do the following in the terminal:
* When I enter “sudo ethercat slaves” all connected slaves a listed,
so I assume that the bus topology is correctly recognized.
* I can list all sdos with “sudo ethercat sdos -p0”, e.g., SDO 0x6004,
"Position value" 0x6004:00, r-r-r-, uint32, 32 bit, "SubIndex 000".
* I *do not* receive the correct position values, e.g., when I read
the position sdo with “sudo ethercat upload -p0 -tuint32 0x6004 0” I
receive “0x00000000 0”. When I enter ”dmesg” I receive three error
massages: “SDO download 0x6004 (4 bytes) aborted.”, “SDO abort
message 0x06010000: "Unsupported access to an object".”, and “Failed
to process SDO request.”. However, a meaningful value is displayed
in TwinCAT.
* I *cannot* change the state of the slaves to OP via the terminal.
Second, I am wondering if the reg_write can be done in the terminal
(which appears not work in my case):
1. Change state “sudo ethercat state -p0 INIT” works.
2. Do “sudo ethercat -p0 reg_write 0x500 -tbool 1” appear to work.
3. Change state “sudo ethercat state -p0 PREOP” works.
4. Change state “sudo ethercat state -p0 SAFEOP” *does not work*. When
I enter ”dmesg” I receive two error massages: “Failed to set SAFEOP
state, slave refused state change (PREOP + ERROR)” and “AL status
message 0x001E: "Invalid input configuration”.”.
I would appreciate it a lot if somebody could answer me my question!
Kind regards,
Gabriel
______________________________________________________________________
_______
*Gabriel Forstner*, /Senior Software and Automation Engineer /
CorPower Ocean *
*Västberga Allé 60, 126 30 Hägersten
M: +46 73 155 88 88
www.corpowerocean.com<http://www.corpowerocean.com/>
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