Hi Dirk
You made a mistake configuring the TxPdo's. You need to read the docs,
and maybe the ESI (BTW I couldn't find it from your link)
What is your configuration?
$ ethercat config
Have you tried
$ ethercat cstruct
as a starting point?
Does the drive require distributed clocks?
Richard
On 2021-03-02 19:04, Eibach, Dirk wrote:
I am trying to get a Estun EE-R00 IO-Module working. It works fine with an
Acontis EtherCAT master. After it has been operational on the Acontis master I
plug it to the Etherlab master. The PDO configurations looks allright:
root@rosie:/home/dirk# ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1608 ""
PDO entry 0x7080:02, 16 bit, ""
RxPDO 0x1609 ""
PDO entry 0x7090:02, 16 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6000:02, 16 bit, ""
TxPDO 0x1a01 ""
PDO entry 0x6010:02, 16 bit, ""
TxPDO 0x1a02 ""
PDO entry 0x6020:05, 16 bit, ""
PDO entry 0x6020:06, 16 bit, ""
PDO entry 0x6020:07, 16 bit, ""
PDO entry 0x6020:08, 16 bit, ""
This is exactly what I have configured in the Acontis master(and matches the
IO-modules that are installed), so thumbs up.
Then I try setting it to operational:
root@rosie:/home/dirk# ethercat state SAFEOP root@rosie:/home/dirk# dmesg -c [
8413.398250] EtherCAT DEBUG 0-0: Changing state from PREOP to SAFEOP.
[ 8413.398254] EtherCAT DEBUG 0-0: Configuring...
[ 8413.398880] EtherCAT DEBUG 0-0: Now in INIT.
[ 8413.398882] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 8413.399125] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 8413.399372] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 8413.399615] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 8413.399619] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 8413.399622] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
[ 8413.399858] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 8413.400773] EtherCAT DEBUG 0-0: Now in PREOP.
[ 8413.400775] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 8413.401020] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 2, Ctrl 0x64, En 1
[ 8413.401023] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size 6, Ctrl 0x20, En 1
[ 8413.402490] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused
state change (PREOP + ERROR).
[ 8413.402734] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input
configuration".
[ 8413.404203] EtherCAT 0-0: Acknowledged state PREOP.
I have no idea why this happens. Before I start throwing wireshark at this I
wanted to make sure I am not missing something basic. Ideas anybody?
You can download the ESI-file for the slave here:
https://cloud.cloos.de/sharing/op1jvp1q8
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