Hi erveryone,
I want to setup TwinSafe Logic Terminals, EL6900, EL2904 and EL1904.I've
created a Safety-Project with TwinCat3 and downloaded the safety-logic to the
EL6900. I use the default settings from TwinCat3. Now I want to implement it to
the etherlab-master.
The Default PDO-Mapping of the EL6900 - Terminal:
SM0: PhysAddr 0x1000, DefaultSize 256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize 256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 2, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "FSOE RxPDO-Map 001"
PDO entry 0x7000:01, 8 bit, "FSOE Command"
PDO entry 0x7001:01, 8 bit, "SubIndex 001"
PDO entry 0x7000:03, 16 bit, "FSOE CRC 001"
PDO entry 0x7000:02, 16 bit, "FSOE ConnID"
RxPDO 0x1601 "FSOE RxPDO-Map 002"
PDO entry 0x7010:01, 8 bit, "FSOE Command"
PDO entry 0x7011:01, 8 bit, "SubIndex 001"
PDO entry 0x7010:03, 16 bit, "FSOE CRC 001"
PDO entry 0x7010:02, 16 bit, "FSOE ConnID"
RxPDO 0x17f0 "DEVICE RxPDO-Map Standard In Vars"
PDO entry 0xf201:01, 1 bit, "SubIndex 001"
PDO entry 0xf201:02, 1 bit, "SubIndex 002"
PDO entry 0xf201:03, 1 bit, "SubIndex 003"
PDO entry 0xf201:04, 1 bit, "SubIndex 004"
PDO entry 0xf201:05, 1 bit, "SubIndex 005"
PDO entry 0xf201:06, 1 bit, "SubIndex 006"
PDO entry 0xf201:07, 1 bit, "SubIndex 007"
PDO entry 0xf201:08, 1 bit, "SubIndex 008"
RxPDO 0x17ff "DEVICE RxPDO-Map Control"
PDO entry 0xf200:01, 16 bit, "Control"
SM3: PhysAddr 0x1d00, DefaultSize 2, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 "FSOE TxPDO-Map 001"
PDO entry 0x6000:01, 8 bit, "FSOE Command"
PDO entry 0x6001:01, 8 bit, "SubIndex 001"
PDO entry 0x6000:03, 16 bit, "FSOE CRC 001"
PDO entry 0x6000:02, 16 bit, "FSOE ConnID"
TxPDO 0x1a01 "FSOE TxPDO-Map 002"
PDO entry 0x6010:01, 8 bit, "FSOE Command"
PDO entry 0x6011:01, 8 bit, "SubIndex 001"
PDO entry 0x6010:03, 16 bit, "FSOE CRC 001"
PDO entry 0x6010:02, 16 bit, "FSOE ConnID"
TxPDO 0x1bff "DEVICE TxPDO-Map Status"
PDO entry 0xf100:01, 3 bit, "Safety Project State"
PDO entry 0x0000:00, 4 bit, "Gap"
PDO entry 0xf100:08, 1 bit, "Login Active"
PDO entry 0xf100:09, 1 bit, "Input Size Mismatch"
PDO entry 0xf100:0a, 1 bit, "Output Size Mismatch"
PDO entry 0x0000:00, 4 bit, "Gap"
PDO entry 0xf100:0f, 1 bit, "TxPDO State"
PDO entry 0xf100:10, 1 bit, "TxPDO Toggle"
When I want to add PDOs, I get following warnings:
EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x7000:01/8 0x7001:01/8
0x7000:03/16 0x7000:02/16. Entries to map: 0x7000:01/8 0x7001:01/8 0x7000:03/16
0x7000:02/16 0x6000:01/48 0x6000:02/48
EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
Slave Info EL6900:
=== Master 0, Slave 1 ===
Alias: 100
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x1af43052
Revision number: 0x00130000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, delay measurement only
DC system time transmission delay: 145 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc
[ns]
0 EBUS up open yes 0 2874259272 0 145
1 EBUS up open yes 2 2874260152 880 145
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/244, TX: 0x10f4/244
Standard RX: 0x1000/256, TX: 0x1100/256
Supported protocols: CoE, FoE
General:
Group: Safety
Image name: EL69XX
Order number: EL6900
Device name: EL6900, TwinSAFE-PLC
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: no
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 190 mA
I see, that's not possible to assign or to configure PPOs, but what is the
right track to setup this system successfully?
The used PDOs are not unique!
Do I have to change settings in TwinCat3? I am not an Expert of this; I only
want to use the Safety-Editor to create the Safety - Logic!
In earlier posts here I found, that it is possible to implement Safety
Terminals in the etherlab master successfully.
I've already read, that the FSoE - Data (6 Bytes) between the Safety -
Terminals must be managed in the cycle_task of the Application; a little bit
tricky but make sense.
The last point: In the Safety - Logic I used one variable to set Com/Err -
Signal which is also linked to a PDO, I can't mapped!
Thanks in advance for attention and help.
Best regards
Uwe Stegemann
____________________________________
G+D Currency Technology
Uwe Stegemann
Banknote-Engineering - Printing Division / Abt. CTBN 214
Giesecke+Devrient Currency Technology GmbH,
Prinzregentenstraße 159, D-81677 Munich, Germany
T +49 89 4119-2321 F +49 89 4119-1446
mailto:uwe.stegem...@gi-de.com
http://www.gi-de.com<http://www.gi-de.com/>
www.gi-de.com/currency-technology<https://www.gi-de.com/currency-technology/>
[Cash Matters] <http://www.cashmatters.org/>
Geschäftsführer: Dr. Wolfram Seidemann (Vorsitzender, CEO), Guido Koller (CFO),
Wolfgang Kneilmann, Bernd Kümmerle
Gesellschaftssitz: München, Handelsregister des AG München, HRB 148256
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