Hi all,
Any ideas on how to configure the pdos of a MTS Temposonics slave? A brand new
linear position sensor that doesn't seem to have any default configuration.
Shouldn't it be possible to configure it from the command line?
When I try I get:
SDO transfer aborted with code 0x08000000: General error (see details below),
why?
Some information about the system
ethercat slaves
Master0
0 1402:0 PREOP + ifm IO-Link Master AL1332
1 1401:0 PREOP + S300/S400/S600/S700 EtherCAT Drive (CoE)
2 1403:0 PREOP + MTS Device V
3 1444:0 PREOP + ifm IO-Link Master AL1332
ethercat -m0 -p2 cstruct
/* Master 0, Slave 2, "MTS Temposonics V"
* Vendor ID: 0x00000040
* Product code: 0x0000000f
* Revision number: 0x00000029
*/
ec_sync_info_t slave_2_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, 0, NULL, EC_WD_DISABLE},
{0xff}
};
ethercat -m0 -p2 pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x74, Enable 1
SM3: PhysAddr 0x1400, DefaultSize 448, ControlRegister 0x30, Enable 1
ethercat -m0 -p2 sdos
.....
SDO 0x1a00, "Magnet 1"
0x1a00:00, r-r-r-, uint8, 8 bit, "Number of elements"
0x1a00:01, rwrwrw, uint16, 16 bit, "Status"
0x1a00:02, rwrwrw, uint32, 32 bit, "Position"
0x1a00:03, rwrwrw, uint32, 32 bit, "Velocity"
0x1a00:04, rwrwrw, uint32, 32 bit, "Acceleration"
......
SDO 0x1c13, "Sync Manager TxPDO Assign"
0x1c13:00, rwrwrw, uint8, 8 bit, "Number of elements"
0x1c13:01, rwrwrw, uint16, 16 bit, ""
0x1c13:02, rwrwrw, uint16, 16 bit, ""
0x1c13:03, rwrwrw, uint16, 16 bit, ""
I thought I could do like this
sudo ethercat -m0 -p2 download 0x1C13 0 -tuint8 0 # Clear SM PDO 0x1c13
sudo ethercat -m0 -p2 download 0x1A00 0 -tuint8 0 # Clear TxPDO
0x1A00
ethercat -m0 -p2 download 0x1A00 2 -tuint32 0x31010020
SDO transfer aborted with code 0x08000000: General error
dmesg
Failed to process SDO request.
EtherCAT ERROR 0-2: SDO download 0x1A00:02 (4 bytes) aborted.
EtherCAT ERROR 0-2: SDO abort message 0x08000000: "General error".
EtherCAT ERROR 0-2: Failed to process SDO request.
Thanks,
Joachim Sällvin
Joachim Sällvin
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