Re: [Etherlab-users] Slave shows INVALID PDO MAPPING even after giving PDO mapping

or equivalent in addition to ecrt_domain_reg_pdo_entry_list or equivalent. Inspect the output of ethercat slaves -v on both systems before attempting to run your application (reboot the device first if you have previously attempted to run your app). Gavin Lambert Software Engineer

Re: [Etherlab-users] ecrt_sdo_request_state : error

will happen in parallel, although only up to a preset concurrency limit.) Since this is asynchronous functionality, you may find it useful to implement it with a state machine, although this is not required. Gavin Lambert Senior Software Developer TOMRA Fresh Food

Re: [Etherlab-users] 2 bits reading

counter, if you're certain that you never miss any cycles you can fairly safely just ignore the second bit and simply use the LSB toggle as an indication that an update has occurred. Gavin Lambert Senior Software Developer TOMRA Fresh Food [cid:TOMRAFresh_final_size_times_two_2_99d242b2-ba06-4c25

Re: [Etherlab-users] Configuring EL7047 stepper driver

could repeat as many times as needed for each project, rather than a one-off. And this would also make you immune to SMs being ordered differently than you originally expected, in some theoretical future change. Gavin Lambert Senior Software Developer TOMRA Fresh Food COMPAC SORTING EQUIPMENT

Re: [Etherlab-users] Configuring EL7047 stepper driver

ve devices around in your network or upgrade a device to a later revision with a different data model. What you have works for now, but it's brittle. But if you're happy with that caveat, then fine.) Gavin Lambert Senior Software Developer TOMRA Fresh Food COMPAC SORTING EQUIPME

Re: [Etherlab-users] Configuring EL7047 stepper driver

Why are you calling ecrt_slave_config_pdos *OR* ecrt_slave_config_reg_pdo_entry? You need to do both things. (Although you can replace the latter with ecrt_domain_reg_pdo_entry_list to avoid a loop in your own code.) Gavin Lambert Senior Software Developer TOMRA Fresh Food COMPAC

Re: [Etherlab-users] Configuring EL7047 stepper driver

ave_config_sdo* calls are only for "extra" not-PDO-related configuration that your slave may require. Gavin Lambert Senior Software Developer TOMRA Fresh Food COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2

Re: [Etherlab-users] Configuring EL7047 stepper driver

ands have previously been run. Reboot your slave before testing your app to ensure that it's not depending on some previous manual configuration, and read the example code (especially the "user" example). It's not really something you can do from a bash script. Gavin Lambert Se

Re: [Etherlab-users] Distributed Clocks and Oversampling - slave configuration of the ELM3604-002

-patches/ci/default/tree/) does contain some improvements for DC, especially for subordinated cycles, so if you're not already using that then it may be worth a try. Gavin Lambert Senior Software Developer TOMRA Fresh Food COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga

Re: [Etherlab-users] Running a large number of slaves

slaves may actually not work correctly if they're split) but you can't "split" an FMMU between two packets. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630 96520 | https://www

Re: [Etherlab-users] Running a large number of slaves

). As such, while the logical_domain_offset of the input and output of one slave might be the same, afterwards it should be incremented by the max of both and the next slave should always have a strictly higher value. (That appears to agree with the log message output.) Gavin Lambert Senior

Re: [Etherlab-users] Enable normal Ethernet devices with native e1000e driver

es not use the legacy ethN names. 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 confidenti

Re: [Etherlab-users] Running a large number of slaves

? The packet-splitting does work - I have systems where each cycle sends three PDO packets - but the largest amount of PDO data in any one slave in my network is about 200 bytes. Most slaves are a lot less. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b

Re: [Etherlab-users] Running a large number of slaves

an experimental feature so it's more likely to have bugs in it, especially for unusual configurations such as what you were attempting. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630

Re: [Etherlab-users] C- Function to change slave-state

the master is active then it will automatically be brought back to OP if your app is using it. If a slave errors and returns to SAFEOP, the error will be acknowledged, and then it will similarly be reconfigured and returned to OP. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT

Re: [Etherlab-users] Running a large number of slaves

in parallel (for groups at a time rather than the whole network, to avoid creating too many packets at once). 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

Re: [Etherlab-users] Measuring the roundtrip time of the EtherCAT packet

4. This task is already done by ecrt_domain_reg_pdo_entry_list based on those tables from above. 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

Re: [Etherlab-users] Estun EE-R0: Invalid input configuration

If it can't cope with both complete and incomplete transfers in PDO configuration, then it is not compliant with the EtherCAT specification, and you should throw it away and find a better slave instead. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl

Re: [Etherlab-users] dynamic PDO unmapping

updates its outputs. (If this isn't your own slave device then you should probably be asking the slave vendor how to do this sort of thing properly.) ---- Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchb

Re: [etherlab-users] etherlab-users@etherlab.org

at least you can try using the unofficial patchset at https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/ -- it definitely resolves that particular warning, though I'm not sure if it's completely warning-clean. Gavin Lambert Senior Software Developer [cid:logo_compac_5dc

Re: [etherlab-users] Invalid output configuration

output for that as well, but typically slaves will only support a limited set of alternative configurations. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.

Re: [etherlab-users] foe_write returns error

Which version of the Etherlab master are you using? Out of the box, FoE does not work – you need to use the unofficial patchset version. Having said that, where possible I’d still recommend using TwinCAT to update the firmware of Beckhoff slaves. Gavin Lambert Senior Software Developer

Re: [etherlab-users] Beckhoff EL2809 (16 digital outputs) initialization issue

t ordering differences between your master and slave, however.) Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec

Re: [etherlab-users] Problem at unplug and reconnection of network cable with Etherlab master patchset 20190904

to the generic driver then the problem should go away. The bad news is that this may limit your real-time performance. Another option is to drop back to Debian 8, or at least a pre-4.4 Linux kernel. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png

Re: [etherlab-users] reg_read ==> Failed to read register

Err, "upload", I mean. Uploading is reading from the device. I always get those ones mixed up. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.c

Re: [etherlab-users] reg_read ==> Failed to read register

Register 0x6004 doesn't exist. All registers have addresses < 0x1000. Perhaps you meant to use "download" instead of "reg_read"? Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720

Re: [etherlab-users] ec_igb memory leak?

somehow managed to introduce it during the course of trying to patch it for newer kernel versions. 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

Re: [etherlab-users] SDO dictionary upload "Input/output error"

tomatically any more in the patchset is that in almost no case (other than initial interactive commissioning, when you're deciding which PDOs you should code into your master application) should you actually need the dictionary data. And as you've noted yourself, it's very slow. Gavin Lam

Re: [etherlab-users] Slave lost forever after power cycling

that are connected or rebooted are automatically brought into the virtual ring network), but it's possible that one of your upstream slaves has been configured in the explicit open mode instead. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png

Re: [etherlab-users] DC drift issue

er to keep that so that you're less subject to the whims of your clock hardware. And the raw clock is slower as well, counterintuitively.) Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630 965

Re: [etherlab-users] Unmatched/Skipped Datagrams

you're using to change the process priority; you didn't include that part below. Using SCHED_FIFO requires root permissions but even then there can be restrictions. Verify it's not failing. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga

Re: [etherlab-users] Unmatched/Skipped Datagrams

you more hints about what's going on. Using "ethercat debug 1" and observing the syslog can also help. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630 96520 | https://www

Re: [etherlab-users] Unmatched/Skipped Datagrams

1kHz cycle is typically too fast for the generic driver. Try using the ec_igb driver instead, or reduce your cycle to 250 Hz or less. Otherwise, there may be some other issue with your network wiring, or your hardware. Have you tried it on other hardware? Gavin Lambert Senior Software

Re: [etherlab-users] EtherCAT master command not found

It sounds like you removed the = sign when you changed those lines. If in doubt, post the contents of /etc/ethercat.conf. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<h

Re: [etherlab-users] Multiple Domains

uses a single large domain because the slaves do provide a way to detect when they haven't updated their data. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630 96520 | https://www.tomra.

Re: [etherlab-users] Kollmorgen AKD drive doesn't like to be last

if that applies to it or not. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png] <https://www.fac

Re: [etherlab-users] Kollmorgen AKD drive doesn't like to be last

be there's some reason it might be useful?). Perhaps this latter is the case for your drives? 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

Re: [etherlab-users] Diagnostics, crc and phy errors

ethernet networks tolerate lost packets with retransmits, so you can get away with sloppy wiring (although it does cause performance loss). EtherCAT networks are much less forgiving. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png

Re: [etherlab-users] RV: AX5000 fault synchronism

and the SYNC0 since it hasn't mattered for my slaves, but I *think* the expectation in all of the above is that the SM packet arrives at around time 0, 100, etc, allowing for master jitter. So you may need to configure the sync0_shift and/or sync1_shift based on your maximum jitter.)

Re: [etherlab-users] RV: AX5000 fault synchronism

can't set the sync0 cycle to 0 though -- that just disables both DC syncs entirely. 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 i

Re: [etherlab-users] Control loop at higher frequencies

doing it on the master since it’s not waiting for the cycle delay. As Graeme said, you can also put the monitoring device elsewhere in the network (all packets will always pass every point in the network – except the end), although then it becomes harder to meaningfully use the timestamps. Gavin

Re: [etherlab-users] ELM3004 (ADC) and SDOs requests

to soft-reboot compatible slaves. It also disables the first-slave-in-OP behaviour. 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

Re: [etherlab-users] AX5000 fault synchronism

a non-zero value for sync1_shift in ecrt_slave_config_dc. In some previous versions, that was ignored. In current versions, it is not ignored. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0

Re: [etherlab-users] How slow can a DC cycle time be?

e slave, but it does not need to be running in DC mode. 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 communicatio

Re: [etherlab-users] How to verify that my distributed clock setup correctly?

ult/tree/ ) to see if that works better for you. 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 attach

Re: [etherlab-users] ecrt_slave_config_reg_pdo_entry() returns "No such file or directory"

you have to update other code anyway. 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 co

Re: [etherlab-users] ecrt_slave_config_reg_pdo_entry() returns "No such file or directory"

is default configuration. Normally, you should just use this as-is. But (if the slave supports it) you can alternatively alter parts of it to select different PDOs, if you require something different from the defaults. But you have to be consistent about it. Gavin Lambert Senior Software

Re: [etherlab-users] ecrt_slave_config_reg_pdo_entry() returns "No such file or directory"

aid before. 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

Re: [etherlab-users] ecrt_slave_config_reg_pdo_entry() returns "No such file or directory"

. See the example apps. Also see the code generated by "ethercat cstruct". 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

Re: [etherlab-users] application modules

to OP and exchange PDOs), no other processes can do so. It is, however, still possible for other processes to queue SDO requests and a few other non-realtime things, but even this is preferably gatewayed through the app so that it knows what is going on. Gavin Lambert Senior Software

Re: [etherlab-users] INFO: task EtherCAT-EoE:4263 blocked for more than 120 seconds

be removed because it will use standard Linux mutexes instead. But you still need to be careful to use some APIs only from the RT cyclic thread and some APIs only when that thread is not running. Unfortunately, I don’t use EoE myself, so I can't provide much further help. Gavin Lambert Senior

Re: [etherlab-users] Random Datagram Unmatched

than UTP, and avoid running it alongside power or motor cables. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f6

Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4 EtherCAT slave B X20 IF 10G3

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

Re: [etherlab-users] EtherCAT slave B X20 IF 10G3 goes into operatonal mode but doesn't update the process image

ual 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]<http://www.compacsort.com> [cid:facebook_fa85b92

Re: [etherlab-users] Userspace application.

types) require multiple cycles. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png]

Re: [etherlab-users] Userspace application.

. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png] <https://www.facebook.com/C

Re: [etherlab-users] (configuring pdo and sdo for a slave motion controller)

. It sounds like you should have a read of both the documentation for the EtherLab master itself and for the EtherCAT protocol in general. Gavin Lambert Senior Software Developer Direct dial: +64 (9) 929 2632 COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 |

Re: [etherlab-users] (no subject)

; it’s not possible to keep a slave in OP from the command line alone. The “ethercat xml” command is not particularly useful. What are you imagining that you might want to use it for? Gavin Lambert Senior Software Developer Direct dial:+64 (9) 929 2632 [cid:logo_compac_5dcf97ef-52f5-498c

Re: [etherlab-users] Difference between "default" and "stable-1.5" branches

directly to stable-1.5 and not always porting them across to default as well, hence why I added the “stable” folder in the patchset to bring them back into alignment. From: Mohsen Alizadeh Noghani Sent: Thursday, 15 November 2018 22:12 To: etherlab-users@etherlab.org; Gavin Lambert Subject

Re: [etherlab-users] AL status message 0x001B: "Sync manager watchdog" error with digital output module

A "sync manager watchdog" error means that the slave did not receive an EtherCAT packet within the configured timeout. You're specifying a 5ms cyclic period, which in itself may be ok, but it's a bit slower than is typical. You might want to check what the default EtherCAT timeout is for the

Re: [etherlab-users] Failed to get reference clock time: Input/output error

This is normal for the first few cycles; it takes several cycles for the reference clock to “sync in”. It should eventually start working. This is why there’s a patch in the unofficial patchset to suppress the fprintf error when using the usermode library. From: Mohsen Alizadeh Noghani Sent:

Re: [etherlab-users] Where, in the application cycle, should I call ecrt_master_64bit_reference_clock_time/queue?

synchronisation. If you’re not interested in the answer, then you don’t need to call it at all. From: Mohsen Alizadeh Noghani Sent: Thursday, 25 October 2018 20:28 To: etherlab-users@etherlab.org; Gavin Lambert ; graeme.f...@touchcut.com Subject: Where, in the application cycle, should I call

Re: [etherlab-users] Can I only apply gavinl's driver patches?

to apply only a subset of patches if you wish, particularly omitting some of the feature patches. Instructions are given in the readme. From: Mohsen Alizadeh Noghani Sent: Friday, 12 October 2018 04:52 To: etherlab-users@etherlab.org; Gavin Lambert Subject: Can I only apply gavinl's driver

Re: [etherlab-users] Measuring the frequency of master sending the frames to network

If you have hardware access to a slave then you can also hook a scope or other monitor to the ESC pins which indicate sync pulses or SOF/EOF (packet arrival). This is probably easiest if you have a custom slave or if the particular slave you’re using exposes these for diagnostic purposes;

Re: [etherlab-users] Where should I call mlockall and setpriority in my code?

They need to be called some time prior to activating the master. It is not necessary to call them earlier than this, but it’s also not harmful to do so either (provided that the MCL_FUTURE option was specified). From: Mohsen Alizadeh Noghani Sent: Tuesday, 2 October 2018 22:39 To:

Re: [etherlab-users] API for enabling/disabling sync managers of a slave

will automatically deactivate and return the slaves to PREOP. From: Mohsen Alizadeh Noghani Sent: Monday, 1 October 2018 22:09 To: Gavin Lambert ; etherlab-users@etherlab.org Subject: Re: [etherlab-users] API for enabling/disabling sync managers of a slave I still haven't been able to enable sync managers

Re: [etherlab-users] Requesting application layer state change in code

Ordinarily you just call ecrt_master_activate to activate the master. This will return slaves to PREOP (if they’re somehow in a different state – PREOP is the normal state when the master is not active however), configure them, then bring them to SAFEOP and then OP. It will also do this again

Re: [etherlab-users] Error flag after requesting SAFEOP

EC_WD_ENABLE enables the SM watchdog; it’s a separate thing from enabling the SM itself. In general you should only activate it on one SM per slave – usually the output SM if the slave has outputs or the input SM otherwise. If you don’t need the slave to drop from OP to SAFEOP when it loses

Re: [etherlab-users] e1000e driver freeze on kernel 4.9.80 rtai 5.1

, I've tested the driver e1000e on rtai 5.1 kernel 4.9.80. I'm using Gavin Lambert unofficial patches set that includes patched drivers for 4.9.80. The system freezes randomly after some minutes. The Igb driver on same configuration works perfectly. Someone have experienced the same issue? GM

Re: [etherlab-users] API for enabling/disabling sync managers of a slave

Alizadeh Noghani Sent: Wednesday, 26 September 2018 04:52 To: Gavin Lambert ; etherlab-users@etherlab.org Subject: Re: [etherlab-users] API for enabling/disabling sync managers of a slave Thanks Gavin. 1- Would ecrt_slave_config_sync_manager(sc, 2, EC_DIR_OUTPUT, EC_WD_ENABLE ) enable Sync

Re: [etherlab-users] Read from/write to the slave's object dictionary using SDOs

There’s a number of different ways to do it, depending on why and how you want to do it. If this is a configuration setting (especially if it needs to be re-sent every time the slave reboots) that you can write (without needing to read anything), then you should use one of the

Re: [etherlab-users] API for enabling/disabling sync managers of a slave

You need to write an application, and then use ecrt_slave_config_sync_manager or ecrt_slave_config_pdos to configure the Sync Managers for each slave. From: Mohsen Alizadeh Noghani Sent: Tuesday, 25 September 2018 02:29 To: etherlab-users@etherlab.org Subject: [etherlab-users] API for

Re: [etherlab-users] Missing Vendor ID / Product Code

There’s lots of things that can cause that. Most often, I’ve seen this when packets get lost or corrupted, so the initial discovery datagrams get lost or fail. Usually bad wiring or shielding is the culprit. I think it might be possible to get something similar due to an unfortunate timing

Re: [etherlab-users] IgH Master License

On 25 July 2018 22:46, quoth Mike O'Connor: > The IgH Ethercat Master is GPL with parts being LGPL also mentioned so its > not clear to me which set of rules would apply. > > LGPL allows you to bind via a library and not have your own code be come > `infected` by the GPL requirements of releasing

Re: [etherlab-users] Slave goes to OP mode after Master starts

In the current stable branch, the slave selected as the reference clock (which is the first slave that has a DC clock, by default) and also any EoE slaves, are forced to OP mode even when the application is not active. I assume that this is a misunderstanding about their requirements to

Re: [etherlab-users] Failed to execute SDO download: Protocol not supported

] Sent: Saturday, 7 July 2018 06:34 To: Gavin Lambert Cc: Derrill Vezina ; etherlab-users@etherlab.org Subject: Re: [etherlab-users] Failed to execute SDO download: Protocol not supported The problem is that the downloads are not persistent and the PDO / Sync registers do not hold on power cycle

Re: [etherlab-users] Failed to execute SDO download: Protocol not supported

To: Gavin Lambert ; Derrill Vezina ; etherlab-users@etherlab.org Subject: Re: [etherlab-users] Failed to execute SDO download: Protocol not supported Hi Gavin. I fully understand that this is a Beckhoff / integration issue and not anything to do with the master. I have been doing as you instructed

Re: [etherlab-users] Failed to execute SDO download: Protocol not supported

You don’t need to perform explicit downloads of the PDO assignment or configuration registers at all, ever; they are managed internally by the master library. Simply use the combination of ecrt_slave_config_pdos and ecrt_domain_reg_pdo_entry_list as shown in the examples. You can use

Re: [etherlab-users] How to "upload/download" SDOs in application(*.c file)?

urn -1; cycle_task(); ... - What could be wrong? Thanks again! Jerry On Mon, Jun 18, 2018 at 7:25 PM, Gavin Lambert mailto:gavin.lamb...@tomra.com>> wrote: There are a

Re: [etherlab-users] How to "upload/download" SDOs in application(*.c file)?

There are a few different kinds of API to do SDO transfers, depending on how and when you want to do them. (But in short: no, that code is probably not correct.) ecrt_master_sdo_download/upload are blocking APIs; they are intended to be called before activating the master. It is still

Re: [etherlab-users] How to reboot a slave

On 12 June 2018 20:41, quoth Joye Laurent: > And do you have any idea why the command reboot doesn't work in the > case my own application is running? As noted, the three register writes must be received on three consecutive frames, otherwise the ESC will ignore them. (Also, some

Re: [etherlab-users] How to reboot a slave

On 12 June 2018 19:33, quoth Joye Laurent: > Here are my questions: > - Should it be possible to reboot a slave by writing 3 times in the related > register? If no, is it possible to reboot a slave by using your library? It is generally not possible to reboot a slave by using register requests

Re: [etherlab-users] Slave DC start time calculation

without a SYNC0 cycle time. From: Graeme Foot [mailto:graeme.f...@touchcut.com] Sent: Monday, 21 May 2018 12:36 To: Gavin Lambert <gavin.lamb...@tomra.com>; Philippe Leuba <ple...@swissonline.ch> Cc: etherlab-users@etherlab.org Subject: RE: [etherlab-users] Slave DC start time cal

Re: [etherlab-users] Slave DC start time calculation

Why are you adjusting dc_sync[0] from sync1_*? That doesn’t seem like it would ever be a sensible thing to do, unless I’m missing something. From: Graeme Foot [mailto:graeme.f...@touchcut.com] Sent: Monday, 21 May 2018 11:20 To: Philippe Leuba <ple...@swissonline.ch>; Gavin Lambert <g

Re: [etherlab-users] Slave DC start time calculation

. In theory (completely untested air code) something like this might be more correct: cycle = sync0->cycle_time + sync1->cycle_time – (sync1->cycle_time % sync0->cycle_time); From: Philippe Leuba [mailto:ple...@swissonline.ch] Sent: Friday, 18 May 2018 16:34 To: Gavin Lambert <gavin.la

Re: [etherlab-users] Slave DC start time calculation

The SYNC1 Cycle register (0x09A4) is a little weird; it acts as both a cycle and shift in one register, depending on the value of the SYNC0 Cycle (0x09A0). * Where SYNC0 Cycle is X and SYNC1 Cycle is 0, SYNC0 and SYNC1 occur at the same time – thus same cycle, no shift. * Where SYNC0

Re: [etherlab-users] How to perform DC time synchronisation the right way?

On 16 May 2018 4:34 a.m., quoth Michael Ruder: > Now I want to have the slaves also synchronized to this time frame and have > the following dilemma: > > - normally, I would like to call > > // cycle begins > > ecrt_master_receive(master); > ecrt_domain_process(domain1); > > // do a lot of

Re: [etherlab-users] Switch to OP state in parallel

On 21 April 2018 16:45, quoth Philippe Leuba: > I noticed that when we activate the master it takes a time that is > proportional > to the number of slaves to switch them to OP state. > Is there any reason the master can not do it in parallel ? You can try the unofficial patchset

Re: [etherlab-users] Απ: AL status message 0x0036: "DC Sync0 Cycle Time"

On 12 April 2018 03:52, quoth Christoph Schroeder: > reffering to the last question on this list regarding a driver for the RasPi > 3 and > kernel 4.x, which driver are you actually using? I thought the native drivers > don't work with newer kernels. I am currently using the native driver for >

Re: [etherlab-users] Call to ecrt_domain_process takes sometimes very long (10ms!)

On 5 April 2018 21:19, quoth Michael Ruder: > In fact, the function that takes the long time is ecrt_domain_process (and > not ecrt_domain_queue). However, if I do no longer the call to > ecrt_domain_queue, then the ecrt_domain_process will not take long (that > is what got me on the wrong track

Re: [etherlab-users] Please help newbie to etherlab with setting PDOs

n look at everything they have.) On 03/18/2018 05:49 PM, Gavin Lambert wrote: Your custom configuration is not applied to the slave until you activate the master. After that you can confirm the settings using "ethercat pdos" or those methods (though note that it does not happen immediate

Re: [etherlab-users] Handle slave reboots once the master has been activated

On 21 March 2018 21:21, quoth Joye Laurent: > Is there any chance to handle slave reboots during the realtime operation > (ecrt_master_activate has already been called)? > I've seen that, once a slave reboots, the master indicates a working counter > change and the slave is automatically reset in

Re: [etherlab-users] Please help newbie to etherlab with setting PDOs

Your custom configuration is not applied to the slave until you activate the master. After that you can confirm the settings using "ethercat pdos" or those methods (though note that it does not happen immediately - there will be some delay before the slave is actually configured). Have a look

Re: [etherlab-users] yet another datagrams UNMATCHED - DC 0.2ms / 5kHz // igb kernel 3.18

The ec_igb driver is relatively new (and only exists in 3.18 in the stable-1.5 branch, although the unofficial default-branch patchset extends this to later kernels), so it’s certainly possible that it has some bugs.

Re: [etherlab-users] Synchronizing the EtherCAT application time to the DC reference clock

Actually you typically shouldn’t have Sync0 simultaneous with your communication cycle; that causes problems. The goal is to get it into a locked phase arrangement. Sync0 is typically when the slave’s actions trigger – it asserts outputs and captures inputs ideally both at that precise

Re: [etherlab-users] Trouble with SDB-40-100

Don't write to those objects. Not even with ecrt_slave_config_sdoXX. Read the documentation. From: Frank, Matthias [mailto:matthias.fr...@tq-group.com] Sent: Wednesday, 13 December 2017 20:26 To: Gavin Lambert <gavin.lamb...@compacsort.com>; etherlab-users@etherlab.org Subject: AW: T

Re: [etherlab-users] Trouble with SDB-40-100

Don't try to write to 0x16xx, 0x1Axx, or 0x1C1x. This is what ecrt_slave_config_pdos and ecrt_domain_reg_pdos do for you internally (among other things). See the examples. From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Frank, Matthias Sent: Wednesday, 13

Re: [etherlab-users] How to make ipk/deb package for IgH EtherCAT Master?

Sorry, that should have been "make modules_install". From: Gavin Lambert Sent: Monday, 4 December 2017 11:49 To: 'Jiarui Lian' <je...@bertec.com>; etherlab-users@etherlab.org Subject: Re: [etherlab-users] How to make ipk/deb package for IgH EtherCAT Master? There isn't any

Re: [etherlab-users] How to make ipk/deb package for IgH EtherCAT Master?

There isn't any built-in support for this. However it's a fairly standard autotools package so you can follow generic instructions for building a deb or whatever from an autotools makefile, for the most part. Bear in mind that you need to make sure to build against the kernel headers from the

Re: [etherlab-users] DC Bus-Shift

On 28 October 2017 06:00, quoth Greier, Thomas: > Does the ethercat master stack support a bus-shift mode of > Distributed Clocks? Our application is currently using a > master-shift, where the master clock is adjusted to match the > reference slave device. Is there sample code for the reverse,

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