Hi, I'm now going to talk to a Beckhoff EL6001 device, which provides a serial interface:
http://www.beckhoff.com/english.asp?ethercat/el6001.htm But there seems to be a problem with the sdo upload. I have this: # ethercat slaves 0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus) 1 0:1 PREOP + EL6001 Schnittstelle (RS232) Here are the log entries from starting the master with above configuration: Sep 29 15:15:38 UCL00097 kernel: [428196.046477] EtherCAT: Master driver 1.4.0-rc2 stable r1434 Sep 29 15:15:38 UCL00097 kernel: [428196.046626] EtherCAT: 1 master waiting for devices. Sep 29 15:15:38 UCL00097 NetworkManager: <debug info>^I[1222694138.607545] nm_hal_device_removed (): Device removed (hal udi is '/org/freedesktop Sep 29 15:15:38 UCL00097 kernel: [428196.545072] ACPI: PCI interrupt for device 0000:02:03.0 disabled Sep 29 15:15:38 UCL00097 kernel: [428196.552719] EtherCAT Intel(R) PRO/1000 Network Driver - version 7.3.20-k2-NAPI Sep 29 15:15:38 UCL00097 kernel: [428196.552726] Copyright (c) 1999-2006 Intel Corporation. Sep 29 15:15:38 UCL00097 kernel: [428196.552779] ACPI: PCI Interrupt 0000:02:03.0[A] -> Link [LNKA] -> GSI 11 (level, low) -> IRQ 11 Sep 29 15:15:39 UCL00097 kernel: [428196.816745] ec_e1000: 0000:02:03.0: e1000_probe: (PCI:33MHz:32-bit) 00:1b:21:10:f6:c3 Sep 29 15:15:39 UCL00097 kernel: [428196.988283] EtherCAT: Accepting device 00:1B:21:10:F6:C3 for master 0. Sep 29 15:15:39 UCL00097 kernel: [428196.988750] EtherCAT: Starting master thread. Sep 29 15:15:39 UCL00097 kernel: [428196.988768] ec_e1000: ec0: e1000_probe: Intel(R) PRO/1000 Network Connection Sep 29 15:15:41 UCL00097 kernel: [428198.987971] ec_e1000: ec0: e1000_watchdog: NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX Sep 29 15:15:41 UCL00097 kernel: [428198.987980] EtherCAT: Link state changed to UP. Sep 29 15:15:42 UCL00097 kernel: [428198.991600] EtherCAT: 2 slave(s) responding. Sep 29 15:15:42 UCL00097 kernel: [428198.991604] EtherCAT: Slave states: PREOP. Sep 29 15:15:42 UCL00097 kernel: [428198.991627] EtherCAT: Scanning bus. Sep 29 15:15:44 UCL00097 kernel: [428202.199096] EtherCAT ERROR: Reception of CoE upload request failed on slave 1: No response. Sep 29 15:15:44 UCL00097 kernel: [428202.199105] EtherCAT ERROR: Failed to read number of assigned Pdos for SM2. Sep 29 15:15:44 UCL00097 kernel: [428202.199109] EtherCAT: Bus scanning completed in 3212 ms. Sep 29 15:15:50 UCL00097 kernel: [428208.202744] EtherCAT ERROR: Timeout while waiting for Sdo entry description response on slave 1. But listing the pdo entries works: # ethercat pdo === Slave 0 === === Slave 1 === SM0: PhysAddr 0x1800, DefaultSize 246, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x18f6, DefaultSize 246, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x24, Enable 1 RxPdo 0x1602 "Outputs" Pdo entry 0x3003:01, 16 bit, "Ctrl" Pdo entry 0x3003:02, 8 bit, "Data Out 0" Pdo entry 0x3003:03, 8 bit, "Data Out 1" Pdo entry 0x3003:04, 8 bit, "Data Out 2" Pdo entry 0x3003:05, 8 bit, "Data Out 3" Pdo entry 0x3003:06, 8 bit, "Data Out 4" Pdo entry 0x3003:07, 8 bit, "Data Out 5" Pdo entry 0x3003:08, 8 bit, "Data Out 6" Pdo entry 0x3003:09, 8 bit, "Data Out 7" Pdo entry 0x3003:0a, 8 bit, "Data Out 8" Pdo entry 0x3003:0b, 8 bit, "Data Out 9" Pdo entry 0x3003:0c, 8 bit, "Data Out 10" Pdo entry 0x3003:0d, 8 bit, "Data Out 11" Pdo entry 0x3003:0e, 8 bit, "Data Out 12" Pdo entry 0x3003:0f, 8 bit, "Data Out 13" Pdo entry 0x3003:10, 8 bit, "Data Out 14" Pdo entry 0x3003:11, 8 bit, "Data Out 15" Pdo entry 0x3003:12, 8 bit, "Data Out 16" Pdo entry 0x3003:13, 8 bit, "Data Out 17" Pdo entry 0x3003:14, 8 bit, "Data Out 18" Pdo entry 0x3003:15, 8 bit, "Data Out 19" Pdo entry 0x3003:16, 8 bit, "Data Out 20" Pdo entry 0x3003:17, 8 bit, "Data Out 21" SM3: PhysAddr 0x1400, DefaultSize 0, ControlRegister 0x20, Enable 1 TxPdo 0x1a02 "Inputs" Pdo entry 0x3103:01, 16 bit, "Status" Pdo entry 0x3103:02, 8 bit, "Data In 0" Pdo entry 0x3103:03, 8 bit, "Data In 1" Pdo entry 0x3103:04, 8 bit, "Data In 2" Pdo entry 0x3103:05, 8 bit, "Data In 3" Pdo entry 0x3103:06, 8 bit, "Data In 4" Pdo entry 0x3103:07, 8 bit, "Data In 5" Pdo entry 0x3103:08, 8 bit, "Data In 6" Pdo entry 0x3103:09, 8 bit, "Data In 7" Pdo entry 0x3103:0a, 8 bit, "Data In 8" Pdo entry 0x3103:0b, 8 bit, "Data In 9" Pdo entry 0x3103:0c, 8 bit, "Data In 10" Pdo entry 0x3103:0d, 8 bit, "Data In 11" Pdo entry 0x3103:0e, 8 bit, "Data In 12" Pdo entry 0x3103:0f, 8 bit, "Data In 13" Pdo entry 0x3103:10, 8 bit, "Data In 14" Pdo entry 0x3103:11, 8 bit, "Data In 15" Pdo entry 0x3103:12, 8 bit, "Data In 16" Pdo entry 0x3103:13, 8 bit, "Data In 17" Pdo entry 0x3103:14, 8 bit, "Data In 18" Pdo entry 0x3103:15, 8 bit, "Data In 19" Pdo entry 0x3103:16, 8 bit, "Data In 20" Pdo entry 0x3103:17, 8 bit, "Data In 21" But: # ethercat sdo === Slave 0 === === Slave 1 === Sdo 0x1000, "Device Type" Failed to get Sdo entry: Invalid argument does not work. Do I have to configure something elsewhere? Best regards, Erwin -- Erwin Burgstaller _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
