Hi, we have here a problem to bring a HBM etherCAT measurement box into PREOP state. The problem seems to be a SDO type size mishmash. Here is a part of the SDO list: = Master 0, Slave 0 === SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 96 bit, "Device name" SDO 0x1009, "Hardware version" 0x1009:00, r-r-r-, string, 56 bit, "Hardware version" SDO 0x100a, "Software version" 0x100a:00, r-r-r-, string, 96 bit, "Software version" SDO 0x1018, "Identity object" 0x1018:00, ------, uint8, 16 bit, "Number of entries" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor id" 0x1018:02, r-r-r-, uint32, 32 bit, "Product code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision number" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial number" SDO 0x1600, "RxPDO1 Mapping" 0x1600:00, rwr-r-, uint8, 16 bit, "Number of entries" 0x1600:01, rwr-r-, uint32, 32 bit, "" SDO 0x1601, "RxPDO2 Mapping" 0x1601:00, rwr-r-, uint8, 16 bit, "Number of entries" 0x1601:01, rwr-r-, uint32, 32 bit, "" SDO 0x1a00, "TxPDO1 mapping " 0x1a00:00, rwr-r-, uint8, 16 bit, "Number of entries" 0x1a00:01, rwr-r-, uint32, 32 bit, "" 0x1a00:02, rwr-r-, uint32, 32 bit, "" SDO 0x1a01, "TxPDO2 mapping " 0x1a01:00, rwr-r-, uint8, 16 bit, "Number of entries"
You see, every "Number of entries" is a 16bit uint8. That leeds to debug messages of the etherCAT master like: EtherCAT 0: Scanning bus. EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C12:00. EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C13:00. EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 0x1C14:00. EtherCAT ERROR 0: Buffer too small. EtherCAT ERROR 0: Buffer too small. These errors during INIT result to PREOP+ERROR as final state for this device. Side note: TwinCAT does not show these problems and brings the device up to OP-mode. Is this a problem in the EtherCAT slave client firmware or can this be a problem of the etherlab-master 1.5? Bye Thorsten _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
