Hello, On Fri, Sep 24, 2010 at 09:01:40AM +0200, Thorsten Schnebeck wrote: > Side note: TwinCAT does not show these problems and brings the device up to > OP-mode.
this is because TwinCAT does not read out the PDO mapping. > Is this a problem in the EtherCAT slave client firmware or can this be > a problem of the etherlab-master 1.5? It is definitely a problem of the slave firmware, the number of assigned PDOs (0x1c1x:0) must be an uint8. Please tell HBM. You can reference the EtherCAT specification (IEC 61158-6-12, chapter 5.6.7.4.10.3, table 78). Apart from that, the following patch should make it work. Please not that this does not conform to the spec! diff -r c6e6ec6ba5d8 master/fsm_pdo.c --- a/master/fsm_pdo.c Wed Sep 22 15:41:43 2010 +0200 +++ b/master/fsm_pdo.c Fri Sep 24 11:50:31 2010 +0200 @@ -250,11 +250,9 @@ } if (fsm->request.data_size != sizeof(uint8_t)) { - EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned" + EC_SLAVE_WARN(fsm->slave, "Invalid data size %zu returned" " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size, fsm->request.index, fsm->request.subindex); - ec_fsm_pdo_read_action_next_sync(fsm); - return; } fsm->pdo_count = EC_READ_U8(fsm->request.data); -- Best regards, Florian Pose http://etherlab.org _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users