Hello, I am using the Profibus-Master device EL6731, which was configured with TwinCat . This is how the pdos-entry list looks:
SM0: PhysAddr 0x1000, DefaultSize 384, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1180, DefaultSize 384, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1300, DefaultSize 0, ControlRegister 0x26, Enable 1 RxPDO 0x1600 "DPS RxPDO-Map Slave 002" PDO entry 0x7000:02, 160 bit, "" SM3: PhysAddr 0x1980, DefaultSize 0, ControlRegister 0x22, Enable 1 TxPDO 0x1a00 "DPS TxPDO-Map Slave 002" PDO entry 0x6000:01, 160 bit, "" TxPDO 0x1a83 "TxPDO-Map DP Diag" PDO entry 0xf103:01, 1 bit, "" PDO entry 0x0000:00, 15 bit, "Gap" TxPDO 0x1a84 "TxPDO-Map DP Status" PDO entry 0xf102:01, 8 bit, "State Slave 002" PDO entry 0x0000:00, 8 bit, "Gap" TxPDO 0x1a85 "TxPDO-Map DP-Master Diag" PDO entry 0xf101:01, 16 bit, "Bus Error Counter" PDO entry 0xf101:02, 16 bit, "Cycle Counter" PDO entry 0xf101:03, 16 bit, "Slave Status Counter" PDO entry 0xf101:04, 16 bit, "Cycle Time" PDO entry 0xf101:05, 16 bit, "Repeat Counter" PDO entry 0x0000:00, 16 bit, "Gap" PDO entry 0x0000:00, 16 bit, "Gap" PDO entry 0x0000:00, 8 bit, "Gap" PDO entry 0x0000:00, 4 bit, "Gap" PDO entry 0xf101:14, 1 bit, "Device Diag" PDO entry 0xf101:15, 1 bit, "Sync Error" PDO entry 0xf101:16, 1 bit, "Cycle Toggle" PDO entry 0xf101:17, 1 bit, "Cycle State" I used the 'cstruct' option of CommandLine-Tool for the user-space application. And the ./ethercat config -v -a6732 command shows the following output: Alias: 6732 Position: 0 Vendor Id: 0x00000002 Product code: 0x1a4b3052 Attached slave: 1 (OP) Watchdog divider: (Default) Watchdog intervals: (Default) SM2, Dir: Output, Watchdog: Disable PDO 0x1600 PDO entry 0x7000:02, 160 bit SM3, Dir: Input, Watchdog: Disable PDO 0x1a00 PDO entry 0x6000:01, 160 bit PDO 0x1a83 PDO entry 0xf103:01, 1 bit PDO entry 0x0000:00, 15 bit PDO 0x1a84 PDO entry 0xf102:01, 8 bit PDO entry 0x0000:00, 8 bit PDO 0x1a85 PDO entry 0xf101:01, 16 bit PDO entry 0xf101:02, 16 bit PDO entry 0xf101:03, 16 bit PDO entry 0xf101:04, 16 bit PDO entry 0xf101:05, 16 bit PDO entry 0x0000:00, 16 bit PDO entry 0x0000:00, 16 bit PDO entry 0x0000:00, 8 bit PDO entry 0x0000:00, 4 bit PDO entry 0xf101:14, 1 bit PDO entry 0xf101:15, 1 bit PDO entry 0xf101:16, 1 bit PDO entry 0xf101:17, 1 bit SDO configuration: None. Depending on which entry I add to the domain_regs[] array, the pdo regestration fails, I read wrong values or the values are correct. Data from 0x6000 and 0x7000 are always correct, but the others like 0xf101:04 (cycle time) only can read valid data if some 0x000:00 entry/s are included or excluded from the domain_regs[] array. Is the Profibus-Master device configured wrong or do I a mistake? Kind regards Juri Gerke -- AFPT GmbH Trinkbornstraße 15-17 56281 Doerth Germany Phone: +49 6747 950185-0 | Fax: +49 6747 950185-9 | Url: www.afpt.de Amtsgericht Koblenz | HRB 20 638 | USt-IdNr. DE253125882 Geschäftsführer: Dr.-Ing. Patrick Kölzer, Frank-Andre Rittenbruch
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