Thank you for hint. I tried it but the ethercat master shows me the warning that the slave doesn't support changing of PDO mapping.
[ 7803.246039] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! [ 7803.246042] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x7000:01/1 0x7000:02/1 0x0000:00/6. Entries to map: 0x7000:01/1 0x7000:02/1 So the problem still remains. Slave cannot change the state(PREOP -> SAFEOP) due to invalid input configuration(AL status message 0x001E). It's the same when I tried to change the state through command line 'ethercat -p0 states OP'. Strange thing is that PDO mapping seems ok. Here are the "RxPDO Map" SDOs. ethercat upload -p0 -tuint32 0x1600 0x01 0x70000101 1879048449 ethercat upload -p0 -tuint32 0x1600 0x02 0x70000201 1879048705 ethercat upload -p0 -tuint32 0x1600 0x03 0x00000006 6 Another strange thing is that the ethercat master shows errror about invalid input configuration and I don't have any inputs on the module, only digital outputs.Why doesn't it shows the AL status message 0x001D: invalid output configuration? Could this behaviour be caused by some Lenze specific properties of IO modules?(I don't know if there is some) Thank you for any help. 2012/10/15 Matthieu Bec <[email protected]>: > Hello Eugen, > > Don't map this, it's not a pdo: > > >> {0x0000, 0x00, 6}, /* Gap */ > > > Different ways to do it, just make sure your changes are properly reflected > in your slave_0_pdos > This should work with slave_0_pdo_entries as you have it by skipping item > #3: > > ec_pdo_info_t slave_0_pdos[] = { > > {0x1600, 2, slave_0_pdo_entries + 0}, /* RxPDO Map */ > ^ take 2 ^ from 0 > > {0x1aff, 2, slave_0_pdo_entries + 3}, /* Status PDO */ > ^ take 2 ^ from 3 > } > > Regards, > Matthieu > > > On 10/15/12 12:36, Eugen Viszus wrote: >> >> Hi all, >> >> I'm trying to communicate with bus coupler module Lenze EPM-S130 which >> containts one module EPM-S300(2 digital ouputs). I'm using EtherCAT >> Master in version 1.5.1. The code of program is based on the "mini.c" >> example. In the code I change the slave configuration according my >> module. After the insertion ec_mini.ko (insmod ec_mini.ko) the program >> doesn't work. In the kernel message buffer I can see that there is >> problem with changing state from PREOP to SAFEOP due to "Invalid input >> configuration". >> >> I was trying the same program with Beckhoff EL2004 module(4DO) and it >> worked perfect. >> >> On the end of this mail I attach the slave informations('ethercat slaves >> -a 1 -v'), PDO entries ('ethercat pdos -a 1'), configuration code which >> was generated by 'ethercat cstruct -a 1', configuration part of the code >> and kernel message buffer. >> >> Does anyone any problem witch Lenze modules configuration? I appreciate >> any hints. Thank you for your help. >> >> Best regards, >> Eugen Viszus >> ----------------------------------------------------------- >> 'ethercat slaves -a 1 -v' >> >> === Master 0, Slave 0 === >> Alias: 1 >> State: PREOP >> Flag: + >> Identity: >> Vendor Id: 0x0000003b >> Product code: 0x00000514 >> Revision number: 0x00000011 >> Serial number: 0x00000000 >> DL information: >> FMMU bit operation: no >> Distributed clocks: yes, 64 bit >> DC system time transmission delay: 0 ns >> Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] >> 0 MII up open yes - 1373391132 0 0 >> 1 MII down closed no - - - - >> 2 N/A down closed no - - - - >> 3 N/A down closed no - - - - >> Mailboxes: >> Bootstrap RX: 0x1200/532, TX: 0x1500/532 >> Standard RX: 0x1c00/512, TX: 0x1e00/512 >> Supported protocols: CoE, FoE >> General: >> Group: Coupler >> Image name: >> Order number: Lenze EPM-S130 >> Device name: Lenze EPM-S130 EtherCAT Buskoppler (MDP) >> CoE details: >> Enable SDO: yes >> Enable SDO Info: yes >> Enable PDO Assign: no >> Enable PDO Configuration: no >> Enable Upload at startup: yes >> Enable SDO complete access: yes >> Flags: >> Enable SafeOp: no >> Enable notLRW: no >> Current consumption: 0 mA >> >> ----------------------------------------------------------- >> 'ethercat pdos -a 1' >> >> SM0: PhysAddr 0x1c00, DefaultSize 512, ControlRegister 0x26, Enable 1 >> SM1: PhysAddr 0x1e00, DefaultSize 512, ControlRegister 0x22, Enable 1 >> SM2: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x24, Enable 0 >> RxPDO 0x1600 "RxPDO Map" >> PDO entry 0x7000:01, 1 bit, "Output " >> PDO entry 0x7000:02, 1 bit, "Output " >> PDO entry 0x0000:00, 6 bit, "Gap" >> SM3: PhysAddr 0x1600, DefaultSize 0, ControlRegister 0x00, Enable 0 >> TxPDO 0x1aff "Status PDO" >> PDO entry 0xf100:01, 32 bit, "Hardware Interrupt Counter " >> PDO entry 0xf100:02, 32 bit, "Diagnostic Interrupt Counter " >> >> ----------------------------------------------------------- >> 'ethercat cstruct -a 1' >> >> /* Master 0, Slave 0, "Lenze EPM-S130" >> * Vendor ID: 0x0000003b >> * Product code: 0x00000514 >> * Revision number: 0x00000011 >> */ >> >> ec_pdo_entry_info_t slave_0_pdo_entries[] = { >> {0x7000, 0x01, 1}, /* Output */ >> {0x7000, 0x02, 1}, /* Output */ >> {0x0000, 0x00, 6}, /* Gap */ >> {0xf100, 0x01, 32}, /* Hardware Interrupt Counter */ >> {0xf100, 0x02, 32}, /* Diagnostic Interrupt Counter */ >> }; >> >> ec_pdo_info_t slave_0_pdos[] = { >> {0x1600, 3, slave_0_pdo_entries + 0}, /* RxPDO Map */ >> {0x1aff, 2, slave_0_pdo_entries + 3}, /* Status PDO */ >> }; >> >> ec_sync_info_t slave_0_syncs[] = { >> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, >> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, >> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE}, >> {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE}, >> {0xff} >> }; >> ----------------------------------------------------------- >> the configuration part of my code >> >> // process data >> static uint8_t *domain1_pd; // process data memory >> >> >> #define DigOutSlavePos 1, 0 >> >> #define Lenze_EPMS130 0x0000003B, 0x00000514 >> >> >> // offsets for PDO entries >> static unsigned int off_dig_out; >> >> const static ec_pdo_entry_reg_t domain1_regs[] = { >> {DigOutSlavePos, Lenze_EPMS130, 0x7000,0x01, &off_dig_out}, >> {} >> }; >> >> static unsigned int counter = 0; >> static unsigned int blink = 0; >> >> >> #if CONFIGURE_PDOS >> >> // Digital out ------------------------ >> >> /* Master 0, Slave 0, "Lenze EPM-S130" >> * Vendor ID: 0x0000003b >> * Product code: 0x00000514 >> * Revision number: 0x00000011 >> */ >> >> ec_pdo_entry_info_t s130_channels[] = { >> {0x7000, 0x01, 1}, /* Output */ >> {0x7000, 0x02, 1}, /* Output */ >> {0x0000, 0x00, 6}, /* Gap */ >> {0xf100, 0x01, 32}, /* Hardware Interrupt Counter */ >> {0xf100, 0x02, 32}, /* Diagnostic Interrupt Counter */ >> }; >> >> ec_pdo_info_t s130_pdos[] = { >> {0x1600, 3, s130_channels + 0}, /* RxPDO Map */ >> {0x1aff, 2, s130_channels + 3}, /* Status PDO */ >> }; >> >> ec_sync_info_t s130_syncs[] = { >> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, >> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, >> {2, EC_DIR_OUTPUT, 1, s130_pdos + 0, EC_WD_DISABLE}, >> {3, EC_DIR_INPUT, 1, s130_pdos + 1, EC_WD_DISABLE}, >> {0xff} >> }; >> >> #endif >> ----------------------------------------------------------- >> kernel message buffer >> >> [13787.239527] ec_mini: Starting... >> [13787.239533] EtherCAT: Requesting master 0... >> [13787.239535] EtherCAT DEBUG 0: IDLE -> OPERATION. >> [13787.239538] EtherCAT: Successfully requested master 0. >> [13787.239542] EtherCAT DEBUG 0: ecrt_master_callbacks(master = >> 0xffff88003c27d000, send_cb = 0xffffffffa0095040, receive_cb = >> 0xffffffffa0095000, cb_data = 0xffff88003c27d000) >> [13787.239546] ec_mini: Registering domain... >> [13787.239549] EtherCAT DEBUG 0: ecrt_master_create_domain(master = >> 0xffff88003c27d000) >> [13787.239552] EtherCAT DEBUG 0: Created domain 0. >> [13787.239555] EtherCAT DEBUG 0: ecrt_master_slave_config(master = >> 0xffff88003c27d000, alias = 1, position = 0, vendor_id = 0x0000003b, >> product_code = 0x00000514) >> [13787.239559] EtherCAT DEBUG 0: Creating slave configuration for 1:0, >> 0x0000003B/0x00000514. >> [13787.239564] EtherCAT DEBUG 0 1:0: Attached slave 0. >> [13787.239575] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdos(sc = >> 0xffff880039647000, n_syncs = 4294967295, syncs = 0xffffffffa0095880) >> [13787.239579] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc = >> 0xffff880039647000, sync_index = 0, dir = 1, watchdog_mode = 2) >> [13787.239583] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc = >> 0xffff880039647000, sync_index = 1, dir = 2, watchdog_mode = 2) >> [13787.239588] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc = >> 0xffff880039647000, sync_index = 2, dir = 1, watchdog_mode = 2) >> [13787.239592] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880039647000, sync_index = >> 2) >> [13787.239597] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdo_assign_add(sc >> = 0xffff880039647000, sync_index = 2, pdo_index = 0x1600) >> [13787.239601] EtherCAT DEBUG 0 1:0: Loading default mapping for PDO >> 0x1600. >> [13787.239604] EtherCAT DEBUG 0 1:0: Found PDO name "RxPDO Map". >> [13787.239607] EtherCAT DEBUG 0 1:0: Entry 0x7000:01. >> [13787.239609] EtherCAT DEBUG 0 1:0: Entry 0x7000:02. >> [13787.239611] EtherCAT DEBUG 0 1:0: Entry 0x0000:00. >> [13787.239614] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880039647000, pdo_index = >> 0x1600) >> [13787.239619] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index = >> 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 1) >> [13787.239625] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index = >> 0x1600, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 1) >> [13787.239630] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index = >> 0x1600, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6) >> [13787.239635] EtherCAT DEBUG 0 1:0: ecrt_slave_config_sync_manager(sc = >> 0xffff880039647000, sync_index = 3, dir = 2, watchdog_mode = 2) >> [13787.239639] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880039647000, sync_index = >> 3) >> [13787.239644] EtherCAT DEBUG 0 1:0: ecrt_slave_config_pdo_assign_add(sc >> = 0xffff880039647000, sync_index = 3, pdo_index = 0x1AFF) >> [13787.239648] EtherCAT DEBUG 0 1:0: Loading default mapping for PDO >> 0x1AFF. >> [13787.239650] EtherCAT DEBUG 0 1:0: Found PDO name "Status PDO". >> [13787.239653] EtherCAT DEBUG 0 1:0: Entry 0xF100:01. >> [13787.239656] EtherCAT DEBUG 0 1:0: Entry 0xF100:02. >> [13787.239658] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880039647000, pdo_index = >> 0x1AFF) >> [13787.239663] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index = >> 0x1AFF, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = >> 32) >> [13787.239668] EtherCAT DEBUG 0 1:0: >> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880039647000, pdo_index = >> 0x1AFF, entry_index = 0xF100, entry_subindex = 0x02, entry_bit_length = >> 32) >> [13787.239673] ec_mini: Registering PDO entries... >> [13787.239675] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = >> 0xffff880032b9f240, regs = 0xffffffffa0095400) >> [13787.239679] EtherCAT DEBUG 0: ecrt_master_slave_config(master = >> 0xffff88003c27d000, alias = 1, position = 0, vendor_id = 0x0000003b, >> product_code = 0x00000514) >> [13787.239684] EtherCAT DEBUG 0 1:0: ecrt_slave_config_reg_pdo_entry(sc >> = 0xffff880039647000, index = 0x7000, subindex = 0x01, domain = >> 0xffff880032b9f240, bit_position = 0x (null)) >> [13787.239690] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 1. >> [13787.239693] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = >> 0xffff880032b9f240, mem = 0xffff88000f11c520) >> [13787.239696] ec_mini: Activating master... >> [13787.239698] EtherCAT DEBUG 0: ecrt_master_activate(master = >> 0xffff88003c27d000) >> [13787.239703] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte, >> expected working counter 1. >> [13787.239706] EtherCAT 0: Datagram domain0-0: Logical offset >> 0x00000000, 1 byte, type LWR. >> [13787.239709] EtherCAT DEBUG 0: Stopping master thread. >> [13787.239714] EtherCAT DEBUG 0: Master IDLE thread exiting... >> [13787.239739] EtherCAT 0: Master thread exited. >> [13787.239741] EtherCAT DEBUG 0: FSM datagram is ffff88003c27d648. >> [13787.239743] EtherCAT 0: Starting EtherCAT-OP thread. >> [13787.239789] ec_mini: Starting cyclic sample thread. >> [13787.239791] ec_mini: Started. >> [13787.243169] EtherCAT DEBUG 0: Operation thread running with fsm >> interval = 1000 us, max data size=11250 >> [13787.243175] EtherCAT WARNING 0: 1 datagram UNMATCHED! >> [13787.249023] ec_mini: 1 slave(s). >> [13787.249026] ec_mini: AL states: 0x02. >> [13787.249028] ec_mini: Link is up. >> [13787.249037] EtherCAT DEBUG 0: Configuration changed (aborting state >> check). >> [13787.249040] EtherCAT DEBUG 0: Writing system time offsets... >> [13787.249042] EtherCAT WARNING 0: No app_time received up to now, but >> master already active. >> [13787.249045] EtherCAT DEBUG 0: Requesting OP... >> [13787.289031] EtherCAT DEBUG 0-0: Changing state from PREOP to OP. >> [13787.289036] EtherCAT DEBUG 0-0: Configuring... >> [13787.329025] EtherCAT DEBUG 0-0: Now in INIT. >> [13787.329029] EtherCAT DEBUG 0-0: Clearing FMMU configurations... >> [13787.349021] EtherCAT DEBUG 0-0: Clearing sync manager configurations... >> [13787.369026] EtherCAT DEBUG 0-0: Clearing DC assignment... >> [13787.389024] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... >> [13787.389030] EtherCAT DEBUG 0-0: SM0: Addr 0x1C00, Size 512, Ctrl >> 0x26, En 1 >> [13787.389033] EtherCAT DEBUG 0-0: SM1: Addr 0x1E00, Size 512, Ctrl >> 0x22, En 1 >> [13787.449029] EtherCAT DEBUG 0-0: Now in PREOP. >> [13787.449050] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 1, Ctrl 0x24, >> En 1 >> [13787.449053] EtherCAT DEBUG 0-0: SM3: Addr 0x1600, Size 8, Ctrl 0x00, >> En 0 >> [13787.469026] EtherCAT DEBUG 0 1:0: FMMU: LogAddr 0x00000000, Size 1, >> PhysAddr 0x1000, SM2, Dir out >> [13787.499019] EtherCAT 0: Domain 0: Working counter changed to 1/1. >> [13787.499023] ec_mini: Domain1: WC 1. >> [13787.499025] ec_mini: Domain1: State 2. >> [13787.529023] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave >> refused state change (PREOP + ERROR). >> [13787.549024] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid >> input configuration". >> [13787.589025] EtherCAT 0-0: Acknowledged state PREOP. >> >> >> _______________________________________________ >> etherlab-users mailing list >> [email protected] >> http://lists.etherlab.org/mailman/listinfo/etherlab-users >> > > > -- > Matthieu Bec GMTO Corp. > cell: +1 626 354 9367 P.O. Box 90933 > phone: +1 626 204 0527 Pasadena, CA 91109-0933 > _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
