Hi,
I'm having troubles using the Beckhoff EL2252 with Etherlab. According to the
documentation and the XML file, I should have 5 sync managers:
Outputs:
- SM0: DC Sync Activate
- SM1: DC Sync Start
- SM2: Channel 1 & 2 outputs
Inputs:
- SM3: SysTime and Feedback
However, when connecting the slave to the Etherlab master I get the following
config (which is fixed by the device):
$ ethercat -p 1 pdo
SM0: PhysAddr 0x0981, DefaultSize 0, ControlRegister 0x00, Enable 12
TxPDO 0x1602 "DC Sync Activate"
PDO entry 0x1d09:81, 8 bit, "Activate"
SM1: PhysAddr 0x0990, DefaultSize 0, ControlRegister 0x00, Enable 4
TxPDO 0x1603 "DC Sync Start"
PDO entry 0x1d09:90, 64 bit, "StartTime"
SM2: PhysAddr 0x0f00, DefaultSize 0, ControlRegister 0x44, Enable 9
RxPDO 0x1600 "Channel 1"
PDO entry 0x7000:01, 1 bit, "Output"
PDO entry 0x7000:02, 1 bit, "TriState"
RxPDO 0x1601 "Channel 2"
PDO entry 0x7010:01, 1 bit, "Output"
PDO entry 0x7010:02, 1 bit, "TriState"
PDO entry 0x0000:00, 4 bit, ""
RxPDO 0x1604 "Reserved"
SM3: PhysAddr 0x0910, DefaultSize 0, ControlRegister 0x00, Enable 4
SM4: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x00, Enable 4
Is doesn't make any sense to me that SM2 is a RxPDO since this is the output
state that the master should provides. Moreover, the PDO mapping is fixed by
the device so I can't configure my own mapping. I see two possibles problems:
a) The SII eeprom isn't correct;
or,
b) I don't understand the meaning of these lines :-)
Any ideas?
Thank you,
------------------------------------
Philippe Hamelin, ing., M. Ing
Chercheur / Researcher
T: 450-652-8499 x2198
F: 450-652-1316
Expertise robotique et civil
Institut de recherche d'Hydro-Québec (IREQ)
1740, boul. Lionel-Boulet
Varennes (QC) J3X 1S1, Canada
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