Here is an example of a working PDO definition that accounts for gaps for an
EL3356 Strain Gauge Card. Note that index and sub-index are 0, but the length
still has to be the correct value. Does this answer your question or am I
missing a deeper issue you're experiencing?
To get the right layout for complicated cards, I typically cheat and fire up
TwinCAT in a virtual machine, insert the card into an offline project, then use
the PDOs tab to determine the layout. I also use the Startup tab to see what I
need to send the card on startup so that it's using the PDO layout I'm
expecting.
For example, for this card:
//
// Register startup configuration for the hardware
//
ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 0 ); /* clear sm pdo 0x1c12 */
ecrt_slave_config_sdo16( sg->sc, 0x1C12, 1, 0x1600 ); /* download pdo 1C12
index */
ecrt_slave_config_sdo8( sg->sc, 0x1C12, 0, 1 ); /* set number of RxPDO */
ecrt_slave_config_sdo16( sg->sc, 0x1C13, 1, 0x1A00 ); /* download pdo 1C13
index */
#if 0
ecrt_slave_config_sdo16( sg->sc, 0x1C13, 2, 0x1A01 ); /* download pdo 1C13
index */
#endif
ecrt_slave_config_sdo16( sg->sc, 0x1C13, 2, 0x1A02 ); /* download pdo 1C13
index */
ecrt_slave_config_sdo8( sg->sc, 0x1C13, 0, 2 ); /* set number of TxPDO */
Which yields the following PDO layout:
/* Master 0, Slave 3, "EL3356-0010"
* Vendor ID: 0x00000002
* Product code: 0x0d1c3052
* Revision number: 0x0014000a
*/
static ec_pdo_entry_info_t kl3356_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Start calibration */
{0x7000, 0x02, 1}, /* Disable calibration */
{0x7000, 0x03, 1}, /* Input freeze */
{0x7000, 0x04, 1}, /* Sample mode */
{0x7000, 0x05, 1}, /* Tara */
{0x0000, 0x00, 11}, /* Gap */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x02, 1}, /* Overrange */
{0x0000, 0x00, 1}, /* Gap */
{0x6000, 0x04, 1}, /* Data invalid */
{0x0000, 0x00, 2}, /* Gap */
{0x6000, 0x07, 1}, /* Error */
{0x6000, 0x08, 1}, /* Calibration in progress */
{0x6000, 0x09, 1}, /* Steady state */
{0x0000, 0x00, 4}, /* Gap */
{0x1c32, 0x20, 1}, /* Sync error */
{0x0000, 0x00, 1}, /* Gap */
{0x1800, 0x09, 1},
#if 0
{0x6000, 0x11, 32}, /* Value */
#endif
{0x6000, 0x12, 32}, /* Real32 Value */
};
static ec_pdo_info_t kl3356_pdos[] = {
{0x1600, 6, kl3356_pdo_entries + 0}, /* RMB RxPDO-Map Control */
{0x1a00, 12, kl3356_pdo_entries + 6}, /* RMB TxPDO-Map Status */
#if 0
{0x1a01, 1, kl3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (INT32) */
#endif
{0x1a02, 1, kl3356_pdo_entries + 18}, /* RMB TxPDO-Map Value (REAL32) */
};
static ec_sync_info_t kl3356_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, kl3356_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 2, kl3356_pdos + 1, EC_WD_DISABLE},
{0xff}
};
Thanks!
-----Original Message-----
From: etherlab-users-boun...@etherlab.org
[mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Jordi Blanch
Sent: Wednesday, October 30, 2013 9:37 AM
To: etherlab-users@etherlab.org
Subject: [etherlab-users] Problems with Pdo entry with index 0x0000
Hello,
I was trying to configure a Beckhoff module (EL3356-0010) for load cell, and
part of the configuration XML I get is this:
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>RMB RxPDO-Map Control</Name> ....
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>11</BitLen>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>RMB TxPDO-Map Status</Name>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>2</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name></Name>
<DataType>BOOL</DataType>
</Entry>
...
As you can see there are several PDO-Entry with 0x0 index, they are simply GAPs
in the data array.
The problem comes when I try to set the PDO's, master does not correctly calculate offsets
because in the function ecrt_domain_reg_pdo_entry_list, the loop exit condition while going
through the ec_pdo_entry_reg_t list is "reg-> index", so it stops the loop when
it finds the first one of these GAPs, so NOT having gone through all the records.
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
const ec_pdo_entry_reg_t *regs) { ...
EC_MASTER_DBG(domain->master, 1,
"ecrt_domain_reg_pdo_entry_list("
"domain = 0x%p, regs = 0x%p)\n", domain, regs);
for (reg = regs; reg->index; reg++) {
sc = ecrt_master_slave_config_err(domain->master, reg->alias,
reg->position, reg->vendor_id, reg->product_code); ...
return 0;
}
In my case, changing the GAP index to 0x1 works, but is this finish condition
correct? How do you deal with these GAPs in the list?
Thank you very much.
--
Jordi Blanch Carles
Unidad de Ensayo y Control
ENCOPIM S.L.
Carretera de Ripollet a Santiga, 104.
P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15
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