1. Get a copy of Omron’s Sysmac Studio setup software.
2. Connect your PC to the NX Coupler via the USB cable.
3. Create a New Sysmac Studio Project.
4. Within your Sysmac Studio Project configure the “virtual” NX
Coupler with the slices (“boards”) in exactly the same order that you
physically have them on your “real” NX Coupler.
5. Then download/upload the virtual NX Coupler’s configuration to
your real Coupler via the USB connection. This places the configuration
on the NX Coupler’s EEPROM. Then the Input and Output PDO’s for each of
the slices will show up in the Coupler’s Input and Output available PDO
mappings on the Etherlab Master ie. use the ethercat pdos. A power
cycle may be required after the download.
On Wed, 2017-03-22 at 12:16 +0000, Asier Tamayo wrote:
> Dear all,
>
>
>
> We have our Etherlab master running without any problem with Beckhoff
> boards (digital I/O, analog I/O…). Now, we wanted to make some tests
> with an Omron system, but we fail to get it running. We seem unable to
> make it go further than the INIT state. Has anyone got any experience
> in working with Etherlab and Omron systems? Do we have to make
> something different?
>
>
>
> In Beckhoff, each board is an EtherCAT slave. However, in Omron all
> the boards connected to an EtherCAT coupler are a unique slave, but
> “ethercat slaves” only returns the configuration of the coupler
> itself. In TwinCAT, we can use an XML file to set the correct
> configuration for the system. Then, we can create a binary file in
> TwinCAT and write it with “ethercat sii_write” to the SII (EEPROM) of
> the coupler. After that, “ethercat slaves” returns the correct Omron
> system configuration.
>
>
>
> For our demo, at this moment, we will use the coupler by itself:
>
>
>
> # ./ethercat rescan
>
>
>
> # ./ethercat slaves
>
> 0 0:0 INIT E NX-ECC202 EtherCAT coupler V1.2
>
>
>
> # ./ethercat cstruct
>
> /* Master 0, Slave 0, "NX-ECC202"
>
> * Vendor ID: 0x00000083
>
> * Product code: 0x000000a6
>
> * Revision number: 0x00010002
>
> */
>
>
>
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>
> {0x2003, 0x04, 128}, /* NX Unit Registration Status 125 */
>
> {0x2005, 0x04, 128}, /* NX Unit I/O Data Active Status 125 */
>
> {0x2001, 0x01, 8}, /* Sysmac Error Status */
>
> {0x0000, 0x00, 8},
>
> };
>
>
>
> ec_pdo_info_t slave_0_pdos[] = {
>
> {0x1bf8, 2, slave_0_pdo_entries + 0}, /* 505th transmit PDO
> Mapping */
>
> {0x1bff, 1, slave_0_pdo_entries + 2}, /* 512th transmit PDO
> Mapping */
>
> {0x1bf4, 1, slave_0_pdo_entries + 3}, /* PaddingTxPdo */
>
> };
>
>
>
> 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, 0, NULL, EC_WD_ENABLE},
>
> {3, EC_DIR_INPUT, 3, slave_0_pdos + 0, EC_WD_DISABLE},
>
> {0xff}
>
> };
>
>
>
> # ./ethercat master
>
> Master0
>
> Phase: Idle
>
> Active: no
>
> Slaves: 1
>
> Ethernet devices:
>
> Main: 00:12:34:56:78:9a (attached)
>
> Link: UP
>
> Tx frames: 1027404
>
> Tx bytes: 62023504
>
> Rx frames: 1012682
>
> Rx bytes: 61140360
>
> Tx errors: 0
>
> Tx frame rate [1/s]: 986 1277 2060
>
> Tx rate [KByte/s]: 57.8 74.8 120.8
>
> Rx frame rate [1/s]: 986 1277 2056
>
> Rx rate [KByte/s]: 57.8 74.8 120.6
>
> Common:
>
> Tx frames: 1027404
>
> Tx bytes: 62023504
>
> Rx frames: 1012682
>
> Rx bytes: 61140360
>
> Lost frames: 14722
>
> Tx frame rate [1/s]: 986 1277 2060
>
> Tx rate [KByte/s]: 57.8 74.8 120.8
>
> Rx frame rate [1/s]: 986 1277 2058
>
> Rx rate [KByte/s]: 57.8 74.8 120.7
>
> Loss rate [1/s]: 0 -0 4
>
> Frame loss [%]: 0.0 -0.0 0.2
>
> Distributed clocks:
>
> Reference clock: Slave 0
>
> Application time: 0
>
> 2000-01-01 00:00:00.000000000
>
>
>
> # ./ethercat slaves -v
>
> === Master 0, Slave 0 ===
>
> Device: Main
>
> State: INIT
>
> Flag: E
>
> Identity:
>
> Vendor Id: 0x00000083
>
> Product code: 0x000000a6
>
> Revision number: 0x00010002
>
> 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 - 3370868674 0
> 0
>
> 1 MII down closed no - - -
> -
>
> 2 N/A down closed no - - -
> -
>
> 3 N/A down closed no - - -
> -
>
> Mailboxes:
>
> Bootstrap RX: 0x0000/0, TX: 0x0000/0
>
> Standard RX: 0x2800/256, TX: 0x2a00/256
>
> Supported protocols: CoE
>
> General:
>
> Group: CommCoupler
>
> Image name:
>
> Order number: NX-ECC202
>
> Device name: NX-ECC202 EtherCAT coupler V1.2
>
> CoE details:
>
> Enable SDO: yes
>
> Enable SDO Info: no
>
> Enable PDO Assign: no
>
> Enable PDO Configuration: no
>
> Enable Upload at startup: no
>
> Enable SDO complete access: yes
>
> Flags:
>
> Enable SafeOp: no
>
> Enable notLRW: no
>
> Current consumption: 0 mA
>
>
>
> We can see the slave is in state INIT. With the debug set to 1:
>
>
>
> # dmesg -c
>
> EtherCAT DEBUG 0: Sending broadcast-write to measure transmission
> delays on main link.
>
> EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link.
>
> EtherCAT 0: Scanning bus.
>
> EtherCAT DEBUG 0: Scanning slave 0 on main link.
>
> EtherCAT DEBUG 0-0: Slave has the System Time register.
>
> EtherCAT DEBUG 0-0: Unknown category type 0x002A.
>
> EtherCAT DEBUG 0-0: Unknown category type 0x003C.
>
> EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com
> (INIT), setting to PREOP.
>
> EtherCAT DEBUG 0-0: Configuring...
>
> EtherCAT DEBUG 0-0: Now in INIT.
>
> EtherCAT DEBUG 0-0: Clearing FMMU configurations...
>
> EtherCAT DEBUG 0-0: Clearing sync manager configurations...
>
> EtherCAT DEBUG 0-0: Clearing DC assignment...
>
> EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
>
> EtherCAT DEBUG 0-0: SM0: Addr 0x2800, Size 256, Ctrl 0x26, En 1
>
> EtherCAT DEBUG 0-0: SM1: Addr 0x2A00, Size 256, Ctrl 0x22, En 1
>
> EtherCAT ERROR 0-0: Timeout while setting state PREOP.
>
> EtherCAT 0: Bus scanning completed in 5142 ms.
>
> EtherCAT 0: Using slave 0 as DC reference clock.
>
> EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0
> ns)
>
> EtherCAT DEBUG 0: No app_time received up to now.
>
> EtherCAT DEBUG 0-0: Ready for requests.
>
>
>
> Does anyone why the timeout is occurring? What can we do?
>
>
>
> Thanks in advance,
>
>
>
>
>
> Asier
>
>
>
>
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