I'm not familiar with that specific slave, but if a slave has reconfigurable PDOs then you may be required to actually configure them before you can successfully communicate with it.
This requires calling ecrt_slave_config_pdos with the appropriate PDO definitions, which must be compatible with some configuration that the slave supports (check the syslog when you activate the master to see if there are any errors occurring during configuration, possibly with "ethercat debug 1" active before running your app). See the example code included with Etherlab. (If you don't call this, then Etherlab assumes the slave's default PDO layout, which might be empty for some slaves. If you do call it with invalid arguments, then depending on the slave it may be left with its original configuration, an empty configuration, or some subset of your intended configuration.) Some slaves may also require specific SDO setup before entering OP state - you can use ecrt_slave_config_sdo* functions to register these. (Note that you should not use this to configure the PDO Config/Assign objects; that's what the previous function takes care of for you.) The slave device's manual should explain the supported PDO layouts and other configuration options. Gavin Lambert Senior Software Developer [cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png] [cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png] <https://www.facebook.com/Compacsort> [cid:linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png] <https://www.linkedin.com/company/compac-sorting-equipment/> [cid:youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png] <https://vimeo.com/compacsort> [cid:twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png] <https://twitter.com/compacsort> COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +64 96 34 00 88 | tomra.com<http://www.tomra.com> The information contained in this communication and any attachment is confidential and may be legally privileged. It should only be read by the person(s) to whom it is addressed. If you have received this communication in error, please notify the sender and delete the communication. From: etherlab-users <[email protected]> On Behalf Of Matthias Bartsch Sent: Monday, 18 February 2019 23:47 To: '[email protected]' <[email protected]> Subject: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into operatonal mode but doesn't update the process image Hello @all! I'm trying to use a "B&R X20 IF 10G3" EtherCAT interface device with the IgH 1.5.2 EtherCAT master and Gavin's patch set 20171102. The B&R device use the Hilscher EtherCAT slave implementation. The configuration and startup of the device seems OK and the device is going into operational state. But the working counter for the device isn't increased and no cyclic (PDO) communication is possible. Access via SDO in preoperational state works. I have checked the communication with TwinCAT and it's working. TwinCAT doesn't set any special SDO at startup and the addresses of the sync managers seems to be the same as the IgH stack uses. I have also created a new SII eeprom image from the slaves ESI file but no success. Has somebody faced already a similar situation? I have logged the startup sequence with wireshark and itlooks like that TwinCAT configures every parameter each time when it starts but the IgH stack doesn't do that (maybe because the settings from the SII memory are the same used for the communication?). I'm not so familiar in interpreting the wireshark log so maybe somebody can give me an advice what's maybe the problem. Best regards Matthias
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