Note that there are two different kinds of PDO reconfiguration: 1. Configuration of the PDO Assign objects, to specify which PDO objects are included in each Sync Manager. 2. Configuration of the PDO objects themselves, to specify which individual data elements are included in each PDO.
Some slaves support neither. Most slaves (where they support CoE at all) support #1 only. Very few support #2. Etherlab handles both through the same ecrt_slave_config_pdos configuration call; the distinction between the two is simply that for slaves that don't support #2 you have to be careful to specify the layout of the PDO objects exactly identical to what the slave itself specifies (including order and padding). Etherlab will log a warning when it notices that the slave doesn't support altering the configuration but as long as the configuration matches then it doesn't need to, and overall configuration will proceed successfully. If it works with TwinCAT then it is unlikely that the slave is buggy (although it is possible that there is some important difference between the SII XML and SII EEPROM contents); it is more likely that your configuration code has an error. With your app not running, try hard-rebooting the slave and letting Etherlab re-detect it (this is important to clear any configuration set in error), then run the "ethercat cstruct" command to get the code for the slave's default configuration, then compare this with your existing code and with your desired configuration. You can also use the "ethercat download" command to manually assign new values to the PDO Assign objects to match your desired configuration. Verify your selection with "ethercat pdos -v", and then use "ethercat cstruct" to get the corresponding code to put into your application to select the same configuration in the future. Gavin Lambert Senior Software Developer COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand Switchboard: +49 2630 96520 | https://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. > -----Original Message----- > From: Matthias Bartsch > Sent: Thursday, 21 February 2019 06:02 > To: 'etherlab-users@etherlab.org' <etherlab-users@etherlab.org> > Subject: Re: [etherlab-users] etherlab-users Digest, Vol 140, Issue 4 EtherCAT > slave B&R X20 IF 10G3 > > Hello Gavin, > thank you very much for your answer, The slave doesn't support the > reconfiguration of the PDOs. I have tried it anyway but the slave gives an > error. I tried also the configure only the sync managers but it didn't resolve > the problem. I also use different input and output domains as the slave > doesn't support LRW command. > I assume the slave implementation is buggy but as it's working with Twincat > it's difficult to convince the supplier of the module. > > Best regards > Matthias > > -----Ursprüngliche Nachricht----- > Von: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] Im > Auftrag von etherlab-users-requ...@etherlab.org > Gesendet: Montag, 18. Februar 2019 23:25 > An: etherlab-users@etherlab.org > Betreff: etherlab-users Digest, Vol 140, Issue 4 > > Send etherlab-users mailing list submissions to > etherlab-users@etherlab.org > > To subscribe or unsubscribe via the World Wide Web, visit > https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F > %2Flists.etherlab.org%2Fmailman%2Flistinfo%2Fetherlab- > users&data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8 > d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0 > %7C636862789071638451&sdata=UJOWUhHX2rg8ZuZQFHmJa8lbkUTMo > 1vqHDre%2FX8mz%2F0%3D&reserved=0 > or, via email, send a message with subject or body 'help' to > etherlab-users-requ...@etherlab.org > > You can reach the person managing the list at > etherlab-users-ow...@etherlab.org > > When replying, please edit your Subject line so it is more specific than "Re: > Contents of etherlab-users digest..." > > > Today's Topics: > > 1. Re: EtherCAT slave B&R X20 IF 10G3 goes into operatonal mode > but doesn't update the process image (Gavin Lambert) > > > ---------------------------------------------------------------------- > > Message: 1 > Date: Mon, 18 Feb 2019 22:24:54 +0000 > From: Gavin Lambert <gavin.lamb...@tomra.com> > To: Matthias Bartsch <mbart...@aradex.com>, > "'etherlab-users@etherlab.org'" <etherlab-users@etherlab.org> > Subject: Re: [etherlab-users] EtherCAT slave B&R X20 IF 10G3 goes into > operatonal mode but doesn't update the process image > Message-ID: > <AM4PR0302MB28207C8409F8484113478363E8630@AM4PR0302MB2 > 820.eurprd03.prod.outlook.com> > > Content-Type: text/plain; charset="us-ascii" > > 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]<https://emea01.safelinks.protection.outlook.com/?url= > http%3A%2F%2Fwww.compacsort.com&data=02%7C01%7Cgavin.lamb > ert%40tomra.com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd > 143008a37cfeba8ad5898%7C0%7C0%7C636862789071638451&sdata=Xsj > PB0amlFGKqLpQQCpfMQ9d2%2BPYGHmWYSwslQ7FCmg%3D&reserve > d=0> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png] > <https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fw > ww.facebook.com%2FCompacsort&data=02%7C01%7Cgavin.lambert%4 > 0tomra.com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd14300 > 8a37cfeba8ad5898%7C0%7C0%7C636862789071638451&sdata=OIsyEcPY > pmZs1mgdimsqGvK46Bk1RIa8YSIrxf%2FCiFs%3D&reserved=0> > [cid:linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png] > <https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fw > ww.linkedin.com%2Fcompany%2Fcompac-sorting- > equipment%2F&data=02%7C01%7Cgavin.lambert%40tomra.com%7C51 > 1fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeba8ad5898 > %7C0%7C0%7C636862789071638451&sdata=cl1zYOKAxYWP7FK6%2BAIO > YKZYlY8WB9f9tn%2FDQygTidw%3D&reserved=0> > [cid:youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png] > <https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fvi > meo.com%2Fcompacsort&data=02%7C01%7Cgavin.lambert%40tomra.c > om%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeb > a8ad5898%7C0%7C0%7C636862789071638451&sdata=chKSJMVz84bXTa > PsGRfdijsV90U0MOhM2DWOUJ3r9Hw%3D&reserved=0> > [cid:twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png] > <https://emea01.safelinks.protection.outlook.com/?url=https%3A%2F%2Ft > witter.com%2Fcompacsort&data=02%7C01%7Cgavin.lambert%40tomra. > com%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfe > ba8ad5898%7C0%7C0%7C636862789071638451&sdata=hOfcZOX7xZpIv8 > %2FhZuz9odVtpR%2Fcs5ZI0HTMA6Mkn1E%3D&reserved=0> > > COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland > 1061 | New Zealand > Switchboard: +64 96 34 00 88 | > tomra.com<https://emea01.safelinks.protection.outlook.com/?url=http%3A > %2F%2Fwww.tomra.com&data=02%7C01%7Cgavin.lambert%40tomra.c > om%7C511fad447e8d4ad7c95a08d6975517d4%7C4308d118edd143008a37cfeb > a8ad5898%7C0%7C0%7C636862789071638451&sdata=aZoHckiYH38kcwb > Bpf8nuzkwIkY%2BY%2BilDRWxmmkDTFc%3D&reserved=0> > > 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 <etherlab-users-boun...@etherlab.org> On Behalf Of > Matthias Bartsch > Sent: Monday, 18 February 2019 23:47 > To: 'etherlab-users@etherlab.org' <etherlab-users@etherlab.org> > 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 > > -------------- next part -------------- > An HTML attachment was scrubbed... > URL: > <https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Flist > s.etherlab.org%2Fpipermail%2Fetherlab- > users%2Fattachments%2F20190218%2Fdf4d4eaf%2Fattachment.html& > data=02%7C01%7Cgavin.lambert%40tomra.com%7C511fad447e8d4ad7c95a0 > 8d6975517d4%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C636862 > 789071638451&sdata=l7xBFeZw71weZ37XuO5jawNav56G1ylor1z9NG2d > vvo%3D&reserved=0> > -------------- next part -------------- > A non-text attachment was scrubbed... > Name: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png > Type: image/png > Size: 11438 bytes > Desc: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png > URL: > <https://emea01.safelinks.protection.outlook.com/?url=http%3A%2F%2Flist > s.etherlab.org%2Fpipermail%2Fetherlab- > 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