Re: [etherlab-users] Beckhoff 6731-0010 initialization
Most likely, there is something invalid in the parameters for the SDO configuration functions. Youll need to post all of the related code if you want help in locating it. From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of David Jiménez Mejías Sent: Thursday, 29 October 2015 23:53 To: h...@igh-essen.com; etherlab-users@etherlab.org Subject: [etherlab-users] Beckhoff 6731-0010 initialization Dear Wilhelm, I was reading your replies to this issue at the EtherLab-Users mailing list and it was very helpful for me. http://lists.etherlab.org/pipermail/etherlab-users/2012/001860.html I'm trying to configure a Can Network from the Beckhoff Can Master Module EL6751 with only one can slave (Phoenix Contact Can I/O Terminal). I just do it the steps like the configuration of the EL6731 (Profibus Master Module): - Configure the Can Network with TwinCAT - Export the XML - Format it with xmllint - And take the necessary data: * PDOs Entries: Tx and Rx * StartUp SDO config of the next Index: + 0x1C32 + 0x1C33 + 0xF800 + 0x8000 + 0x8001 + 0x8002 + 0x8003 - Implement the C code for the configuration, but I keep out from the app without error at the function: * ecrt_slave_config_complete_sdo(sc, 0x1C32, pb_config_buf, cnt); The last dmesg is: [ 9574.754735] EtherCAT: Requesting master 0... [ 9574.754754] EtherCAT: Successfully requested master 0. [ 9574.754984] lt-ec_user_exam[7579]: segfault at 10 ip 7fdced6058a5 sp 7ffefada2900 error 4 in libethercat.so.1.0.0[7fdced601000+8000] [ 9574.930388] EtherCAT 0: Releasing master... [ 9574.930400] EtherCAT 0: Released. [ 9607.095769] EtherCAT: Requesting master 0... [ 9607.095792] EtherCAT: Successfully requested master 0. [ 9607.095971] lt-ec_user_exam[7663]: segfault at 10 ip 7fadcfdb98a5 sp 7ffedfea14c0 error 4 in libethercat.so.1.0.0[7fadcfdb5000+8000] [ 9607.276982] EtherCAT 0: Releasing master... [ 9607.277021] EtherCAT 0: Released. [ 9626.248196] EtherCAT: Requesting master 0... [ 9626.248200] EtherCAT: Successfully requested master 0. [ 9626.248261] lt-ec_user_exam[7744]: segfault at 10 ip 7f741d0eb8a5 sp 7ffe6e5358f0 error 4 in libethercat.so.1.0.0[7f741d0e7000+8000] [ 9626.401297] EtherCAT 0: Releasing master... [ 9626.401309] EtherCAT 0: Released. [ 9753.014994] EtherCAT: Requesting master 0... [ 9753.015011] EtherCAT: Successfully requested master 0. [ 9753.015166] lt-ec_user_exam[7792]: segfault at 10 ip 7f15e18768a5 sp 7ffcbd184820 error 4 in libethercat.so.1.0.0[7f15e1872000+8000] [ 9753.161441] EtherCAT 0: Releasing master... [ 9753.161589] EtherCAT 0: Released. [ 9799.019908] EtherCAT: Requesting master 0... [ 9799.019915] EtherCAT: Successfully requested master 0. [ 9799.020082] lt-ec_user_exam[7814]: segfault at 10 ip 7fd538ee78a5 sp 7ffd0c9fca80 error 4 in libethercat.so.1.0.0[7fd538ee3000+8000] [ 9799.165522] EtherCAT 0: Releasing master... [ 9799.165574] EtherCAT 0: Released. I'm not sure is there is the correct information to know whats happens, tell me any doubt. Thank you very much King regards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - David Jiménez Mejías - Gran Telescopio de Canarias S.A Ingeniero de Operación / Operation Engineer -- ADVERTENCIA: Sobre la privacidad y cumplimiento de la Ley de Protección de Datos, acceda a http://www.gtc.iac.es/gtc/legal_es.php WARNING: For more information on privacy and fulfilment of the Law concerning the Protection of Data, consult http://www.gtc.iac.es/gtc/legal_es.php ___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
[etherlab-users] EL6751 CAN-Mode Configuration
Hello,
I'm currently trying to configure the EL6751(CANOpen-Master) to switch into
"Raw-CAN-Mode", so that I am able to send CAN-Messages via the
EtherCAT-master. According to the documentation at
http://infosys.beckhoff.com/english.php?content=../content/1033/el6751/html/el6751_layer2_statemachine.htm=10383
one has to do two SDO downloads to configure and activate the CAN
controller of the EL6751: Download 0xF800 and 0x8000.
As I have just little experience with the etherlab EtherCAT master and
EtherCAT in general I have some questions concerning the actual procedure:
One of the objects, which must be downloaded, contains a gap of five bit in
between the configuration data:([
http://infosys.beckhoff.com/content/1033/el6751/html/Bt_EL6751_ObjectDescription.htm#Index_F800]
index F800, subindex 09)
Assume I have a buffer of uint8_t which represents the sdo object:
uint8_t sdo_data[] = { 0x11, 0x7F, ..., /* 5-BitGap-Here */, ...};
When downloading the object via complete
access(ecrt_master_sdo_download_complete), how do I model the 5 bit gap?
Can I just use a value of uint8_t instead? Or is the gap ignored at all
and I can just omit the value?
Does the same apply then writing the value individually via
ecrt_master_sdo_download to 0xF800:09?
Futhermore the documentation says "The PDO mapping of the EtherCAT PDOs is
automatically calculated by the EL6751 after the download of the object
0x8000 and can be read".
I am not quite sure where to read it from. The mapping objects 0x1600 and
0x1700? Can I just sdo-upload the mappings from there and then configure
the pdos? Or do I have to configure the mappings beforehand? How do I know
which objects are actually getting mapped?
Thanks,
Matze
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Re: [etherlab-users] installation issue on beaglebone black
Hello, The errors below /usr/bin/ld: error: ethercat uses VFP register arguments, ../master/soe_errors.o does not /usr/bin/ld: failed to merge target specific data of file ../master/soe_errors.o collect2: error: ld returned 1 exit status seem to indicate that you are cross compiling. What is the host? Without experience in cross compilation or the beaglebone I’d suggest to host the compiler on the beaglebone and build on the beaglebone. Don’t know how practical it is though. Regards, Ronaldo -- This e-mail and any attachments may contain confidential, copyright and or privileged material, and are for the use of the intended addressee only. If you are not the intended addressee or an authorised recipient of the addressee please notify us of receipt by returning the e-mail and do not use, copy, retain, distribute or disclose the information in or attached to the e-mail. Any opinions expressed within this e-mail are those of the individual and not necessarily of Diamond Light Source Ltd. Diamond Light Source Ltd. cannot guarantee that this e-mail or any attachments are free from viruses and we cannot accept liability for any damage which you may sustain as a result of software viruses which may be transmitted in or with the message. Diamond Light Source Limited (company no. 4375679). Registered in England and Wales with its registered office at Diamond House, Harwell Science and Innovation Campus, Didcot, Oxfordshire, OX11 0DE, United Kingdom ___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
[etherlab-users] Beckhoff 6731-0010 initialization
Dear Wilhelm, I was reading your replies to this issue at the EtherLab-Users mailing list and it was very helpful for me. http://lists.etherlab.org/pipermail/etherlab-users/2012/001860.html I'm trying to configure a Can Network from the Beckhoff Can Master Module EL6751 with only one can slave (Phoenix Contact Can I/O Terminal). I just do it the steps like the configuration of the EL6731 (Profibus Master Module): - Configure the Can Network with TwinCAT - Export the XML - Format it with xmllint - And take the necessary data: * PDOs Entries: Tx and Rx * StartUp SDO config of the next Index: + 0x1C32 + 0x1C33 + 0xF800 + 0x8000 + 0x8001 + 0x8002 + 0x8003 - Implement the C code for the configuration, but I keep out from the app without error at the function: * ecrt_slave_config_complete_sdo(sc, 0x1C32, pb_config_buf, cnt); The last dmesg is: [ 9574.754735] EtherCAT: Requesting master 0... [ 9574.754754] EtherCAT: Successfully requested master 0. [ 9574.754984] lt-ec_user_exam[7579]: segfault at 10 ip 7fdced6058a5 sp 7ffefada2900 error 4 in libethercat.so.1.0.0[7fdced601000+8000] [ 9574.930388] EtherCAT 0: Releasing master... [ 9574.930400] EtherCAT 0: Released. [ 9607.095769] EtherCAT: Requesting master 0... [ 9607.095792] EtherCAT: Successfully requested master 0. [ 9607.095971] lt-ec_user_exam[7663]: segfault at 10 ip 7fadcfdb98a5 sp 7ffedfea14c0 error 4 in libethercat.so.1.0.0[7fadcfdb5000+8000] [ 9607.276982] EtherCAT 0: Releasing master... [ 9607.277021] EtherCAT 0: Released. [ 9626.248196] EtherCAT: Requesting master 0... [ 9626.248200] EtherCAT: Successfully requested master 0. [ 9626.248261] lt-ec_user_exam[7744]: segfault at 10 ip 7f741d0eb8a5 sp 7ffe6e5358f0 error 4 in libethercat.so.1.0.0[7f741d0e7000+8000] [ 9626.401297] EtherCAT 0: Releasing master... [ 9626.401309] EtherCAT 0: Released. [ 9753.014994] EtherCAT: Requesting master 0... [ 9753.015011] EtherCAT: Successfully requested master 0. [ 9753.015166] lt-ec_user_exam[7792]: segfault at 10 ip 7f15e18768a5 sp 7ffcbd184820 error 4 in libethercat.so.1.0.0[7f15e1872000+8000] [ 9753.161441] EtherCAT 0: Releasing master... [ 9753.161589] EtherCAT 0: Released. [ 9799.019908] EtherCAT: Requesting master 0... [ 9799.019915] EtherCAT: Successfully requested master 0. [ 9799.020082] lt-ec_user_exam[7814]: segfault at 10 ip 7fd538ee78a5 sp 7ffd0c9fca80 error 4 in libethercat.so.1.0.0[7fd538ee3000+8000] [ 9799.165522] EtherCAT 0: Releasing master... [ 9799.165574] EtherCAT 0: Released. I'm not sure is there is the correct information to know whats happens, tell me any doubt. Thank you very much King regards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - David Jiménez Mejías - Gran Telescopio de Canarias S.A Ingeniero de Operación / Operation Engineer -- ADVERTENCIA: Sobre la privacidad y cumplimiento de la Ley de Protección de Datos, acceda a http://www.gtc.iac.es/gtc/legal_es.php WARNING: For more information on privacy and fulfilment of the Law concerning the Protection of Data, consult http://www.gtc.iac.es/gtc/legal_es.php___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
