from:"David Jiménez Mejías"

Re: [etherlab-users] CX CPU as Master Linux Slave

2016-05-18 Thread David Jiménez Mejías

Hi,

I'm not using a CX PC as Master, it is a x64 Real Time PC with Priest 
Distro. It has a ESD NEt-Card compatible with EtherCAT.

I just configured the data PDOs that I would like to expose vía the 
EtherCAT Slave port of the CX8010.

The cstruct works ok its reply is:

/* Master 0, Slave 0, "CX8010 EtherCAT slave"
 * Vendor ID:   0x0002
 * Product code:0x1f4a6032
 * Revision number: 0x0011
 */
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7000, 0x01, 1}, /* Relay 1 signal*/
{0x, 0x00, 7}, /* Gap */
{0x7000, 0x02, 1}, /* Relay 2 Signal*/
{0x, 0x00, 7}, /* Gap */
{0x6000, 0x01, 16},/*Temp1*/
{0x6000, 0x02, 16}, /*Temp2*/
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 4, slave_0_pdo_entries + 0}, /* Output Mapping */
{0x1a00, 2, slave_0_pdo_entries + 4}, /* Input Mapping */
};
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, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};

and the slave reply:

0  0:0  PREOP  E  CX8010 EtherCAT slave

I don`t know if this show you something more 

Thank you very much

Best regards

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías 




-Original Message-
From: Graeme Foot 
To: David Jiménez Mejías , 
"etherlab-users@etherlab.org" 
Date: Sun, 15 May 2016 22:19:19 +
Subject: RE: [etherlab-users] CX CPU as Master Linux Slave

Hi,
 
What type of computer are you using as the Linux master?  If it is a 
Beckhoff CX computer via the EBus module it will need the CCAT (or 
similar) network card driver.  However, it sounds like your Linux master is 
not a CX computer and you already have the EtherCAT networking running. 
 
I have not used the CX8010 so can’t offer too much advice but from what I 
understand it ring fences all of the IO on its EBus with its own logic to 
control it.  You then have to choose what IO (or interface) you want to 
expose via its slave interface that the Linux EtherCAT master will access. 
 
What does the ethercat cstruct command return?
 
 
Regards,
Graeme.
 
From: David Jiménez Mejías [mailto:david.jime...@gtc.iac.es]
Sent: Friday, 13 May 2016 11:12 p.m.
To: Graeme Foot; etherlab-users@etherlab.org
Subject: RE: [etherlab-users] CX CPU as Master Linux Slave
 
Hi Graeme,
 
thanks for your answer.
I'm trying to use a CX8010 as TwinCAT Master of its own net. Over it is a 
Linux PC running the Master Linux 1.5.2. We would like to have the CX8010 as 
slave from the Master Linux sharing In/Outs PDOs.
 
By the moment I keep running the CX8010 as normal, with the slave pdo 
configuration just done.
 
>From the Master Linux I see the slave at PREOP (with Error), with this dmesg 
outputs:
 
[2061710.482018] EtherCAT 0: 0 slave(s) responding on main device.
[2061710.482020] EtherCAT 0: Stopping EoE thread.
[2061710.482038] EtherCAT 0: EoE thread exited.
[2061710.499211] EtherCAT 0: 1 slave(s) responding on main device.
[2061710.499214] EtherCAT 0: Slave states on main device: PREOP.
[2061710.499718] EtherCAT 0: Scanning bus.
[2061710.640237] EtherCAT 0: Bus scanning completed in 141 ms.
[2061710.640240] EtherCAT 0: Using slave 0 as DC reference clock.
[2061710.640242] EtherCAT 0: Starting EoE thread.
[2061710.655820] IPv6: ADDRCONF(NETDEV_UP): eoe0s0: link is not ready
[2061710.666862] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave 
refused state change (PREOP + ERROR).
[2061710.667536] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid 
input configuration".
[2061710.670956] EtherCAT 0-0: Acknowledged state PREOP.
[2061713.541497] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[2061713.664881] EtherCAT WARNING 0-0: CoE Emergency Request received:
Error code 0xA000, Error register 0x02, data:
[2061713.664885] EtherCAT DEBUG: 0E 04 00 04 00
[2061713.848637] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:01!
[2061713.848641] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.852689] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:02!
[2061713.852693] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.856649] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:03!
[2061713.856653] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.860720] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:04!
[2061713.860724] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.864652] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:05!
[2061713.864655] EtherCAT ERROR 0-0: SDO abor

Re: [etherlab-users] CX CPU as Master Linux Slave

2016-05-13 Thread David Jiménez Mejías

Hi Graeme,

thanks for your answer.
I'm trying to use a CX8010 as TwinCAT Master of its own net. Over it is a 
Linux PC running the Master Linux 1.5.2. We would like to have the CX8010 as 
slave from the Master Linux sharing In/Outs PDOs.

By the moment I keep running the CX8010 as normal, with the slave pdo 
configuration just done.

>From the Master Linux I see the slave at PREOP (with Error), with this dmesg 
outputs:

[2061710.482018] EtherCAT 0: 0 slave(s) responding on main device.
[2061710.482020] EtherCAT 0: Stopping EoE thread.
[2061710.482038] EtherCAT 0: EoE thread exited.
[2061710.499211] EtherCAT 0: 1 slave(s) responding on main device.
[2061710.499214] EtherCAT 0: Slave states on main device: PREOP.
[2061710.499718] EtherCAT 0: Scanning bus.
[2061710.640237] EtherCAT 0: Bus scanning completed in 141 ms.
[2061710.640240] EtherCAT 0: Using slave 0 as DC reference clock.
[2061710.640242] EtherCAT 0: Starting EoE thread.
[2061710.655820] IPv6: ADDRCONF(NETDEV_UP): eoe0s0: link is not ready
[2061710.666862] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave 
refused state change (PREOP + ERROR).
[2061710.667536] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid 
input configuration".
[2061710.670956] EtherCAT 0-0: Acknowledged state PREOP.
[2061713.541497] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[2061713.664881] EtherCAT WARNING 0-0: CoE Emergency Request received:
Error code 0xA000, Error register 0x02, data:
[2061713.664885] EtherCAT DEBUG: 0E 04 00 04 00
[2061713.848637] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:01!
[2061713.848641] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.852689] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:02!
[2061713.852693] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.856649] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:03!
[2061713.856653] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.860720] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:04!
[2061713.860724] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.864652] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:05!
[2061713.864655] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.868724] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:06!
[2061713.868728] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.872634] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:07!
[2061713.872645] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.876712] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:08!
[2061713.876716] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.880657] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:09!
[2061713.880660] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.884698] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0A!
[2061713.884701] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.888636] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0B!
[2061713.888640] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.892574] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0C!
[2061713.892577] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.896793] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0D!
[2061713.896797] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.900671] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0E!
[2061713.900674] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061716.623870] EtherCAT WARNING 0: 1 datagram TIMED OUT!


Some months a go I get to configure correctly typical cards with the EK1100 
bus coupler. But the way to proceed looks diferent.

About the CCAT driver ... i just compile all without this enable, it isn't 
on the pdf manual. Then could be help us recompiling with that flag on?

Thank you very much

King regards

David Jiménez Mejías


-Original Message-
From: Graeme Foot 
To: David Jiménez Mejías , 
"etherlab-users@etherlab.org

[etherlab-users] CX CPU as Master Linux Slave

2016-05-10 Thread David Jiménez Mejías

Hi everyone!

I would like to share some data from a Beckhoff CPU, CX line, by the slave 
EtherCAT Port. Using a EtherLab Master Linux.
Is there someone with some experience on that issue?

I configure the TxPDO and RxPDO in the Slave CPU, and the only way that I 
get the Linux Master reads its PDOs is with the slave CPU on config mode. 
I'm studing this procedure from zero, then, if there is someone with some 
informatuion about it I will so grateful.

Thanks in advance


- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-

David Jiménez Mejías






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Re: [etherlab-users] Initializing CanOpen Master Module EL6751-0010

2015-11-18 Thread David Jiménez Mejías

Hi again Richard,

I was working on this topic this week, following the indication from the 
link I get to a new scenario, I tell you:

I've imported from TwinCAT XML the data of the diferents SDO entries. (XML 
appended on this email).
I get to write the config SDO entries [0x1212, 0x1C13, 0xF800, 0x8000], I 
could check the correct configuration with etchercat tool (./ethercat upload 
...):
 # sudo ./ethercat upload -p4 -t uint16 0x8000 1
 >  0x0007 7 // This is the correct Can Slave Node ID (0x by 
default)
 # sudo ./ethercat upload -p4 -t uint8 0xF800 2
 > 0x03 3  // This is the correct Baudratre configuration (0x02 
by default)

But the EL6751 can't pass to OP, it keeps on PREOP+ERROR (Code appended on 
this email).

This is the dmesg output:

[ 4055.253520] EtherCAT 0: Releasing master...
[ 4055.253529] EtherCAT 0: Master thread exited.
[ 4055.253539] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4055.253561] EtherCAT 0: Released.
[ 4057.131180] EtherCAT: Requesting master 0...
[ 4057.131184] EtherCAT: Successfully requested master 0.
[ 4057.131375] EtherCAT 0: Domain0: Logical address 0x, 22 byte, 
expected working counter 8.
[ 4057.131377] EtherCAT 0:   Datagram domain0-0-main: Logical offset 
0x, 22 byte, type LRW.
[ 4057.131389] EtherCAT 0: Master thread exited.
[ 4057.131391] EtherCAT 0: Starting EtherCAT-OP thread.
[ 4057.131453] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 4057.133102] EtherCAT WARNING 0: No app_time received up to now, but 
master already active.
[ 4060.034303] EtherCAT 0: Domain 0: Working counter changed to 2/8.
[ 4061.835479] EtherCAT 0: Domain 0: Working counter changed to 3/8.
[ 4063.336336] EtherCAT 0: Domain 0: Working counter changed to 5/8.
[ 4065.637736] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.
[ 4065.637740] EtherCAT ERROR 0-4: SDO abort message 0x0602: "This 
object does not exist in the object directory".
[ 4065.637742] EtherCAT ERROR 0-4: Failed to read number of mapped PDO 
entries.
[ 4065.637743] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 
0x1A00.
[ 4065.637745] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[ 4065.637746] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). 
Entries to map: 0x6000:01/8
[ 4065.637750] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[ 4065.637750] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs 
to assign: 0x1A00
[ 4066.037976] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[ 4066.037981] EtherCAT ERROR 0-4: SDO abort message 0x0602: "This 
object does not exist in the object directory".
[ 4066.037982] EtherCAT ERROR 0-4: Failed to read number of mapped PDO 
entries.
[ 4066.037984] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 
0x1600.
[ 4066.037985] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[ 4066.037986] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). 
Entries to map: 0x7000:01/32
[ 4071.841620] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[ 4071.841627] EtherCAT WARNING 0-4: Currently mapped PDO entries: 
0xF102:01/8 0xF101:03/8 0xF108:01/1 0xF108:02/1 0xF108:03/1 0x:00/1 
0xF108:05/1 0xF108:06/1 0x:00/2 0x:00/8 0xF108:21/8 0xF108:22/8 
0xF101:14/1 0xF103:01/1 0x:00/6. Entries to map: 0xA000:01/8 0xF100:01/8 
0xF100:03/16 0xF100:05/8 0xF100:04/8 0xF100:02/1 0xA000:02/1
[ 4071.841656] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[ 4071.841658] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs 
to assign: 0x1600 0x1A80
[ 4072.241802] EtherCAT 0: Domain 0: Working counter changed to 7/8.
[ 4072.341869] EtherCAT ERROR 0-4: Failed to set SAFEOP state, slave refused 
state change (PREOP + ERROR).
[ 4072.541984] EtherCAT ERROR 0-4: AL status message 0x001E: "Invalid input 
configuration".
[ 4072.742107] EtherCAT 0-4: Acknowledged state PREOP.
[ 4073.142357] EtherCAT WARNING 0-4: CoE Emergency Request received:
[ 4073.142360] EtherCAT DEBUG: 0E 07 10 07 10


Could you tell me some tip that make me know how to get the EL6751 
Operational with its Can-Slave working?

Thank you in advance

Best regards

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer


-Original Message-
From: Richard Hacker 
To: "etherlab-users@etherlab.org" 
Cc: David Jiménez Mejías 
Date: Wed, 28 Oct 2015 11:37:26 +0100
Subject: Re: [etherlab-users] Initializing CanOpen Master Module EL6751-0010

Hi David,

Communication slaves are very(!) difficult to handle, because they are
configured by means of SDO's. We are not aware of a free tool that can
be used to cofigure them.

They must be configured using TwinCAT(2). A trial version is available
free of charge from Beckhoff. This can be used to configure the slave.

Re: [etherlab-users] Beckhoff 6731-0010 initialization

2015-11-16 Thread David Jiménez Mejías

55 
0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 
0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 
0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 0x:FF/255 
0x:FF/255. Entries to map: 0xA000:01/8 0xA000:02/1 0xF100:01/8 
0xF100:02/1 0xF100:03/16 0xF100:05/8 0xF100:04/8 0xA000:02/1
[26602.094124] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[26602.094124] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs 
to assign: 0x1600 0x1A80
[26602.194119] EtherCAT 0: Domain 0: Working counter changed to 0/8.
[26602.194133] EtherCAT ERROR 0-4: Failed to receive process data sync 
manager configuration datagram: Datagram error.
[26602.296669] EtherCAT 0: 0 slave(s) responding on main device.
[26606.051471] EtherCAT 0: Releasing master...
[26606.051480] EtherCAT 0: Master thread exited.
[26606.051490] EtherCAT 0: Starting EtherCAT-IDLE thread.
[26606.051577] EtherCAT 0: Released.
[26606.915499] EtherCAT WARNING: Datagram 8800d493e678 (master-fsm) was 
SKIPPED 1 time.
[26610.951922] EtherCAT 0: Link state of ecm0 changed to UP.
[26610.953926] EtherCAT 0: 5 slave(s) responding on main device.
[26610.953929] EtherCAT 0: Slave states on main device: INIT.
[26610.954379] EtherCAT 0: Scanning bus.
[26611.635164] EtherCAT 0: Bus scanning completed in 680 ms.
[26611.635167] EtherCAT 0: Using slave 0 as DC reference clock.
[26611.638343] EtherCAT 0: Slave states on main device: INIT, PREOP.
[26611.766467] EtherCAT 0: Slave states on main device: PREOP.
[26613.251044] EtherCAT: Requesting master 0...
[26613.251049] EtherCAT: Successfully requested master 0.
[26613.251232] EtherCAT 0: Domain0: Logical address 0x, 22 byte, 
expected working counter 8.
[26613.251234] EtherCAT 0:   Datagram domain0-0-main: Logical offset 
0x, 22 byte, type LRW.
[26613.251338] EtherCAT 0: Master thread exited.
[26613.251340] EtherCAT 0: Starting EtherCAT-OP thread.
[26613.255430] EtherCAT WARNING 0: No app_time received up to now, but 
master already active.
[26616.254531] EtherCAT 0: Domain 0: Working counter changed to 2/8.
[26618.055638] EtherCAT 0: Domain 0: Working counter changed to 3/8.
[26619.556570] EtherCAT 0: Domain 0: Working counter changed to 5/8.
[26621.257595] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.
[26621.257598] EtherCAT ERROR 0-4: SDO abort message 0x0602: "This 
object does not exist in the object directory".
[26621.257600] EtherCAT ERROR 0-4: Failed to read number of mapped PDO 
entries.
[26621.257600] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 
0x1A00.
[26621.257603] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[26621.257603] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). 
Entries to map: 0x6000:01/8
[26621.257606] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[26621.257607] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs 
to assign: 0x1A00
[26621.657860] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[26621.657864] EtherCAT ERROR 0-4: SDO abort message 0x0602: "This 
object does not exist in the object directory".
[26621.657865] EtherCAT ERROR 0-4: Failed to read number of mapped PDO 
entries.
[26621.657866] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 
0x1600.
[26621.657867] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[26621.657868] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). 
Entries to map: 0x7000:01/32
[26622.058103] EtherCAT WARNING 0-4: Slave does not support changing the PDO 
mapping!
[26622.058106] EtherCAT WARNING 0-4: Currently mapped PDO entries: (none). 
Entries to map: 0xA000:01/8 0xA000:02/1 0xF100:01/8 0xF100:02/1 0xF100:03/16 
0xF100:05/8 0xF100:04/8 0xA000:02/1
[26622.058115] EtherCAT WARNING 0-4: Slave does not support assigning PDOs!
[26622.058116] EtherCAT WARNING 0-4: Currently assigned PDOs: (none). PDOs 
to assign: 0x1600 0x1A80
[26622.458353] EtherCAT 0: Domain 0: Working counter changed to 7/8.
[26623.559009] EtherCAT 0: Domain 0: 2 working counter changes - now 7/8.

Do you know where could be my error?

Thanks again

Best Regards


- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer

-----Original Message-
From: Gavin Lambert 
To: 'David Jiménez Mejías' , , 

Date: Mon, 2 Nov 2015 10:59:12 +1300
Subject: RE: [etherlab-users]  Beckhoff 6731-0010 initialization

Your strToCharArray function is corrupting memory by looping too many times 
– you loop up to the number of characters in the input array, but each 
loop reads two characters from the array.  You’re therefore writing twice 
as much data as you should be, and half of it is garbage.

 

You really shouldn’t have that sort of code anyway, since it’s all 
constant data in the first place.  Change the global definitions from a

Re: [etherlab-users] Beckhoff 6731-0010 initialization

2015-10-30 Thread David Jiménez Mejías

 master, EL6751Pos, Beckhoff_EL6751))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
fprintf(stderr,"Starting EL6751 Configuration ...\n");
fprintf(stderr,"Proceeding 0x1C32 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x1C32,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x1C32, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0x1C33 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x1C33,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x1C33, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0xF800 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0xf800,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0xf800, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0x8000 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x8000,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x8000, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0x8001 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x8001,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x8001, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0x8002 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x8002,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x8002, pb_config_buf, 
cnt);
fprintf(stderr,"Proceeding 0x8003 wrinting ...\n");
cnt = strToCharArray(pb_config_master_0x8003,pb_config_buf);
ecrt_slave_config_complete_sdo(sc_EL6751_Canopen, 0x8003, pb_config_buf, 
cnt);
fprintf(stderr,"EL6751 Configuration Ended ...\n");
/*-*/
printf("Configuring EL6751 PDOs...\n");
if (ecrt_slave_config_pdos(sc_EL6751_Canopen, EC_END, slave_4_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}

#if SDO_ACCESS
fprintf(stderr, "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_EL6751_Canopen, 
0xF002, 3,2))) {
fprintf(stderr, "Failed to create SDO request.\n");
return -1;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
#endif
// Create configuration for bus coupler
sc = ecrt_master_slave_config(master, EK1100Pos, Beckhoff_EK1100);
if (!sc)
return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
    if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 100 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
//


Thank you very much

Best regards

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer



-Original Message-
From: Gavin Lambert 
To: 'David Jiménez Mejías' , , 

Date: Fri, 30 Oct 2015 11:06:40 +1300
Subject: RE: [etherlab-users]  Beckhoff 6731-0010 initialization

Most likely, there is something invalid in the parameters for the SDO 
configuration functions.  You’ll 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/piperma

[etherlab-users] Beckhoff 6731-0010 initialization

2015-10-29 Thread David Jiménez Mejías

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





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[etherlab-users] Initializing CanOpen Master Module EL6751-0010

2015-10-28 Thread David Jiménez Mejías

Hello,

I just trying to configure a CanOpen Network with a CanOpen Master Module 
EL6710-0010 (Beckhoff), and get some doubts and issues.
I proceed just the module infosys website indicates, I did the next steps:
- Configure the BaudRate SDO:

# ./ethercat download -p4 -t uint8 0xF800 2 3 (250KBauds)

- Request a Detect Module Command

# ./ethercat download -p4 -t uint16 0xF002 1 0x11

 -> At this step I need to write "something" to a octet_string[2] entry, 
with this format the requested commando doesn work, I do it using a uint16. 
Does someone know which octet is the expected?

- After the request command I observe the percent counter process:

# ./ethercat upload -p4 -t uint8 0xF002 2
0x80 128
# ./ethercat upload -p4 -t uint8 0xF002 2
0x95 149

- Until it keeps on value 0x01:

# ./ethercat upload -p4 -t uint8 0xF002 2
0x01 1

- It means, reading at infosys, that: "Command ended without error, response 
data in SubIndex 3", then I tried read the octet_string[n] directly from the 
terminal, but it can't be possible, then I do:

# ./ethercat upload -p4 -t octet_string 0xF002 3 > ~/prescan.out

- This output file is:

   01 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  

0010   00 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  

0020   00 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  

0030   00 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  

0040   00 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  

0050   00 00 00 00  00 00 00 00  00 00 00 00  00 00 00 00  


 -> The first octet_couple correspond with the infosys website detail, 
al the next is 0.

- I tried to repeat the request command but I get the next error:

# ./ethercat download -p4 -t octet_string 0xF002 1 0x22
SDO transfer aborted with code 0x0821: Data cannot be transferred or 
stored to the application because of local control

This is the point where i'm get stacked.

Is there some one that have some experience with this type of modules?

Thank you very much

Best regards


- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer


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Datos, acceda a http://www.gtc.iac.es/gtc/legal_es.php
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Re: [etherlab-users] Make Module Errors

2015-10-16 Thread David Jiménez Mejías

Sorry for the reply before, don't take it on care. All just done correctly.

Thanks

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer

Centro de Astrofísica de La Palma, C.P 38718, Breña Baja
S/C de Tenerife / España

Email: david.jime...@gtc.iac.es
Tlf: +34 922 425 720 Fax: +34 922 425 725




-Original Message-
From: Patrick Brünn 
To: David Jiménez Mejías , 
"etherlab-users@etherlab.org" 
Date: Fri, 16 Oct 2015 09:44:31 +
Subject: RE: [etherlab-users] Make Module Errors

Hi David,

with Kernel 3.17 the signature of alloc_netdev() changed.

A simple patch would be to add “NET_NAME_UNKNOWN” as third parameter.

 

Regards,

Patrick

---

 

From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf 
Of David Jiménez Mejías
Sent: Freitag, 16. Oktober 2015 10:33
To: etherlab-users@etherlab.org
Subject: [etherlab-users] Make Module Errors

 

Hello!

 

I'm working on Ubuntu 14.04 with 3.19 kernel and I would like to install the 
EtherLab Master on it.

I just done correctly ./configure with the generic driver because de kernel 
3.19 is not supported by my actual driver (e1000e).

make just done correctly too

The make module doesn't correctly, I received the next errors:

 

make -C "/usr/src/linux-headers-3.19.0-25-generic" 
M="/usr/local/src/ethercat-1.5.2" modules
make[1]: Entering directory `/usr/src/linux-headers-3.19.0-25-generic'
  CC [M]  /usr/local/src/ethercat-1.5.2/devices/generic.o
/usr/local/src/ethercat-1.5.2/devices/generic.c: In function 
‘ec_gen_device_init’:
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:77: error: macro 
"alloc_netdev" requires 4 arguments, but only 3 given
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
 
^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: error: 
‘alloc_netdev’ undeclared (first use in this function)
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
   ^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: note: each 
undeclared identifier is reported only once for each function it appears in
/usr/local/src/ethercat-1.5.2/devices/generic.c:146:10: warning: unused 
variable ‘null’ [-Wunused-variable]
 char null = 0x00;
  ^
make[3]: *** [/usr/local/src/ethercat-1.5.2/devices/generic.o] Error 1
make[2]: *** [/usr/local/src/ethercat-1.5.2/devices] Error 2
make[1]: *** [_module_/usr/local/src/ethercat-1.5.2] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.19.0-25-generic'
make: *** [modules] Error 2

 

 

Does someone know something about this error? 

 

Thank you very much

 

Best regards

 

David J.M

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-

David Jiménez Mejías - Gran Telescopio de Canarias S.A

 

Ingeniero de Operación / Operation Engineer

 

Centro de Astrofísica de La Palma, C.P 38718, Breña Baja

S/C de Tenerife / España

 

Email: david.jime...@gtc.iac.es

Tlf: +34 922 425 720 Fax: +34 922 425 725

 

 

 


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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


Beckhoff Automation GmbH & Co. KG | Managing Director: Dipl. Phys. Hans 
Beckhoff
Registered office: Verl, Germany | Register court: Guetersloh HRA 7075


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Re: [etherlab-users] Make Module Errors

2015-10-16 Thread David Jiménez Mejías

Thank you very much for your reply, I just tried but I get new error. 

The original call for alloc_netdev() is teh next:

dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, ether_setup);

Adding the third argument according with you tip, the line looks like 
follow:

dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), 
&null,“NET_NAME_UNKNOWN”, ether_setup);

When I execute the make modules I get the next errors:

make -C "/usr/src/linux-headers-3.19.0-25-generic" 
M="/usr/local/src/ethercat-1.5.2" modules
make[1]: Entering directory `/usr/src/linux-headers-3.19.0-25-generic'
  CC [M]  /usr/local/src/ethercat-1.5.2/devices/generic.o
/usr/local/src/ethercat-1.5.2/devices/generic.c: In function 
‘ec_gen_device_init’:
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\342’ in program
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), 
&null,“NET_NAME_UNKNOWN”, ether_setup);
 ^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\200’ in program
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\234’ in program
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\342’ in program
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\200’ in program
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:5: error: stray 
‘\235’ in program
make[3]: *** [/usr/local/src/ethercat-1.5.2/devices/generic.o] Error 1
make[2]: *** [/usr/local/src/ethercat-1.5.2/devices] Error 2
make[1]: *** [_module_/usr/local/src/ethercat-1.5.2] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.19.0-25-generic'
make: *** [modules] Error 2

Maybe I do something wrong.

Thanks again

Best regards

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer

Centro de Astrofísica de La Palma, C.P 38718, Breña Baja
S/C de Tenerife / España

Email: david.jime...@gtc.iac.es
Tlf: +34 922 425 720 Fax: +34 922 425 725




-Original Message-
From: Patrick Brünn 
To: David Jiménez Mejías , 
"etherlab-users@etherlab.org" 
Date: Fri, 16 Oct 2015 09:44:31 +
Subject: RE: [etherlab-users] Make Module Errors

Hi David,

with Kernel 3.17 the signature of alloc_netdev() changed.

A simple patch would be to add “NET_NAME_UNKNOWN” as third parameter.

 

Regards,

Patrick

---

 

From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf 
Of David Jiménez Mejías
Sent: Freitag, 16. Oktober 2015 10:33
To: etherlab-users@etherlab.org
Subject: [etherlab-users] Make Module Errors

 

Hello!

 

I'm working on Ubuntu 14.04 with 3.19 kernel and I would like to install the 
EtherLab Master on it.

I just done correctly ./configure with the generic driver because de kernel 
3.19 is not supported by my actual driver (e1000e).

make just done correctly too

The make module doesn't correctly, I received the next errors:

 

make -C "/usr/src/linux-headers-3.19.0-25-generic" 
M="/usr/local/src/ethercat-1.5.2" modules
make[1]: Entering directory `/usr/src/linux-headers-3.19.0-25-generic'
  CC [M]  /usr/local/src/ethercat-1.5.2/devices/generic.o
/usr/local/src/ethercat-1.5.2/devices/generic.c: In function 
‘ec_gen_device_init’:
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:77: error: macro 
"alloc_netdev" requires 4 arguments, but only 3 given
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
 
^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: error: 
‘alloc_netdev’ undeclared (first use in this function)
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
   ^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: note: each 
undeclared identifier is reported only once for each function it appears in
/usr/local/src/ethercat-1.5.2/devices/generic.c:146:10: warning: unused 
variable ‘null’ [-Wunused-variable]
 char null = 0x00;
  ^
make[3]: *** [/usr/local/src/ethercat-1.5.2/devices/generic.o] Error 1
make[2]: *** [/usr/local/src/ethercat-1.5.2/devices] Error 2
make[1]: *** [_module_/usr/local/src/ethercat-1.5.2] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.19.0-25-generic'
make: *** [modules] Error 2

 

 

Does someone know something about this error? 

 

Thank you very much

 

Best regards

 

David J.M

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-

David Jiménez Mejías - Gran Telescopio de Canarias S.A

 

Ingeniero de Operación / Operation Engineer

 

Centro de Astrofísica de La Palma, C.P 38718, Breña Baja

S/C de Tenerife / España

 

Email: david.jime...@gtc.iac.es

Tlf: +34 922 425 720 Fax: +34 922 425 725

 

 

 


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ADVERTENCIA:

[etherlab-users] Make Module Errors

2015-10-16 Thread David Jiménez Mejías

Hello!

I'm working on Ubuntu 14.04 with 3.19 kernel and I would like to install the 
EtherLab Master on it.
I just done correctly ./configure with the generic driver because de kernel 
3.19 is not supported by my actual driver (e1000e).
make just done correctly too
The make module doesn't correctly, I received the next errors:

make -C "/usr/src/linux-headers-3.19.0-25-generic" 
M="/usr/local/src/ethercat-1.5.2" modules
make[1]: Entering directory `/usr/src/linux-headers-3.19.0-25-generic'
  CC [M]  /usr/local/src/ethercat-1.5.2/devices/generic.o
/usr/local/src/ethercat-1.5.2/devices/generic.c: In function 
‘ec_gen_device_init’:
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:77: error: macro 
"alloc_netdev" requires 4 arguments, but only 3 given
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
 
^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: error: 
‘alloc_netdev’ undeclared (first use in this function)
 dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), &null, 
ether_setup);
   ^
/usr/local/src/ethercat-1.5.2/devices/generic.c:152:19: note: each 
undeclared identifier is reported only once for each function it appears in
/usr/local/src/ethercat-1.5.2/devices/generic.c:146:10: warning: unused 
variable ‘null’ [-Wunused-variable]
 char null = 0x00;
  ^
make[3]: *** [/usr/local/src/ethercat-1.5.2/devices/generic.o] Error 1
make[2]: *** [/usr/local/src/ethercat-1.5.2/devices] Error 2
make[1]: *** [_module_/usr/local/src/ethercat-1.5.2] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.19.0-25-generic'
make: *** [modules] Error 2


Does someone know something about this error? 

Thank you very much

Best regards

David J.M
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-
David Jiménez Mejías - Gran Telescopio de Canarias S.A

Ingeniero de Operación / Operation Engineer

Centro de Astrofísica de La Palma, C.P 38718, Breña Baja
S/C de Tenerife / España

Email: david.jime...@gtc.iac.es
Tlf: +34 922 425 720 Fax: +34 922 425 725




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ADVERTENCIA: Sobre la privacidad y cumplimiento de la Ley de Protección de 
Datos, acceda a http://www.gtc.iac.es/gtc/legal_es.php
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Re: [etherlab-users] CX CPU as Master Linux Slave

Re: [etherlab-users] CX CPU as Master Linux Slave

[etherlab-users] CX CPU as Master Linux Slave

Re: [etherlab-users] Initializing CanOpen Master Module EL6751-0010

Re: [etherlab-users] Beckhoff 6731-0010 initialization

Re: [etherlab-users] Beckhoff 6731-0010 initialization

[etherlab-users] Beckhoff 6731-0010 initialization

[etherlab-users] Initializing CanOpen Master Module EL6751-0010

Re: [etherlab-users] Make Module Errors

Re: [etherlab-users] Make Module Errors

[etherlab-users] Make Module Errors

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