Re: [etherlab-users] Problems initializing Omron system
On 28 March 2017 23:21, quoth Asier Tamayo: > After some debug, we have finally got the system working properly. We had > to define EC_SII_ASSIGN in the config.h file and recompile the EtherLab > master. The right way to define this is not to modify config.h directly, but to specify --enable-sii-assign when running configure. (You can run configure --help to see the options.) > Does anyone know if defining EC_SII_ASIGN has any side effect? We have > found very little information about it. All this does is to assign control of the SII EEPROM to the slave device at specific points during the configuration process. This is required by some complex slaves that store additional settings in the SII EEPROM; it's disabled by default presumably just because it's a little slower and most common slaves don't need it. (There are some bugs in its implementation and it doesn't quite follow the standard, but that's mostly around treatment of the BOOT state and most people won't notice or care about that as it's only used for firmware programming.) ___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
Re: [etherlab-users] Problems initializing Omron system
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 +, 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: 0x0083
>
> * Product code:0x00a6
>
> * 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 */
>
> {0x, 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 -0.00.2
>
> Distributed clocks:
>
> Reference clock: Slave 0
>
> Application time: 0
>
> 2000-01-01 00:00:00.0
>
>
>
> # ./ethercat slaves -v
>
> === Master 0, Slave 0 ===
>
> Device: Main
>
> State: INIT
>
> Flag: E
>
> Identity:
>
> Vendor Id: 0x0083
>
> Product code:0x00a6
>
> Revision number: 0x00010002
>
> Serial number: 0x
>
> DL information:
>
> FMMU bit operation: no
>
> Distributed clocks: yes, 64 bit
>
> DC system time transmission delay: 0 ns
>
> Port Type Link LoopSignal NextSlave RxTime [ns] Diff [ns]
> NextDc [ns]
>
>0 MII upopenyes - 3370868674 0
> 0
>
>1 MII down closed no -- -
> -
>
>2 N/A down closed no -- -
> -
>
>3 N/A down closed no -- -
> -
>
> Mailboxes:
>
>
[etherlab-users] Problems initializing Omron system
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: 0x0083
* Product code:0x00a6
* 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 */
{0x, 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 -0.00.2
Distributed clocks:
Reference clock: Slave 0
Application time: 0
2000-01-01 00:00:00.0
# ./ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: INIT
Flag: E
Identity:
Vendor Id: 0x0083
Product code:0x00a6
Revision number: 0x00010002
Serial number: 0x
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link LoopSignal NextSlave RxTime [ns] Diff [ns] NextDc
[ns]
0 MII upopenyes - 3370868674 0 0
1 MII down closed no -- - -
2 N/A down closed no -- - -
3 N/A down closed no -- - -
Mailboxes:
Bootstrap RX: 0x/0, TX: 0x/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
