Ankit Goila | 14 Jun 19:49 2013
Picon

Slaves don't go into the OP state

Hello,

I am using EtherCAT master 1.5.2 kernel module on RT-Preempt, and am using EPOS3 slaves provided by Maxon. When I give the sdo commands through the terminal, I am able to get the motors to run, but the slaves remain in the Pre-op state. I am confused - if the motors are running by sending in the correct sdos, shouldn't the slave be in the OP state? This might precisely be the reason why I am unable to run the motors through Simulink model.
I can't seem to find the error in all this. I'll be grateful if anyone could help me out here.

Thanks,

Ankit

--
Ankit Goila
U-M ID: 83509056
Graduate Student (2012-2014)
M.S.E Mechanical Engineering
University of Michigan, Ann Arbor
Contact: 734-747-0829

<div><div dir="ltr">
<div>
<div>
<div>
<div>Hello,<br><br>
</div>I am using EtherCAT master 1.5.2 kernel module on RT-Preempt, and am using EPOS3 slaves provided by Maxon. When I give the sdo commands through the terminal, I am able to get the motors to run, but the slaves remain in the Pre-op state. I am confused - if the motors are running by sending in the correct sdos, shouldn't the slave be in the OP state? This might precisely be the reason why I am unable to run the motors through Simulink model.<br>
</div>I can't seem to find the error in all this. I'll be grateful if anyone could help me out here. <br><br>
</div>Thanks,<br><br>
</div>Ankit<br clear="all"><div><div><div><div><div>
<br>-- <br><div dir="ltr">
<div>

<span>Ankit Goila</span>
</div>
<span>U-M ID: 83509056</span><br><div><span>Graduate Student (2012-2014)</span></div>
<div><span>M.S.E Mechanical Engineering</span></div>

<div><span>University of Michigan, Ann Arbor</span></div>
<div><span>Contact: 734-747-0829</span></div>

<div><br></div>
</div>
</div></div></div></div></div>
</div></div>
pier | 13 Jun 12:41 2013
Picon

Please Help- Configuration of EL4008 (Analog Output), (Sanya kalani)


Dear Kalani

With these things you need :

1- Enable DEBUG mode  with  ... ethercat debug 1

2-Watch messages in /var/log/syslog .... or messages depending on 
distribuition....

3- Do step by step and watch messages...

Best Regards

Pier

--

-- 

Perlsoft GmbH
Sennereigasse 27
3900 Brig
Switzerland

Tel. +41977022933

Cor Meijneke - 3ME | 13 Jun 09:23 2013
Picon
Picon

Issues with starting ethercat master (with e1000e driver)

Hi,

I ran into some trouble with e1000e driver (I think) while installing the ethercat master. I have setup with
a Intel NUC that yields a 82579V Gigabit network connection with Ubuntu 12.04 running on it (which
indicates its using a e1000e driver) en a simple Beckhoff EK1100 with EL3104 and EL4034 terminals. I've
configured the software with: 
./configure --prefix=/vol/opt/etherlab --disable-8139too --enable-e1000e --with-e1000e-kernel=3.4
and did the rest of the installation according to the manual.
Next I adapted the config file and initiated the service, made an udev rule and restarted the service. 

When I start the ethercat service it says "done" and I can request the slaves giving the output:
0  1:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  3:0  PREOP  +  EL3104 4K. Ana. Eingang  +/-10V Diff.
2  5:0  PREOP  +  EL4034 4K. Ana. Ausgang +/-10V, 12bit
But the "ethercad config"  command doesn't give any output and when I run a simple Simulink model it, nothing
happens and the Simulink models cannot connect to target if I try manually.
Below you can see the syslog output for starting the service, running a simple compiled simulink model and
stopping the service respectively.

----------------------------------------------------------------------------------------
----------------------------------Start service-----------------------------------------
----------------------------------------------------------------------------------------
[ 6202.019925] EtherCAT: Master driver devel af21f0bdc7c9
[ 6202.020117] EtherCAT: 1 master waiting for devices.
[ 6202.188857] ec_e1000e: EtherCAT-capable Intel(R) PRO/1000 Network Driver - 1.5.1-k-EtherCAT
[ 6202.188862] ec_e1000e: Copyright(c) 1999 - 2011 Intel Corporation.
[ 6202.188903] ec_e1000e 0000:00:19.0: setting latency timer to 64
[ 6202.189062] ec_e1000e 0000:00:19.0: irq 40 for MSI/MSI-X
[ 6202.484470] EtherCAT: Accepting device EC:A8:6B:F4:AC:61 for master 0.
[ 6202.633032] ec_e1000e 0000:00:19.0: irq 40 for MSI/MSI-X
[ 6202.686015] ec_e1000e 0000:00:19.0: (unregistered net_device): MSI interrupt test failed, using
legacy interrupt.
[ 6202.686080] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6202.686279] ec_e1000e 0000:00:19.0: (unregistered net_device): (PCI Express:2.5GT/s:Width x1) ec:a8:6b:f4:ac:61
[ 6202.686295] ec_e1000e 0000:00:19.0: (unregistered net_device): Intel(R) PRO/1000 Network Connection
[ 6202.686375] ec_e1000e 0000:00:19.0: (unregistered net_device): MAC: 10, PHY: 11, PBA No: FFFFFF-0FF
[ 6202.686832] ec_e1000e 0000:00:19.0: (unregistered net_device): Reset adapter
[ 6204.690679] e1000e: ec0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[ 6204.690696] ec_e1000e 0000:00:19.0: (unregistered net_device): 10/100 speed: disabling TSO
[ 6204.690702] EtherCAT 0: Link state changed to UP.
[ 6204.695825] EtherCAT 0: 3 slave(s) responding.
[ 6204.695836] EtherCAT 0: Slave states: PREOP.
[ 6204.695943] EtherCAT 0: Scanning bus.
[ 6205.096368] EtherCAT ERROR 0-2: SDO upload 0x1C13:01 aborted.
[ 6205.096373] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist".
[ 6205.096375] EtherCAT ERROR 0-2: Failed to read index of assigned PDO 1 from SM3.
[ 6205.096376] EtherCAT 0: Bus scanning completed in 400 ms.

----------------------------------------------------------------------------------------
----------------------------------Run Model-----------------------------------------
----------------------------------------------------------------------------------------
[ 6253.519443] EtherCAT: Requesting master 0...
[ 6253.519448] EtherCAT: Successfully requested master 0.
[ 6253.519491] EtherCAT 0: Domain0: Logical address 0x00000000, 8 byte, expected working counter 1.
[ 6253.519493] EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 8 byte, type LRD.
[ 6253.519565] EtherCAT 0: Master thread exited.
[ 6253.519568] EtherCAT 0: Starting EtherCAT-OP thread.
[ 6253.929194] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[ 6253.929198] EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6030:11/16. Entries to map: 0x6040:11/16
[ 6259.153438] EtherCAT WARNING 0-1: Slave did not sync after 5000 ms.
[ 6259.203384] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 6259.223362] EtherCAT ERROR 0-1: AL status message 0x0035: "DC Invalid Sync Cycle Time".
[ 6259.253328] EtherCAT 0-1: Acknowledged state PREOP.
[ 6259.283759] EtherCAT 0: Slave states: PREOP, OP.
[ 6259.511476] EtherCAT WARNING 0: 240 datagrams UNMATCHED!
[ 6259.682945] EtherCAT WARNING: Datagram ffff880409434d80 (domain0-0) was SKIPPED 120 times.

----------------------------------------------------------------------------------------
----------------------------------Stop service-----------------------------------------
----------------------------------------------------------------------------------------
[ 7198.032419] EtherCAT 0: Releasing master...
[ 7198.032511] EtherCAT 0: Master thread exited.
[ 7198.032527] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 7198.032606] EtherCAT 0: Released.
[ 7198.047031] EtherCAT 0: Slave states: PREOP.
[ 7232.575556] EtherCAT 0: Master thread exited.
[ 7232.593050] EtherCAT 0: Link state changed to DOWN.
[ 7232.712710] EtherCAT 0: Releasing main device EC:A8:6B:F4:AC:61.
[ 7232.717499] EtherCAT: Master module cleaned up.
[ 7233.724151] e1000e: Intel(R) PRO/1000 Network Driver - 2.0.0-k
[ 7233.724161] e1000e: Copyright(c) 1999 - 2012 Intel Corporation.
[ 7233.724233] e1000e 0000:00:19.0: setting latency timer to 64
[ 7233.724411] e1000e 0000:00:19.0: Interrupt Throttling Rate (ints/sec) set to dynamic conservative mode
[ 7233.724494] e1000e 0000:00:19.0: irq 40 for MSI/MSI-X
[ 7233.980802] e1000e 0000:00:19.0: eth0: (PCI Express:2.5GT/s:Width x1) ec:a8:6b:f4:ac:61
[ 7233.980815] e1000e 0000:00:19.0: eth0: Intel(R) PRO/1000 Network Connection
[ 7233.980890] e1000e 0000:00:19.0: eth0: MAC: 10, PHY: 11, PBA No: FFFFFF-0FF
[ 7234.150630] e1000e 0000:00:19.0: irq 40 for MSI/MSI-X
[ 7234.251416] e1000e 0000:00:19.0: irq 40 for MSI/MSI-X
[ 7234.254712] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[ 7234.256198] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[ 7235.960283] e1000e: eth0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[ 7235.960298] e1000e 0000:00:19.0: eth0: 10/100 speed: disabling TSO
[ 7235.963387] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready

Hope someone can give me some advice how to tacle this issue.

Best regards,

Cor

---------------------------
Ing. C. Meijneke 
Research Engineer 

Delft Biorobotics Laboratory 
Bio Mechanical Engineering 
Delft University of Technology 

Graeme Foot | 13 Jun 05:21 2013

Fix for ecrt_master_select_reference_clock

Hi,

 

I just noticed that ecrt_master_select_reference_clock hasn't been working.

 

On startup the master auto selects the first DC slave in ecrt_master_select_reference_clock.

 

Problem 1:

Calling ecrt_master_select_reference_clock selects the slave config to use, but does not activate it immediately.  ecrt_master_select_reference_clock is only called if the bus is rescanned, at which point problem 2 happens.

 

Problem 2:

ecrt_master_select_reference_clock is called before slaves are attached to the slave configs so trying to set up dc_ref_config fails and then no slave is set up as the dc_ref_clock.

 

 

I have attached a patch that corrects the above problems.  The patch also contains a few other things I change so I've added a description of my changes for this problem below.

 

 

master/master.c

 

ec_master_find_dc_ref_clock

- If using dc_ref_config fails then all slaves are scanned for the first slave to support DC

 

ecrt_master_select_reference_clock

- Calls ec_master_find_dc_ref_clock

- I have removed the dc capabilities check as these are in ec_master_find_dc_ref_clock anyway

 

master/fsm_master.c

 

ec_fsm_master_state_scan_slave

- I have moved ec_master_calc_dc after ec_master_attach_slave_configs

 

 

Regards,

Graeme Foot.

<div>

<div class="Section1">

<p class="MsoNormal"><span lang="EN-US">Hi,<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">I just noticed that ecrt_master_select_reference_clock hasn't been
working.<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">On startup the master auto selects the first DC slave in ecrt_master_select_reference_clock.<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">Problem 1:<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">Calling ecrt_master_select_reference_clock selects the slave config to
use, but does not activate it immediately.&nbsp; ecrt_master_select_reference_clock
is only called if the bus is rescanned, at which point problem 2 happens.<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">Problem 2:<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">ecrt_master_select_reference_clock is called before slaves are attached
to the slave configs so trying to set up dc_ref_config fails and then no slave is
set up as the dc_ref_clock.<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">I have attached a patch that corrects the above problems.&nbsp; The
patch also contains a few other things I change so I've added a description of
my changes for this problem below.<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">master/master.c<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">ec_master_find_dc_ref_clock<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">- If using dc_ref_config fails then all slaves are scanned for the
first slave to support DC<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">ecrt_master_select_reference_clock<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">- Calls ec_master_find_dc_ref_clock<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">- I have removed the dc capabilities check as these are in ec_master_find_dc_ref_clock
anyway<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">master/fsm_master.c<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">ec_fsm_master_state_scan_slave<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">- I have moved ec_master_calc_dc after ec_master_attach_slave_configs<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>

<p class="MsoNormal"><span lang="EN-US">Regards,<p></p></span></p>

<p class="MsoNormal"><span lang="EN-US">Graeme Foot.<p></p></span></p>

</div>

</div>
Ankit Goila | 12 Jun 18:54 2013
Picon

EPOS Library for EtherLab

Hello Andreas,

Thank you for the help. I have already tried the steps that you had mentioned in the mail. I'm still not able to run my slaves through the Simulink model. There are two issues that are coming up:

(1) On compiling the model the regular way, I get an error saying:

gmake: *** No rule to make target `rt_defines.h', needed by `test_capi.o'.  Stop.

When I set the 'Configuration Parameters' -> Code Generation -> Interface to 'Classic call interface', this error goes away.

(2) The example.mdl file supplied with EtherLab suggests that I use an 'Infrastructure' block along with my regular model, something that doesn't exist for the EPOS.

I am working on it, trying to figure out where I am going wrong. Any help/information in this regard will be really appreciated.

Thanks and Regards,

Ankit

--
Ankit Goila
U-M ID: 83509056
Graduate Student (2012-2014)
M.S.E Mechanical Engineering
University of Michigan, Ann Arbor
Contact: 734-747-0829

<div><div dir="ltr">
<div>
<div>
<div>Hello Andreas,<br><br>
</div>Thank you for the help. I have already tried the steps that you had mentioned in the mail. I'm still not able to run my slaves through the Simulink model. There are two issues that are coming up: <br><br>
</div>(1) On compiling the model the regular way, I get an error saying: <br><br>gmake: *** No rule to make target `rt_defines.h', needed by `test_capi.o'.&nbsp; Stop. <br><br>When I set the 'Configuration Parameters' -&gt; Code Generation -&gt; Interface to 'Classic call interface', this error goes away. <br><br>
</div>
<div>(2) The example.mdl file supplied with EtherLab suggests that I use an 'Infrastructure' block along with my regular model, something that doesn't exist for the EPOS. <br><br>
</div>
<div>I am working on it, trying to figure out where I am going wrong. Any help/information in this regard will be really appreciated.<br><br>
</div>
<div>Thanks and Regards,<br><br>
</div>
<div>Ankit<br>
</div>
<div><div><div><div><div>
<br>-- <br><div dir="ltr">
<div><span>Ankit Goila</span></div>

<span>U-M ID: 83509056</span><br><div><span>Graduate Student (2012-2014)</span></div>

<div><span>M.S.E Mechanical Engineering</span></div>
<div><span>University of Michigan, Ann Arbor</span></div>

<div><span>Contact: 734-747-0829</span></div>
<div><br></div>
</div>
</div></div></div></div></div>
</div></div>
Cor Meijneke - 3ME | 12 Jun 11:02 2013
Picon
Picon

Re: Etherlab 2.0 installation results

Hi there!

I struggled with this same issue.

I got some support from Igh and they told me it is probably an issue with the change of the internal C-API in
matlab 2012:
 http://www.mail-archive.com/etherlab-dev-TgCWn71uKPpg9hUCZPvPmw <at> public.gmane.org/msg00209.html
They will send me a solution for this shortly, but for now switching to matlab version 2011b has solved the problem.

Best regards,
Cor

---------------------------
Ing. C. Meijneke 
Research Engineer 

Delft Biorobotics Laboratory 
Bio Mechanical Engineering 
Delft University of Technology 

Ankit Goila | 11 Jun 18:51 2013
Picon

EPOS Library for EtherLab

Hi all,

I am working on setting up a real-time control framework on my machine with RT-Preempt kernel on Ubuntu 12.04 LTS.  I have a functioning EtherCAT master set up on the machine and am able to communicate with the EPOS3 slaves by writing executable files. 

I also have set up EtherLab and integrated it with Matlab/Simulink. The EtherLab provides access to Beckhoff library, in specific the Beckhoff infrastructure block to configure the Master, but there is no generic block which could work with the EPOS from Maxon. 

I would like to know how to configure my EPOS device using EtherLab in Linux (a similar thing exists for Windows - xPC EtherCAT library) 

Thanks,

Ankit



--
Ankit Goila
U-M ID: 83509056
Graduate Student (2012-2014)
M.S.E Mechanical Engineering
University of Michigan, Ann Arbor
Contact: 734-747-0829

<div><div dir="ltr">Hi all,<div><br></div>
<div>I am working on setting up a real-time control framework on my machine with RT-Preempt kernel on Ubuntu 12.04 LTS.&nbsp;<span>&nbsp;</span><span>I have a functioning EtherCAT master set up on the machine and am able to communicate with the EPOS3 slaves by writing executable files.&nbsp;</span>
</div>

<div><span><br></span></div>
<div>
<span>I also have set up EtherLab and integrated it with Matlab/Simulink.&nbsp;</span><span>The EtherLab provides access to Beckhoff library, in specific the Beckhoff infrastructure block to configure the Master, but there is no generic block which could work with the EPOS from Maxon.&nbsp;</span>
</div>

<div><span><br></span></div>
<div><span>I would like to know how to configure my EPOS device using EtherLab in Linux (a similar thing exists for Windows - xPC EtherCAT library)&nbsp;</span></div>

<div><span><br></span></div>
<div><span>Thanks,</span></div>
<div><span><br></span></div>
<div><span>Ankit</span></div>
<div><span><br></span></div>
<div>
<br clear="all"><div><br></div>

-- <br><div dir="ltr">
<div><span>Ankit Goila</span></div>
<span>U-M ID: 83509056</span><br><div><span>Graduate Student (2012-2014)</span></div>
<div><span>M.S.E Mechanical Engineering</span></div>

<div><span>University of Michigan, Ann Arbor</span></div>
<div><span>Contact: 734-747-0829</span></div>

<div><br></div>
</div>
</div>
</div></div>
Sanya kalani | 11 Jun 18:33 2013
Picon

Please Help- Configuration of EL4008 (Analog Output)

Dear Mr. Schlüter,

 

I am trying to configure a Slave EL4008 (12-bit Analog Output).

I m trying to Configure EL4008 analog terminal by Beckhoff using CAPI. When I insmod my application then all the LEDS on the terminal glow and I am unable to control it or change its status. My system works completely fine for Digital terminals so there is no problem in the setup  I checked the domain. The values are written as per my program but I cannot measure the voltage on my physical Terminal using a multimeter. This slave supports distributed clocks, I have not dealt with time issue in my program. Is that the reason My slave is not updated?  What should I do? What mistake am I committing?  Please Advise.

My system details are as follows-

 

EtherCAT – 1.5

Etherlab- 1.3

Linux- Open suse

Linux Kernel- 2.6.37.6

 

Code-

 

#define Beckhoff_EK1101 0x00000002, 0x044d2c52

#define Beckhoff_EL4008 0x00000002, 0x0fa83052

 

#define BuscouplerPos  0,0

 

#define AnaOutSlavePos  0,2


ec_pdo_entry_info_t slave_EL4008_pdo_entries[] = {
    {0x7000, 0x01, 16}, /* Analog output */
    {0x7010, 0x101, 16}, /* Analog output */
    {0x7020, 0x01, 16}, /* Analog output */
    {0x7030, 0x01, 16}, /* Analog output */
    {0x7040, 0x01, 16}, /* Analog output */
    {0x7050, 0x01, 16}, /* Analog output */
    {0x7060, 0x01, 16}, /* Analog output */
    {0x7070, 0x01, 16}, /* Analog output */
    };

ec_pdo_info_t slave_EL4008_pdos[] = {
    {0x1600, 1, slave_EL4008_pdo_entries +0 }, /* RxPDO-Map OutputsCh.1 */
    {0x1601, 1, slave_EL4008_pdo_entries +1 }, /* RxPDO-Map OutputsCh.2 */
    {0x1602, 1, slave_EL4008_pdo_entries +2 }, /* RxPDO-Map OutputsCh.3 */
    {0x1603, 1, slave_EL4008_pdo_entries +3 }, /* RxPDO-Map OutputsCh.4 */
    {0x1604, 1, slave_EL4008_pdo_entries +4 }, /* RxPDO-Map OutputsCh.5 */
    {0x1605, 1, slave_EL4008_pdo_entries +5 }, /* RxPDO-Map OutputsCh.6 */
    {0x1606, 1, slave_EL4008_pdo_entries +6 }, /* RxPDO-Map OutputsCh.7 */
    {0x1607, 1, slave_EL4008_pdo_entries +7 }, /* RxPDO-Map OutputsCh.8 */
};


ec_sync_info_t slave_EL4008_syncs[] = {
    {0, EC_DIR_OUTPUT, 0},
    {1, EC_DIR_INPUT, 0},
    {2, EC_DIR_OUTPUT, 8,slave_EL4008_pdos + 0 },
    {3, EC_DIR_INPUT, 0},
    {0xff}
};

static unsigned int o_ana_out[8];

const static ec_pdo_entry_reg_t domain_EL4008_regs[] = {
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7000, 0x11, &o_ana_out[0]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7010, 0x11, &o_ana_out[1]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7020, 0x11, &o_ana_out[2]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7030, 0x11, &o_ana_out[3]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7040, 0x11, &o_ana_out[4]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7050, 0x11, &o_ana_out[5]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7060, 0x11, &o_ana_out[6]},
        {AnaOutSlavePos,  Beckhoff_EL4008, 0x7070, 0x11, &o_ana_out[7]},
{}
};

<div><div dir="ltr">

<p class="">Dear Mr. Schl&uuml;ter,</p>

<p class="">&nbsp;</p>

<p class=""><span lang="EN-US">I am trying
to configure a Slave EL4008 (12-bit Analog Output). </span></p>

<p><span lang="EN-US">I m trying to Configure
EL4008 analog terminal by Beckhoff using CAPI. When I insmod my application
then all the LEDS on the terminal glow and I am unable to control it or change
its status. My system works completely fine for Digital terminals so there is
no problem in the setup &nbsp;I checked the domain. The values are written as
per my program but I cannot measure the voltage on my physical Terminal using a
multimeter. This slave supports distributed clocks, I have not dealt with time
issue in my program. Is that the reason My slave is not updated? &nbsp;What
should I do? What mistake am I committing? &nbsp;Please Advise.</span></p>

<p><span lang="EN-US">My system details are as
follows-</span></p>

<p><span lang="EN-US">&nbsp;</span></p>

<p><span lang="EN-US">EtherCAT &ndash; 1.5</span></p>

<p><span class=""><span lang="EN-US">Etherlab</span></span><span lang="EN-US">- 1.3</span></p>

<p><span lang="EN-US">Linux- Open suse</span></p>

<p><span lang="EN-US">Linux Kernel- 2.6.37.6 </span></p>

<p><span lang="EN-US">&nbsp;</span></p>

<p><span>Code- </span></p>

<p>&nbsp;</p>

<p>#define Beckhoff_EK1101 0x00000002, 0x044d2c52<br><br>
#define Beckhoff_EL4008 0x00000002, 0x0fa83052</p>

<p>&nbsp;</p>

<p>#define BuscouplerPos &nbsp;0,0</p>

<p>&nbsp;</p>

<p>#define AnaOutSlavePos &nbsp;0,2<br><br><br>
ec_pdo_entry_info_t slave_EL4008_pdo_entries[] = {<br>
&nbsp;&nbsp;&nbsp; {0x7000, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7010, 0x101, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7020, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7030, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7040, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7050, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7060, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; {0x7070, 0x01, 16}, /* Analog output */<br>
&nbsp;&nbsp;&nbsp; };<br><br>
ec_pdo_info_t slave_EL4008_pdos[] = {<br>
&nbsp;&nbsp;&nbsp; {0x1600, 1, slave_EL4008_pdo_entries +0 }, /* RxPDO-Map
OutputsCh.1 */<br>
&nbsp;&nbsp;&nbsp; {0x1601, 1, slave_EL4008_pdo_entries +1 }, /* RxPDO-Map
OutputsCh.2 */<br>
&nbsp;&nbsp;&nbsp; {0x1602, 1, slave_EL4008_pdo_entries +2 }, /* RxPDO-Map
OutputsCh.3 */<br>
&nbsp;&nbsp;&nbsp; {0x1603, 1, slave_EL4008_pdo_entries +3 }, /* RxPDO-Map
OutputsCh.4 */<br>
&nbsp;&nbsp;&nbsp; {0x1604, 1, slave_EL4008_pdo_entries +4 }, /* RxPDO-Map
OutputsCh.5 */<br>
&nbsp;&nbsp;&nbsp; {0x1605, 1, slave_EL4008_pdo_entries +5 }, /* RxPDO-Map
OutputsCh.6 */<br>
&nbsp;&nbsp;&nbsp; {0x1606, 1, slave_EL4008_pdo_entries +6 }, /* RxPDO-Map
OutputsCh.7 */<br>
&nbsp;&nbsp;&nbsp; {0x1607, 1, slave_EL4008_pdo_entries +7 }, /* RxPDO-Map
OutputsCh.8 */<br>
};<br><br><br>
ec_sync_info_t slave_EL4008_syncs[] = {<br>
&nbsp;&nbsp;&nbsp; {0, EC_DIR_OUTPUT, 0},<br>
&nbsp;&nbsp;&nbsp; {1, EC_DIR_INPUT, 0},<br>
&nbsp;&nbsp;&nbsp; {2, EC_DIR_OUTPUT, 8,slave_EL4008_pdos + 0 },<br>
&nbsp;&nbsp;&nbsp; {3, EC_DIR_INPUT, 0},<br>
&nbsp;&nbsp;&nbsp; {0xff}<br>
}; <br><br>
static unsigned int o_ana_out[8];<br><br>
const static ec_pdo_entry_reg_t domain_EL4008_regs[] = {<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7000, 0x11, &amp;o_ana_out[0]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7010, 0x11, &amp;o_ana_out[1]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7020, 0x11, &amp;o_ana_out[2]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7030, 0x11, &amp;o_ana_out[3]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008, 0x7040,
0x11, &amp;o_ana_out[4]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7050, 0x11, &amp;o_ana_out[5]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7060, 0x11, &amp;o_ana_out[6]},<br>
&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp; {AnaOutSlavePos,&nbsp; Beckhoff_EL4008,
0x7070, 0x11, &amp;o_ana_out[7]},<br>
{}<br>
};</p>

</div></div>
Ben Lewis | 6 Jun 13:15 2013
Picon

EtherCAT developer required

Etherlab users,

I'm looking for a company that can develop a user interface for an industrial machine. The interface 
requires an EtherCAT master and Ethernet/IP adapter.

If anybody on this mailing list is interested or can recommend somebody please reply to this email.

Regards, Ben
BOESEL Diego Fernandes | 6 Jun 10:13 2013
Picon

Etherlab master on top of RTAI

Hello,

 

I am developing a control application with Etherlab’s EtherCAT master on top of RTAI. I have two questions regarding such setup:

 

1         The flag “--with-rtai-dir” has to be used when installing the EtherCat master or is it only for the examples?

2         The EtherCat master process will not be pre-empted by the RTAI processes and tasks (considering ethercat master runs as pure Linux process)? If not, which is the priority of the Ethercat process under RTAI or under Linux?

 

BR

Diego Boesel

<div>
<div class="WordSection1">
<p class="MsoNormal"><span lang="EN-US">Hello,<p></p></span></p>
<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>
<p class="MsoNormal"><span lang="EN-US">I am developing a control application with Etherlab&rsquo;s EtherCAT master on top of RTAI. I have two questions regarding such setup:<p></p></span></p>
<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>
<p class="MsoListParagraph"><span lang="EN-US"><span>1<span>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
</span></span></span><span lang="EN-US">The flag &ldquo;--with-rtai-dir&rdquo; has to be used when installing the EtherCat master or is it only for the examples?<p></p></span></p>
<p class="MsoListParagraph"><span lang="EN-US"><span>2<span>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
</span></span></span><span lang="EN-US">The EtherCat master process will not be pre-empted by the RTAI processes and tasks (considering ethercat master runs as pure Linux process)? If not, which is the priority of the Ethercat process under RTAI or
 under Linux?<p></p></span></p>
<p class="MsoNormal"><span lang="EN-US"><p>&nbsp;</p></span></p>
<p class="MsoNormal"><span lang="EN-US">BR<p></p></span></p>
<p class="MsoNormal"><span lang="EN-US">Diego Boesel <p></p></span></p>
</div>
</div>
Mampionona Rakotobe | 5 Jun 11:29 2013
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Beckhoff EL6601 issue

Hi,

I am trying to test EoE on Beckhoff EL6601 device.
During bus scanning and configuration, the master changes the state of the EL6601 (PREOP to INIT, INIT to PREOP and PREOP to OP). But when the master sends to the EL6601 the command to change its state, the changing is only done 1.5 seconds later.

Does anyone know if this behavior is normal for a EL6601 device? Does the waiting time come from the master or the device?

PS: I am using Etherlab Master 1.5.2 on Linux Ubuntu


Thanks in advance
Regards,

Mampionona
<div><div>Hi,<br><br>I am trying to test EoE on Beckhoff EL6601 device. <br>During bus scanning and configuration, the master changes the state of the EL6601 (PREOP to INIT, INIT to PREOP and PREOP to OP). But when the master sends to the EL6601 the command to change its state, the changing is only done 1.5 seconds later. <br><br>Does anyone know if this behavior is normal for a EL6601 device? Does the waiting time come from the master or the device?<br><br>PS: I am using Etherlab Master 1.5.2 on Linux Ubuntu<br><br><br>Thanks in advance<br>Regards,<br><br>Mampionona<br>
</div></div>

Gmane