1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. EL5112: Change PDO assignments via LinuxCNC?

EL5112: Change PDO assignments via LinuxCNC?

More
29 Dec 2024 20:08 #317637 by thomaseg
EL5112: Change PDO assignments via LinuxCNC? was created by thomaseg
Hi,

I've been struggling with getting an EL5112 encoder to work. I've spent most of the day battling this and i think i need some input/assistance.
The module is this one: www.beckhoff.com/da-dk/products/i-o/ethe...surement/el5112.html
The manual is here: download.beckhoff.com/download/Document/...rminals/el5112en.pdf

The module is an encoder ane it can run as either "1xABC" or "2xAB" encoder(s). I need it to run as "1xAB" encoder, not using the 2nd channel. However, its factory default set to "1xABC". If i look in the manual i find this regarding the "Predefined PDO assignment":
 
...and what i can gather from the manual is that i need to use 0x1A02 for input and 0x1602 for output. I've tried that with this configuration:
<slave idx="1" type="generic" vid="00000002" pid="13F83052" configPdos="true" name="ENC1">
  <syncManager idx="2" dir="out">
    <pdo idx="1602">
      <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="cmd-EnableLatchPosEdge" halType="bit"/>
      <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="cmd-SetCounter" halType="bit"/>
      <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="cmd-EnableLatchNegEdge" halType="bit"/>
      <pdoEntry idx="7000" subIdx="09" bitLen="1" halPin="cmd-SetSoftwareGate" halType="bit"/>
      <pdoEntry idx="7000" subIdx="0a" bitLen="1" halPin="cmd-SetCounterLatchPosEdge" halType="bit"/>
      <pdoEntry idx="7000" subIdx="0b" bitLen="1" halPin="cmd-SetCounterLatchNegEdge" halType="bit"/>
      <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="cmd-SetCounterValue" halType="s32"/>
    </pdo>
  </syncManager>
  <syncManager idx="3" dir="in">
    <pdo idx="1a02">
      <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="sta-LatchExtValid" halType="bit"/>
      <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="sta-SetCounterDone" halType="bit"/>
      <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="sta-CounterUnderflow" halType="bit"/>
      <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="sta-CounterOverflow" halType="bit"/>
      <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="sta-OpenCircuit" halType="bit"/>
      <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="sta-StatusInputA" halType="bit"/>
      <pdoEntry idx="6000" subIdx="0a" bitLen="1" halPin="sta-StatusInputB" halType="bit"/>
      <pdoEntry idx="6000" subIdx="0c" bitLen="1" halPin="sta-StatusInputGate" halType="bit"/>
      <pdoEntry idx="6002" subIdx="0d" bitLen="1" halPin="sta-Diag" halType="bit"/>
      <pdoEntry idx="6002" subIdx="0e" bitLen="1" halPin="sta-TxPDOState" halType="bit"/>
      <pdoEntry idx="6002" subIdx="0f" bitLen="2" halPin="sta-InputCycleCounter" halType="u32"/>
      <pdoEntry idx="6002" subIdx="11" bitLen="1" halPin="sta-SoftwareGateValid" halType="bit"/>
      <pdoEntry idx="6002" subIdx="15" bitLen="1" halPin="sta-CounterValueOutOfRange" halType="bit"/>
      <pdoEntry idx="6000" subIdx="11" bitLen="32" halPin="sta-CounterValue" halType="s32"/>
      <pdoEntry idx="6000" subIdx="12" bitLen="32" halPin="sta-LatchValue" halType="s32"/>
    </pdo>
  </syncManager>
</slave>
...and if i run a command to see the pdos i also get what i expect with regards to "0x1600/0x1a00" vs. "0x1602/0x1a02"(1xABC vs 2xAB):
$ ethercat pdos -p 1
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize    6, ControlRegister 0x24, Enable 1
  RxPDO 0x1602 "ENC RxPDO-Map Control Ch.1"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x7000:02,  1 bit, "Enable latch extern on positive edge"
    PDO entry 0x7000:03,  1 bit, "Set counter"
    PDO entry 0x7000:04,  1 bit, "Enable latch extern on negative edge"
    PDO entry 0x0000:00,  4 bit, "Gap"
    PDO entry 0x7000:09,  1 bit, "Set software gate"
    PDO entry 0x7000:0a,  1 bit, "Set counter on latch extern on positive edge"
    PDO entry 0x7000:0b,  1 bit, "Set counter on latch extern on negative edge"
    PDO entry 0x0000:00,  5 bit, "Gap"
    PDO entry 0x7000:11, 32 bit, "Set counter value"
SM3: PhysAddr 0x1300, DefaultSize   16, ControlRegister 0x20, Enable 1
  TxPDO 0x1a02 "ENC TxPDO-Map Status Ch.1"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x6000:02,  1 bit, "Latch extern valid"
    PDO entry 0x6000:03,  1 bit, "Set counter done"
    PDO entry 0x6000:04,  1 bit, "Counter underflow"
    PDO entry 0x6000:05,  1 bit, "Counter overflow"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x6000:07,  1 bit, "Open circuit"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x6000:09,  1 bit, "Status of input A"
    PDO entry 0x6000:0a,  1 bit, "Status of input B"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x6000:0c,  1 bit, "Status of input gate"
    PDO entry 0x6002:0d,  1 bit, "Diag"
    PDO entry 0x6002:0e,  1 bit, "TxPDO State"
    PDO entry 0x6002:0f,  2 bit, "Input cycle counter"
    PDO entry 0x6002:11,  1 bit, "Software gate valid"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x0000:00,  1 bit, "Gap"
    PDO entry 0x6002:15,  1 bit, "Counter value out of range"
    PDO entry 0x0000:00, 11 bit, "Gap"
    PDO entry 0x6000:11, 32 bit, "Counter value"
    PDO entry 0x6000:12, 32 bit, "Latch value"

...so far so good....but it ain't working:
$ ethercat slaves
 0  0:0   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
 1  0:1   PREOP  E  EL5112 2K. Inc. Encoder 5V (2xAB oder 1xABC RS422,TTL)
 2  0:2   OP     +  EL3255 5K. Potentiometerauswertung mit Sensorversorgung
 3  0:3   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 4  0:4   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 5  0:5   OP     +  EL2024 4K. Dig. Ausgang 24V, 2A
 6  0:6   OP     +  EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A
 7  0:7   OP     +  EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A
 8  0:8   OP     +  EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A
 9  0:9   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
10  0:10  OP     +  EL1018 8K. Dig. Eingang 24V, 10▒s
11  0:11  OP     +  EL1018 8K. Dig. Eingang 24V, 10▒s
12  0:12  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
13  0:13  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
14  0:14  OP     +  EL3052 2K. Ana. Eingang 4-20mA
15  0:15  OP     +  EL3052 2K. Ana. Eingang 4-20mA
16  0:16  OP     +  EL2024 4Ch. Dig. Output 24V, 2A
17  0:17  OP     +  EL2024 4Ch. Dig. Output 24V, 2A
18  0:18  OP     +  EL2024 4Ch. Dig. Output 24V, 2A
19  0:19  OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
(note the "PREOP" at pos 1)

If i look at dmesg this is what i get:
$ sudo dmesg | egrep EtherCAT
[...cut...]
[ 5920.784378] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 5920.784441] EtherCAT ERROR 0-9: Failed to receive AL state datagram: Datagram initialized.
[ 5920.784470] EtherCAT 0: Releasing master...
[ 5920.784474] EtherCAT 0: Released.
[ 5920.969712] EtherCAT 0: Slave states on main device: PREOP.
[ 5921.481681] EtherCAT WARNING: Datagram 000000000caaf331 (master-fsm) was SKIPPED 1 time.
[ 5921.996024] EtherCAT: Requesting master 0...
[ 5921.996031] EtherCAT: Successfully requested master 0.
[ 5922.006960] EtherCAT 0: Domain0: Logical address 0x00000000, 388 byte, expected working counter 43.
[ 5922.006965] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 388 byte, type LRW.
[ 5922.006988] EtherCAT 0: Master thread exited.
[ 5922.006991] EtherCAT 0: Starting EtherCAT-OP thread.
[ 5922.007052] EtherCAT WARNING 0: 9 datagrams UNMATCHED!
[ 5922.350569] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 5922.351567] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[ 5922.353905] EtherCAT 0-1: Acknowledged state PREOP.
[ 5922.821510] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 5923.009501] EtherCAT WARNING 0: 8 datagrams UNMATCHED!

..."Invalid input configuration"... 

So my question is: Does this "PDO assignment" in TwinCAT do anything else behind the scene that i need to do in my setup aswell? I don't use/have TwinCAT anywhere and i actually don't have a PC that can run it in my workshop, otherwise i would have testet it. But i was hoping others have had similar issues, maybe with other devices that support multiple "modes"...

Have i missed anything obvious?

/Thomas
Attachments:

Please Log in or Create an account to join the conversation.

More
30 Dec 2024 10:16 #317666 by thomaseg
Replied by thomaseg on topic EL5112: Change PDO assignments via LinuxCNC?
...or maybe there is a way of configuring devices that i don't know of? The manual does not seem to mention ANY configuration apart from this PDO assignment...

Please Log in or Create an account to join the conversation.

More
30 Dec 2024 11:51 #317672 by Hakan
Replied by Hakan on topic EL5112: Change PDO assignments via LinuxCNC?
No idea really, but you can always try the "lcec_configgen" command to see what lcec's guess of a config can look like.
EL5102 is available as a lcec device if you want to look at how it is done for that one. I is a similar encoder I think.

Please Log in or Create an account to join the conversation.

More
30 Dec 2024 12:54 #317675 by thomaseg
Replied by thomaseg on topic EL5112: Change PDO assignments via LinuxCNC?

No idea really, but you can always try the "lcec_configgen" command to see what lcec's guess of a config can look like.
EL5102 is available as a lcec device if you want to look at how it is done for that one. I is a similar encoder I think.

Oh, that was a neat tool! Thanks! That Scott-guy has been busy! The resulting config looks very similar to what i'm trying to do...apart from it defaulting to 1xABC aswell(0x1600/0x1A00) and then i got some of the types wrong(u32 vs. s32)...

However! I restart the module(power off/on) then the new config worked! I'm not quite sure why though, which annoys me quite a lot! I even managed to change the pdos to use 2xAB(with 0x1602/0x1A02) and it still works...and i'm getting proper data from my encoder... I ran a diff between the two configs and apart from the type-error and naming they are identical...

My current/best theory is that one of the configurations i've made yesterday somehow made the module go into an "error mode" of sorts and only a physical powercycle could get it out again. So i might have had it correct in one of my attempts, but since i never powercycled the modules i somehow kept getting "old errors" or something along those lines...jezz... anyways, it is working, so thanks!

/Thomas

Please Log in or Create an account to join the conversation.

  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. EL5112: Change PDO assignments via LinuxCNC?
Time to create page: 0.077 seconds
Powered by Kunena Forum