cnc@debian:~$ ethercat slaves
0 0:0 PREOP E L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1 0:1 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2 0:2 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0 0:0 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1 0:1 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2 0:2 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0 0:0 PREOP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1 0:1 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2 0:2 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$ ethercat slaves
0 0:0 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
1 0:1 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
2 0:2 OP + L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
cnc@debian:~$
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ethercat slaves -v
cnc@debian:~$ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00007595
Product code: 0x00010001
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 2788414231 0 0
1 MII up open yes 1 2788417151 2920 720
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1400/128
Supported protocols: EoE, CoE, FoE
General:
Group: ServoDrive
Image name: DRIVE
Order number: L7NH - Standard EtherCAT drive
Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: yes
Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00007595
Product code: 0x00010001
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 720 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 0 2898738888 0 720
1 MII up open yes 2 2898740368 1480 740
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1400/128
Supported protocols: EoE, CoE, FoE
General:
Group: ServoDrive
Image name: DRIVE
Order number: L7NH - Standard EtherCAT drive
Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: yes
Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00007595
Product code: 0x00010001
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 1460 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 1 2768192999 0 740
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1400/128
Supported protocols: EoE, CoE, FoE
General:
Group: ServoDrive
Image name: DRIVE
Order number: L7NH - Standard EtherCAT drive
Device name: L7NH - Standard EtherCAT drive(CoE,EoE,FoE)
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: yes
Current consumption: 0 mA
cnc@debian:~$
sudo dmesg
///////////////////////////////////////////////////////////////////////////////////////////////////////////////
cnc@debian:~$ sudo dmesg -C
[sudo] password for cnc:
cnc@debian:~$ sudo dmesg
[ 136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[ 136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[ 137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[ 137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[ 137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[ 137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
cnc@debian:~$ sudo dmesg
[ 136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[ 136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[ 137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[ 137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[ 137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[ 137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 142.888220] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$ sudo dmesg
[ 136.638023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[ 136.640259] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 136.664315] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 136.696316] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 137.046021] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 137.048223] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 137.096340] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[ 137.096347] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[ 137.128322] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[ 137.452212] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 137.461022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[ 137.463020] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 137.540312] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 142.548211] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 142.888220] EtherCAT 0: Slave states on main device: OP.
[ 189.704214] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 189.734024] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 189.736022] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 189.768320] EtherCAT WARNING 0-2: Other mailbox protocol response for eoe0s2.
[ 189.820332] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0000.
[ 189.820338] EtherCAT WARNING 0-2: Invalid mailbox response for eoe0s2.
[ 190.146022] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[ 190.148223] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 190.184313] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 190.200317] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 190.232315] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 190.232320] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 195.229022] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 195.550023] EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
[ 195.552216] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 195.636321] EtherCAT ERROR 0-1: Reception of CoE download response failed:
[ 195.636320] EtherCAT WARNING 0-1: Other mailbox protocol response for eoe0s1.
[ 195.636325] No response.
[ 195.636327] EtherCAT WARNING 0-1: Failed to set number of assigned PDOs of SM3.
[ 195.636328] EtherCAT WARNING 0-1: Currently assigned PDOs: (none). PDOs to assign: 0x1A00
[ 195.636332] EtherCAT WARNING 0-1: PDO configuration failed.
[ 195.964216] EtherCAT 0: Slave states on main device: OP.
cnc@debian:~$
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ethercat pdos -v
cnc@debian:~$ ethercat pdos -v
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 12, ControlRegister 0x64, Enable 0
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6071:00, 16 bit, ""
PDO entry 0x60b8:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize 20, ControlRegister 0x20, Enable 0
TxPDO 0x1a00 "1st Transmit PDO Mapping"
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6077:00, 16 bit, ""
PDO entry 0x60b9:00, 16 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x60ba:00, 32 bit, ""
PDO entry 0x603f:00, 16 bit, ""
PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 12, ControlRegister 0x64, Enable 0
RxPDO 0x1600 "1st Receive PDO Mapping"
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6071:00, 16 bit, ""
PDO entry 0x60b8:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize 20, ControlRegister 0x20, Enable 0
TxPDO 0x1a00 "1st Transmit PDO Mapping"
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6077:00, 16 bit, ""
PDO entry 0x60b9:00, 16 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x60ba:00, 32 bit, ""
PDO entry 0x603f:00, 16 bit, ""
PDO entry 0x60fd:00, 32 bit, ""
=== Master 0, Slave 2 ===
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 12, ControlRegister 0x64, Enable 0
RxPDO 0x1600 "1st Receive PDO Mapping"
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
PDO entry 0x6071:00, 16 bit, ""
PDO entry 0x60b8:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize 20, ControlRegister 0x20, Enable 0
TxPDO 0x1a00 "1st Transmit PDO Mapping"
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x6077:00, 16 bit, ""
PDO entry 0x60b9:00, 16 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x60ba:00, 32 bit, ""
PDO entry 0x603f:00, 16 bit, ""
PDO entry 0x60fd:00, 32 bit, ""
cnc@debian:~$
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
ethercat cstruct
cnc@debian:~$ ethercat cstruct
/* Master 0, Slave 0, "L7NH - Standard EtherCAT drive"
* Vendor ID: 0x00007595
* Product code: 0x00010001
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60ff, 0x00, 32},
{0x6071, 0x00, 16},
{0x60b8, 0x00, 16},
{0x6060, 0x00, 8},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
{0x6077, 0x00, 16},
{0x60b9, 0x00, 16},
{0x6061, 0x00, 8},
{0x60ba, 0x00, 32},
{0x603f, 0x00, 16},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 6, slave_0_pdo_entries + 0},
{0x1a00, 9, slave_0_pdo_entries + 6}, /* 1st Transmit PDO 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}
};
/* Master 0, Slave 1, "L7NH - Standard EtherCAT drive"
* Vendor ID: 0x00007595
* Product code: 0x00010001
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60ff, 0x00, 32},
{0x6071, 0x00, 16},
{0x60b8, 0x00, 16},
{0x6060, 0x00, 8},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
{0x6077, 0x00, 16},
{0x60b9, 0x00, 16},
{0x6061, 0x00, 8},
{0x60ba, 0x00, 32},
{0x603f, 0x00, 16},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t slave_1_pdos[] = {
{0x1600, 6, slave_1_pdo_entries + 0}, /* 1st Receive PDO Mapping */
{0x1a00, 9, slave_1_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};
ec_sync_info_t slave_1_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_1_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
{0xff}
};
/* Master 0, Slave 2, "L7NH - Standard EtherCAT drive"
* Vendor ID: 0x00007595
* Product code: 0x00010001
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_2_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60ff, 0x00, 32},
{0x6071, 0x00, 16},
{0x60b8, 0x00, 16},
{0x6060, 0x00, 8},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
{0x6077, 0x00, 16},
{0x60b9, 0x00, 16},
{0x6061, 0x00, 8},
{0x60ba, 0x00, 32},
{0x603f, 0x00, 16},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t slave_2_pdos[] = {
{0x1600, 6, slave_2_pdo_entries + 0}, /* 1st Receive PDO Mapping */
{0x1a00, 9, slave_2_pdo_entries + 6}, /* 1st Transmit PDO Mapping */
};
ec_sync_info_t slave_2_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_2_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_2_pdos + 1, EC_WD_DISABLE},
{0xff}
};
cnc@debian:~$