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  • MTate01
  • MTate01
22 May 2025 09:28
Unnamed CATIO-A Device Configuration (help!) was created by MTate01

Unnamed CATIO-A Device Configuration (help!)

Category: EtherCAT

I am trying to get an un-named, un-branded etherCAT IO module to work - the company I work for had picked it up some years ago for a project that fell through. I don't have an ESI for the board, and so I am trying to rely on what i can read from etherCAT. attached are images of the device with a switch and LED wired (next problem) 

here is my output of ethercat xml -p1:
?xml version="1.0" ?>
<EtherCATInfo>
  <!-- Slave 1 -->
  <Vendor>
    <Id>591240</Id>
  </Vendor>
  <Descriptions>
    <Devices>
      <Device>
        <Type ProductCode="#x00109252" RevisionNo="#x00058100">IMC IO EtherCAT</Type>
        <Name><![CDATA[IMC IO MODEL with EtherCAT]]></Name>
        <Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />
        <Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="128" />
        <Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" DefaultSize="0" />
        <Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" DefaultSize="0" />
        <RxPdo Sm="2" Fixed="1" Mandatory="1">
          <Index>#x1600</Index>
          <Name>RxPDO-Map</Name>
          <Entry>
            <Index>#x7000</Index>
            <SubIndex>1</SubIndex>
            <BitLen>8</BitLen>
            <Name></Name>
            <DataType>UINT8</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Sm="3" Fixed="1" Mandatory="1">
          <Index>#x1a00</Index>
          <Name>TxPDO-Map</Name>
          <Entry>
            <Index>#x6000</Index>
            <SubIndex>1</SubIndex>
            <BitLen>8</BitLen>
            <Name></Name>
            <DataType>UINT8</DataType>
          </Entry>
        </TxPdo>
      </Device>
    </Devices>
  </Descriptions>
</EtherCATInfo>

and so i tried to add it to my ethercat-conf.xml file as such (the following is an extract from a working config):
<slave idx="1" type="generic" vid="0x00090588" pid="0x00109252" configPdos="false">
   <syncManager idx="2" dir="out">
     <pdo idx="1600">
       <pdoEntry idx="7000" subIdx="01" bitLen="8" halPin="imcio-do0" halType="bit"/>
     </pdo>
   </syncManager>
   <syncManager idx="3" dir="in">
     <pdo idx="1a00">
       <pdoEntry idx="6000" subIdx="01" bitLen="8" halPin="imcio-di0" halType="bit"/>
     </pdo>
   </syncManager>
  </slave>
I tried adjusting configPdos to true, as well as false with as little provided information as possible... still won't enter SAFEOP or OP state and instead errors out and back to PREOP E. here is the output from halcmd dmesg -w:
[270386.928285] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[270386.929285] EtherCAT ERROR 0-1: AL status message 0x0017: "Invalid sync manager configuration".

Can anyone help me with configuring this module? 

 
  • mjoconr
  • mjoconr
22 May 2025 09:05 - 22 May 2025 09:13
Smart Serial Comms Error - Since upgrade to 2.9.4 was created by mjoconr

Smart Serial Comms Error - Since upgrade to 2.9.4

Category: General LinuxCNC Questions

Hi All
I've had to rebuild my machine after an SSD failure, and decided to move into the future.
I installed 2.9.4 and copied in my machine config files, everything worked out an issue initially but with in a few minutes I started getting the following errors
 

The latancy seems ok, running for a long time with glxgears and watching video via youtube and copying larger files

 

File Attachment:

File Name: cnc_info.txt
File Size:4 KB


I'm running a bit file which might be old, PCW made it up for me at least 4 years ago
7i80db_16_7i76x3D3p.bit

 
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