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?
