[etherlab-users] EtherCAT newbie

Discussion:

[etherlab-users] EtherCAT newbie - NXIO 100-RE

Fuchs Clemens

2009-02-12 10:04:07 UTC

Hi all,

I'm a bloody EtherCAT newbie and I'd like to implement a simple
application, which communicates with the NXIO 100-RE board, which has 16
digital in-/ and outputs. Via the ethercat utility I exported the slave
configuration to XML (see attachment) and I tried to adapt the user
example, to communicate with the board - without any succes right now.

Could anyony give me some hints, how I have to proceed?

thanks,
Clemens

Important Notice:
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or disclosure of this message is strictly prohibited.If you are not the intended recipient, please notify
the sender immediately and delete the message and its attachments.
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Christian Gieseler

2009-02-12 13:45:59 UTC

Permalink

Hi Clemens,

If you don´t get any error messages when you start your application the master is running. If not check the debug output and make sure the configuration looks the same like "ethercat pods" says. If you get no error you can check in the output of "ethercat slaves" if your NXIO slave is in operational state. If so you can receive and send data in the cyclic task by using the EC_Read and EC_Write macros that the master offers, and do whatever you want with the data. See in the html output of the doxygen documentation how to use the read an write macros.

Regards
Christian

If you want to communicate

Post by Fuchs Clemens
Hi all,
I'm a bloody EtherCAT newbie and I'd like to implement a simple
application, which communicates with the NXIO 100-RE board, which has 16
digital in-/ and outputs. Via the ethercat utility I exported the slave
configuration to XML (see attachment) and I tried to adapt the user
example, to communicate with the board - without any succes right now.
Could anyony give me some hints, how I have to proceed?
thanks,
Clemens
This electronic transmission (including any attachments) is intended
solely for the use and information
of the addressee(s). It may contain confidential or legally privileged
information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not the
intended recipient, please notify
the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall
therefore never be liable if
the message is altered or falsified nor for any virus, interception or
damage to your system.

--
Psssst! Schon vom neuen GMX MultiMessenger gehört? Der kann`s mit allen: http://www.gmx.net/de/go/multimessenger01

Fuchs Clemens

2009-02-12 15:19:42 UTC

Permalink

Hi Christian,

the application starts without any error.
ethercat slaves says, my slave is in PREOP state (see slaves.txt - how to get it in operational?).
In debug outputs I see, that frames are sent (containing my data) and received. The received frames mostly look like the sent ones and also contain the sent data (see dmesg.txt).
So I think communication is working fine, maybe the slave is miss-configured. I received a new configuration file from the board vendor but I don't know how to transform the XML to SII format to send it to the slave via the ethercat utility.
Do you have any further suggestions or do you see something strange in the files?

regards,
Clemens

-----Ursprüngliche Nachricht-----
Von: etherlab-users-***@etherlab.org [mailto:etherlab-users-***@etherlab.org] Im Auftrag von Christian Gieseler
Gesendet: Donnerstag, 12. Februar 2009 14:46
An: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

Hi Clemens,

If you donŽt get any error messages when you start your application the master is running. If not check the debug output and make sure the configuration looks the same like "ethercat pods" says. If you get no error you can check in the output of "ethercat slaves" if your NXIO slave is in operational state. If so you can receive and send data in the cyclic task by using the EC_Read and EC_Write macros that the master offers, and do whatever you want with the data. See in the html output of the doxygen documentation how to use the read an write macros.

Regards
Christian

If you want to communicate

--
Psssst! Schon vom neuen GMX MultiMessenger gehört? Der kann`s mit allen: http://www.gmx.net/de/go/multimessenger01
_______________________________________________
etherlab-users mailing list
etherlab-***@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users

Important Notice:
This electronic transmission (including any attachments) is intended solely for the use and information
of the addressee(s). It may contain confidential or legally privileged information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not the intended recipient, please notify
the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall therefore never be liable if
the message is altered or falsified nor for any virus, interception or damage to your system.

Christian Gieseler

2009-02-12 16:56:12 UTC

Permalink

I don´t know what you did in your code inbetween but i think that you swaped the Vendor ID and the Product ID in your define of #define NXIO_100RE.
And i am not sure if your sync manager configuration is right { 0, EC_DIR_OUTPUT, 4, nxio100_pdos },
shoud be { 0, EC_DIR_OUTPUT, 1, nxio100_pdos } in my opinion.

Double Check the hole programm. Maybe wrong indexes cause the problems.

When i had to write the sii i use a demo version of TwinCAt (30day evaluation) available on the Beckhoff site.

Regards

Christian

Maybe this is the reason for not getting the slave to operational state.

Post by Fuchs Clemens
Hi Christian,
the application starts without any error.
ethercat slaves says, my slave is in PREOP state (see slaves.txt - how to
get it in operational?).
In debug outputs I see, that frames are sent (containing my data) and
received. The received frames mostly look like the sent ones and also contain
the sent data (see dmesg.txt).
So I think communication is working fine, maybe the slave is
miss-configured. I received a new configuration file from the board vendor but I don't
know how to transform the XML to SII format to send it to the slave via the
ethercat utility.
Do you have any further suggestions or do you see something strange in the files?
regards,
Clemens
-----Ursprüngliche Nachricht-----
Gesendet: Donnerstag, 12. Februar 2009 14:46
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE
Hi Clemens,
If you don´t get any error messages when you start your application the
master is running. If not check the debug output and make sure the
configuration looks the same like "ethercat pods" says. If you get no error you can
check in the output of "ethercat slaves" if your NXIO slave is in
operational state. If so you can receive and send data in the cyclic task by using
the EC_Read and EC_Write macros that the master offers, and do whatever you
want with the data. See in the html output of the doxygen documentation how
to use the read an write macros.
Regards
Christian
If you want to communicate

shall

Post by Fuchs Clemens
therefore never be liable if
the message is altered or falsified nor for any virus, interception or
damage to your system.

--
http://www.gmx.net/de/go/multimessenger01
_______________________________________________
etherlab-users mailing list
http://lists.etherlab.org/mailman/listinfo/etherlab-users
This electronic transmission (including any attachments) is intended
solely for the use and information
of the addressee(s). It may contain confidential or legally privileged
information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not the
intended recipient, please notify
the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall
therefore never be liable if
the message is altered or falsified nor for any virus, interception or
damage to your system.

--
Psssst! Schon vom neuen GMX MultiMessenger gehört? Der kann`s mit allen: http://www.gmx.net/de/go/multimessenger01

Fuchs Clemens

2009-02-16 10:09:48 UTC

Permalink

thanks for your advice!
You were right, I mixed up VendorId and ProductId.
I'm now able to write data to the board.
But when registering the second PDO of the board to the domain, neither writing nor reading is working.
The ethercat datagramm contains the correct output data but the slave is doing something strange.

Do you have any idea, what could cause the problem ?

thanks,
Clemens

-----Ursprüngliche Nachricht-----
Von: etherlab-users-***@etherlab.org [mailto:etherlab-users-***@etherlab.org] Im Auftrag von Christian Gieseler
Gesendet: Donnerstag, 12. Februar 2009 17:56
An: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

I donŽt know what you did in your code inbetween but i think that you swaped the Vendor ID and the Product ID in your define of #define NXIO_100RE.
And i am not sure if your sync manager configuration is right { 0, EC_DIR_OUTPUT, 4, nxio100_pdos }, shoud be { 0, EC_DIR_OUTPUT, 1, nxio100_pdos } in my opinion.

Double Check the hole programm. Maybe wrong indexes cause the problems.

When i had to write the sii i use a demo version of TwinCAt (30day evaluation) available on the Beckhoff site.

Regards

Christian

Maybe this is the reason for not getting the slave to operational state.

Post by Fuchs Clemens
Hi Christian,
the application starts without any error.
ethercat slaves says, my slave is in PREOP state (see slaves.txt - how
to get it in operational?).
In debug outputs I see, that frames are sent (containing my data) and
received. The received frames mostly look like the sent ones and also
contain the sent data (see dmesg.txt).
So I think communication is working fine, maybe the slave is
miss-configured. I received a new configuration file from the board
vendor but I don't know how to transform the XML to SII format to send
it to the slave via the ethercat utility.
Do you have any further suggestions or do you see something strange in the files?
regards,
Clemens
-----Ursprüngliche Nachricht-----
Gesendet: Donnerstag, 12. Februar 2009 14:46
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE
Hi Clemens,
If you donŽt get any error messages when you start your application
the master is running. If not check the debug output and make sure the
configuration looks the same like "ethercat pods" says. If you get no
error you can check in the output of "ethercat slaves" if your NXIO
slave is in operational state. If so you can receive and send data in
the cyclic task by using the EC_Read and EC_Write macros that the
master offers, and do whatever you want with the data. See in the html
output of the doxygen documentation how to use the read an write macros.
Regards
Christian
If you want to communicate

Post by Fuchs Clemens
Hi all,
I'm a bloody EtherCAT newbie and I'd like to implement a simple
application, which communicates with the NXIO 100-RE board, which
has 16 digital in-/ and outputs. Via the ethercat utility I exported
the slave configuration to XML (see attachment) and I tried to adapt
the user example, to communicate with the board - without any succes right now.
Could anyony give me some hints, how I have to proceed?
thanks,
Clemens
This electronic transmission (including any attachments) is intended
solely for the use and information of the addressee(s). It may
contain confidential or legally privileged information. Any
unauthorized use or disclosure of this message is strictly
prohibited.If you are not the intended recipient, please notify the
sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and

shall

Post by Fuchs Clemens
therefore never be liable if
the message is altered or falsified nor for any virus, interception
or damage to your system.

--
http://www.gmx.net/de/go/multimessenger01
_______________________________________________
etherlab-users mailing list
http://lists.etherlab.org/mailman/listinfo/etherlab-users
This electronic transmission (including any attachments) is intended
solely for the use and information of the addressee(s). It may contain
confidential or legally privileged information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not
the intended recipient, please notify the sender immediately and
delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and
shall therefore never be liable if the message is altered or falsified
nor for any virus, interception or damage to your system.

Christian Gieseler

2009-02-17 07:59:24 UTC

Permalink

Hello Clemens
There are two things i found that may cause your problems:

First in your domain1_regs the inputs of the slave to the master are commented out, so off_dig_in has not the correct value and you don´t write to the correct spot.

Then second you did not specify the bit-offset in your domain1_regs. Since your pdos are not full bytes this can cause trouble when writing, reading the domain_pd.

Regards Christian

Post by Fuchs Clemens
thanks for your advice!
You were right, I mixed up VendorId and ProductId.
I'm now able to write data to the board.
But when registering the second PDO of the board to the domain, neither
writing nor reading is working.
The ethercat datagramm contains the correct output data but the slave is
doing something strange.
Do you have any idea, what could cause the problem ?
thanks,
Clemens
-----Ursprüngliche Nachricht-----
Gesendet: Donnerstag, 12. Februar 2009 17:56
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE
I don´t know what you did in your code inbetween but i think that you
swaped the Vendor ID and the Product ID in your define of #define NXIO_100RE.
And i am not sure if your sync manager configuration is right { 0,
EC_DIR_OUTPUT, 4, nxio100_pdos }, shoud be { 0, EC_DIR_OUTPUT, 1, nxio100_pdos }
in my opinion.
Double Check the hole programm. Maybe wrong indexes cause the problems.
When i had to write the sii i use a demo version of TwinCAt (30day
evaluation) available on the Beckhoff site.
Regards
Christian
Maybe this is the reason for not getting the slave to operational state.

Post by Fuchs Clemens
Hi Christian,
the application starts without any error.
ethercat slaves says, my slave is in PREOP state (see slaves.txt - how
to get it in operational?).
In debug outputs I see, that frames are sent (containing my data) and
received. The received frames mostly look like the sent ones and also
contain the sent data (see dmesg.txt).
So I think communication is working fine, maybe the slave is
miss-configured. I received a new configuration file from the board
vendor but I don't know how to transform the XML to SII format to send
it to the slave via the ethercat utility.
Do you have any further suggestions or do you see something strange in the files?
regards,
Clemens
Hi Clemens,
If you don´t get any error messages when you start your application
the master is running. If not check the debug output and make sure the
configuration looks the same like "ethercat pods" says. If you get no
error you can check in the output of "ethercat slaves" if your NXIO
slave is in operational state. If so you can receive and send data in
the cyclic task by using the EC_Read and EC_Write macros that the
master offers, and do whatever you want with the data. See in the html
output of the doxygen documentation how to use the read an write macros.
Regards
Christian

right now.

Post by Fuchs Clemens

Post by Fuchs Clemens
Could anyony give me some hints, how I have to proceed?
thanks,
Clemens

--
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für nur 17,95 Euro/mtl.!* http://dsl.gmx.de/?ac=OM.AD.PD003K11308T4569a

Florian Pose

2009-02-17 08:34:20 UTC

Permalink

Hi,

Post by Fuchs Clemens
But when registering the second PDO of the board to the domain, neither writing nor reading is working.
The ethercat datagramm contains the correct output data but the slave is doing something strange.
Do you have any idea, what could cause the problem ?

--
Best regards,
Florian Pose

http://etherlab.org

Fuchs Clemens

2009-02-17 13:00:44 UTC

Permalink

It's confusing me more and more:
I contacted Hirlscher to get new firmware for NXIO-100RE. I also received a XML description of the slave (Hilscher NXIO 100RE ECS.xml).
When querying XML description via ethercat xml I receive a completely different description (nxio100re.xml).
The info got via ethercat sii_read (ssi.bin) seems to match "Hilscher NXIO 100RE ECS.xml" (I found matching HEX values).

Are there some inconsitencies on my device or do I missunderstand something ?

Clemens

-----Ursprüngliche Nachricht-----
Von: etherlab-users-***@etherlab.org [mailto:etherlab-users-***@etherlab.org] Im Auftrag von Florian Pose
Gesendet: Dienstag, 17. Februar 2009 09:34
An: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

Hi,

you can analyze the current slave configuration with the 'ethercat config -v' command and the process data exchange with the 'ethercat domain -v' command.

If you get no further information from this, it is usually helpful to

1) start the master
2) set the debug level to 1 with 'ethercat debug 1'
3) load your application
4) post the logs of the configuration process (from 'Requesting master
X...')

--
Best regards,
Florian Pose

http://etherlab.org
_______________________________________________
etherlab-users mailing list
etherlab-***@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users

Important Notice:
This electronic transmission (including any attachments) is intended solely for the use and information
of the addressee(s). It may contain confidential or legally privileged information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not the intended recipient, please notify
the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall therefore never be liable if
the message is altered or falsified nor for any virus, interception or damage to your system.

Florian Pose

2009-02-24 13:47:32 UTC

Permalink

Post by Fuchs Clemens
I contacted Hirlscher to get new firmware for NXIO-100RE. I also received a XML description of the slave (Hilscher NXIO 100RE ECS.xml).
When querying XML description via ethercat xml I receive a completely different description (nxio100re.xml).
The info got via ethercat sii_read (ssi.bin) seems to match "Hilscher NXIO 100RE ECS.xml" (I found matching HEX values).
Are there some inconsitencies on my device or do I missunderstand something ?

--
Best regards,
Florian Pose

http://etherlab.org

Fuchs Clemens

2009-02-25 14:53:15 UTC

Permalink

ethercat pdo is saying:

SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x74, Enable 1
RxPDO 0x1600 "RxPDO 1"
PDO entry 0x2004:20, 3 bit, ""
SM3: PhysAddr 0x1358, DefaultSize 4, ControlRegister 0x30, Enable 1
TxPDO 0x1a00 "TxPDO 1"
PDO entry 0x2007:20, 3 bit, ""

but this is not, what is written in Hilschers XML and what sii_read is saying - why?

-----Ursprüngliche Nachricht-----
Von: Florian Pose [mailto:***@igh-essen.com]
Gesendet: Dienstag, 24. Februar 2009 14:48
An: Fuchs Clemens
Cc: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

Florian Pose

2009-03-02 10:12:37 UTC

Permalink

Post by Fuchs Clemens
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x74, Enable 1
RxPDO 0x1600 "RxPDO 1"
PDO entry 0x2004:20, 3 bit, ""
SM3: PhysAddr 0x1358, DefaultSize 4, ControlRegister 0x30, Enable 1
TxPDO 0x1a00 "TxPDO 1"
PDO entry 0x2007:20, 3 bit, ""
but this is not, what is written in Hilschers XML and what sii_read is saying - why?

The PDOs and Entries you are seeing have been read from the SDO
dictionary. Since they are configurable, the information from the XML
and SII is not useful.

--
Best regards,
Florian Pose

http://etherlab.org

li.peng

2009-02-26 02:05:37 UTC

Permalink

Dear Clemens,
The Hilscher's device can not support LRW.
So you should use two domain : one to read and one to write.

I hope this is helpful for you.

Best regards,
Li.peng

-----邮件原件-----
发件人: etherlab-users-***@etherlab.org [mailto:etherlab-users-***@etherlab.org] 代表 Fuchs Clemens
发送时间: 2009年2月25日 22:53
收件人: Florian Pose
抄送: etherlab-***@etherlab.org
主题: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

ethercat pdo is saying:

SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x74, Enable 1
RxPDO 0x1600 "RxPDO 1"
PDO entry 0x2004:20, 3 bit, ""
SM3: PhysAddr 0x1358, DefaultSize 4, ControlRegister 0x30, Enable 1
TxPDO 0x1a00 "TxPDO 1"
PDO entry 0x2007:20, 3 bit, ""

but this is not, what is written in Hilschers XML and what sii_read is saying - why?

-----Ursprüngliche Nachricht-----
Von: Florian Pose [mailto:***@igh-essen.com]
Gesendet: Dienstag, 24. Februar 2009 14:48
An: Fuchs Clemens
Cc: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

Fuchs Clemens

2009-02-26 07:33:11 UTC

Permalink

Hi,

I already use two domains and sending data is working.
But I don't can receive data.

regards,
Clemens

-----Ursprüngliche Nachricht-----
Von: li.peng [mailto:***@advantech.com.cn]
Gesendet: Donnerstag, 26. Februar 2009 03:06
An: Fuchs Clemens; Florian Pose
Cc: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

Dear Clemens,
The Hilscher's device can not support LRW.
So you should use two domain : one to read and one to write.

I hope this is helpful for you.

Best regards,
Li.peng

-----邮件原件-----
发件人: etherlab-users-***@etherlab.org [mailto:etherlab-users-***@etherlab.org] 代表 Fuchs Clemens
发送时间: 2009年2月25日 22:53
收件人: Florian Pose
抄送: etherlab-***@etherlab.org
主题: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

ethercat pdo is saying:

SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x74, Enable 1
RxPDO 0x1600 "RxPDO 1"
PDO entry 0x2004:20, 3 bit, ""
SM3: PhysAddr 0x1358, DefaultSize 4, ControlRegister 0x30, Enable 1
TxPDO 0x1a00 "TxPDO 1"
PDO entry 0x2007:20, 3 bit, ""

but this is not, what is written in Hilschers XML and what sii_read is saying - why?

-----Ursprüngliche Nachricht-----
Von: Florian Pose [mailto:***@igh-essen.com]
Gesendet: Dienstag, 24. Februar 2009 14:48
An: Fuchs Clemens
Cc: etherlab-***@etherlab.org
Betreff: Re: [etherlab-users] EtherCAT newbie - NXIO 100-RE

The device description generated by the master contains only basic information an can not be complete, because no all of the information can be queried from the slave. Moreover the generated XML contains PDO information read from the SDO dictionary.

If you are looking for the PDOs currently available, have a look at 'ethercat pdos', they are the same as in the generated XML file.

--
Best regards,
Florian Pose

http://etherlab.org
Important Notice:
This electronic transmission (including any attachments) is intended solely for the use and information of the addressee(s). It may contain confidential or legally privileged information. Any unauthorized use or disclosure of this message is strictly prohibited.If you are not the intended recipient, please notify the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall therefore never be liable if the message is altered or falsified nor for any virus, interception or damage to your system.

_______________________________________________
etherlab-users mailing list
etherlab-***@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users
Important Notice:
This electronic transmission (including any attachments) is intended solely for the use and information
of the addressee(s). It may contain confidential or legally privileged information. Any unauthorized use
or disclosure of this message is strictly prohibited.If you are not the intended recipient, please notify
the sender immediately and delete the message and its attachments.
The sender does not guarantee the integrity of this transmission and shall therefore never be liable if
the message is altered or falsified nor for any virus, interception or damage to your system.