Ethercat to modbus
15 Dec 2021 15:24 #229136
by wang
Ethercat to modbus was created by wang
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I have an Ethercat to modbus (RS485) module I want to use in a linuxcnc system. I configured the XML file but cannot enter the OP state.
Below is the official XML description of the device
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 3 -->
<Vendor>
<Id>2852171953</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x00010001" RevisionNo="#x00070001">Adapter</Type>
<Name><![CDATA[Adapter]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x36" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x32" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x74" DefaultSize="200" />
<Sm Enable="1" StartAddress="#x1d00" ControlByte="#x30" DefaultSize="200" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name></Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>3</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>4</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>7</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>8</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>9</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>10</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>11</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>12</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>13</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>14</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>15</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>16</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>18</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>19</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>20</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>21</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>22</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>23</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>24</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>25</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>26</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>27</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>28</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>29</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>30</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>31</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>32</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name></Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>8</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
Below is my XML file
The following is a description of this device
<slave idx="6" type="generic" vid="0xaa00b0b1" pid="0x00010001" configPdos="true">
<syncManager idx="0" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="SERTX_01" halType="bit"/>
<pdoEntry idx="7000" subIdx="02" bitLen="16" halPin="SERTX_02" halType="bit"/>
<pdoEntry idx="7000" subIdx="03" bitLen="16" halPin="SERTX_03" halType="bit"/>
<pdoEntry idx="7000" subIdx="04" bitLen="16" halPin="SERTX_04" halType="bit"/>
<pdoEntry idx="7000" subIdx="05" bitLen="16" halPin="SERTX_05" halType="bit"/>
<pdoEntry idx="7000" subIdx="06" bitLen="16" halPin="SERTX_06" halType="bit"/>
<pdoEntry idx="7000" subIdx="07" bitLen="16" halPin="SERTX_07" halType="bit"/>
<pdoEntry idx="7000" subIdx="08" bitLen="16" halPin="SERTX_08" halType="bit"/>
<pdoEntry idx="7000" subIdx="09" bitLen="16" halPin="SERTX_09" halType="bit"/>
<pdoEntry idx="7000" subIdx="0a" bitLen="16" halPin="SERTX_10" halType="bit"/>
<pdoEntry idx="7000" subIdx="0b" bitLen="16" halPin="SERTX_11" halType="bit"/>
<pdoEntry idx="7000" subIdx="0c" bitLen="16" halPin="SERTX_12" halType="bit"/>
<pdoEntry idx="7000" subIdx="0d" bitLen="16" halPin="SERTX_13" halType="bit"/>
<pdoEntry idx="7000" subIdx="0e" bitLen="16" halPin="SERTX_14" halType="bit"/>
<pdoEntry idx="7000" subIdx="0f" bitLen="16" halPin="SERTX_15" halType="bit"/>
<pdoEntry idx="7000" subIdx="10" bitLen="16" halPin="SERTX_16" halType="bit"/>
<pdoEntry idx="7000" subIdx="11" bitLen="16" halPin="SERTX_17" halType="bit"/>
<pdoEntry idx="7000" subIdx="12" bitLen="16" halPin="SERTX_18" halType="bit"/>
<pdoEntry idx="7000" subIdx="13" bitLen="16" halPin="SERTX_19" halType="bit"/>
<pdoEntry idx="7000" subIdx="14" bitLen="16" halPin="SERTX_20" halType="bit"/>
<pdoEntry idx="7000" subIdx="15" bitLen="16" halPin="SERTX_21" halType="bit"/>
<pdoEntry idx="7000" subIdx="16" bitLen="16" halPin="SERTX_22" halType="bit"/>
<pdoEntry idx="7000" subIdx="17" bitLen="16" halPin="SERTX_23" halType="bit"/>
<pdoEntry idx="7000" subIdx="18" bitLen="16" halPin="SERTX_24" halType="bit"/>
<pdoEntry idx="7000" subIdx="19" bitLen="16" halPin="SERTX_25" halType="bit"/>
<pdoEntry idx="7000" subIdx="1a" bitLen="16" halPin="SERTX_26" halType="bit"/>
<pdoEntry idx="7000" subIdx="1b" bitLen="16" halPin="SERTX_27" halType="bit"/>
<pdoEntry idx="7000" subIdx="1c" bitLen="16" halPin="SERTX_28" halType="bit"/>
<pdoEntry idx="7000" subIdx="1d" bitLen="16" halPin="SERTX_29" halType="bit"/>
<pdoEntry idx="7000" subIdx="1e" bitLen="16" halPin="SERTX_30" halType="bit"/>
<pdoEntry idx="7000" subIdx="1f" bitLen="16" halPin="SERTX_31" halType="bit"/>
<pdoEntry idx="7000" subIdx="20" bitLen="16" halPin="SERTX_32" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="SERRX_01" halType="bit"/>
<pdoEntry idx="6000" subIdx="02" bitLen="16" halPin="SERRX_02" halType="bit"/>
<pdoEntry idx="6000" subIdx="03" bitLen="16" halPin="SERRX_03" halType="bit"/>
<pdoEntry idx="6000" subIdx="04" bitLen="16" halPin="SERRX_04" halType="bit"/>
<pdoEntry idx="6000" subIdx="05" bitLen="16" halPin="SERRX_05" halType="bit"/>
<pdoEntry idx="6000" subIdx="06" bitLen="16" halPin="SERRX_06" halType="bit"/>
<pdoEntry idx="6000" subIdx="07" bitLen="16" halPin="SERRX_07" halType="bit"/>
<pdoEntry idx="6000" subIdx="08" bitLen="16" halPin="SERRX_08" halType="bit"/>
</pdo>
</syncManager>
<dcConf assignActivate="100" sync0Cycle="*1" sync0Shift="250000"/>
</slave>
Entered SAEFOP
still have a question
How should I send a message to the serial port through ethercat, and how to read it at the same time?
Do I still need to use ethercat command in linuxcnc?
For example
ethercat download -t uint16 0x7000 01 1
ethercat upload -t uint16 0x6000 01
Summarize a total of two questions
①Ethercat to serial device cannot enter OP state
②What method should be used to assign value to ethercat pdos in linuxcnc, is it the ethercat instruction?
Thank you for your patience, if you can make suggestions I will be very grateful
wang
I have an Ethercat to modbus (RS485) module I want to use in a linuxcnc system. I configured the XML file but cannot enter the OP state.
Below is the official XML description of the device
Warning: Spoiler!
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 3 -->
<Vendor>
<Id>2852171953</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x00010001" RevisionNo="#x00070001">Adapter</Type>
<Name><![CDATA[Adapter]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x36" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x32" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x74" DefaultSize="200" />
<Sm Enable="1" StartAddress="#x1d00" ControlByte="#x30" DefaultSize="200" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name></Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>3</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>4</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>7</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>8</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>9</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>10</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>11</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>12</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>13</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>14</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>15</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>16</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>18</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>19</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>20</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>21</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>22</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>23</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>24</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>25</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>26</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>27</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>28</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>29</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>30</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>31</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>32</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name></Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>5</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>6</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>8</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
Below is my XML file
The following is a description of this device
Warning: Spoiler!
<slave idx="6" type="generic" vid="0xaa00b0b1" pid="0x00010001" configPdos="true">
<syncManager idx="0" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="SERTX_01" halType="bit"/>
<pdoEntry idx="7000" subIdx="02" bitLen="16" halPin="SERTX_02" halType="bit"/>
<pdoEntry idx="7000" subIdx="03" bitLen="16" halPin="SERTX_03" halType="bit"/>
<pdoEntry idx="7000" subIdx="04" bitLen="16" halPin="SERTX_04" halType="bit"/>
<pdoEntry idx="7000" subIdx="05" bitLen="16" halPin="SERTX_05" halType="bit"/>
<pdoEntry idx="7000" subIdx="06" bitLen="16" halPin="SERTX_06" halType="bit"/>
<pdoEntry idx="7000" subIdx="07" bitLen="16" halPin="SERTX_07" halType="bit"/>
<pdoEntry idx="7000" subIdx="08" bitLen="16" halPin="SERTX_08" halType="bit"/>
<pdoEntry idx="7000" subIdx="09" bitLen="16" halPin="SERTX_09" halType="bit"/>
<pdoEntry idx="7000" subIdx="0a" bitLen="16" halPin="SERTX_10" halType="bit"/>
<pdoEntry idx="7000" subIdx="0b" bitLen="16" halPin="SERTX_11" halType="bit"/>
<pdoEntry idx="7000" subIdx="0c" bitLen="16" halPin="SERTX_12" halType="bit"/>
<pdoEntry idx="7000" subIdx="0d" bitLen="16" halPin="SERTX_13" halType="bit"/>
<pdoEntry idx="7000" subIdx="0e" bitLen="16" halPin="SERTX_14" halType="bit"/>
<pdoEntry idx="7000" subIdx="0f" bitLen="16" halPin="SERTX_15" halType="bit"/>
<pdoEntry idx="7000" subIdx="10" bitLen="16" halPin="SERTX_16" halType="bit"/>
<pdoEntry idx="7000" subIdx="11" bitLen="16" halPin="SERTX_17" halType="bit"/>
<pdoEntry idx="7000" subIdx="12" bitLen="16" halPin="SERTX_18" halType="bit"/>
<pdoEntry idx="7000" subIdx="13" bitLen="16" halPin="SERTX_19" halType="bit"/>
<pdoEntry idx="7000" subIdx="14" bitLen="16" halPin="SERTX_20" halType="bit"/>
<pdoEntry idx="7000" subIdx="15" bitLen="16" halPin="SERTX_21" halType="bit"/>
<pdoEntry idx="7000" subIdx="16" bitLen="16" halPin="SERTX_22" halType="bit"/>
<pdoEntry idx="7000" subIdx="17" bitLen="16" halPin="SERTX_23" halType="bit"/>
<pdoEntry idx="7000" subIdx="18" bitLen="16" halPin="SERTX_24" halType="bit"/>
<pdoEntry idx="7000" subIdx="19" bitLen="16" halPin="SERTX_25" halType="bit"/>
<pdoEntry idx="7000" subIdx="1a" bitLen="16" halPin="SERTX_26" halType="bit"/>
<pdoEntry idx="7000" subIdx="1b" bitLen="16" halPin="SERTX_27" halType="bit"/>
<pdoEntry idx="7000" subIdx="1c" bitLen="16" halPin="SERTX_28" halType="bit"/>
<pdoEntry idx="7000" subIdx="1d" bitLen="16" halPin="SERTX_29" halType="bit"/>
<pdoEntry idx="7000" subIdx="1e" bitLen="16" halPin="SERTX_30" halType="bit"/>
<pdoEntry idx="7000" subIdx="1f" bitLen="16" halPin="SERTX_31" halType="bit"/>
<pdoEntry idx="7000" subIdx="20" bitLen="16" halPin="SERTX_32" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="1" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="SERRX_01" halType="bit"/>
<pdoEntry idx="6000" subIdx="02" bitLen="16" halPin="SERRX_02" halType="bit"/>
<pdoEntry idx="6000" subIdx="03" bitLen="16" halPin="SERRX_03" halType="bit"/>
<pdoEntry idx="6000" subIdx="04" bitLen="16" halPin="SERRX_04" halType="bit"/>
<pdoEntry idx="6000" subIdx="05" bitLen="16" halPin="SERRX_05" halType="bit"/>
<pdoEntry idx="6000" subIdx="06" bitLen="16" halPin="SERRX_06" halType="bit"/>
<pdoEntry idx="6000" subIdx="07" bitLen="16" halPin="SERRX_07" halType="bit"/>
<pdoEntry idx="6000" subIdx="08" bitLen="16" halPin="SERRX_08" halType="bit"/>
</pdo>
</syncManager>
<dcConf assignActivate="100" sync0Cycle="*1" sync0Shift="250000"/>
</slave>
Entered SAEFOP
still have a question
How should I send a message to the serial port through ethercat, and how to read it at the same time?
Do I still need to use ethercat command in linuxcnc?
For example
ethercat download -t uint16 0x7000 01 1
ethercat upload -t uint16 0x6000 01
Summarize a total of two questions
①Ethercat to serial device cannot enter OP state
②What method should be used to assign value to ethercat pdos in linuxcnc, is it the ethercat instruction?
Thank you for your patience, if you can make suggestions I will be very grateful
wang
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15 Dec 2021 15:28 #229137
by wang
Replied by wang on topic Ethercat to modbus
After writing the xml file, when I open linuxcnc, the other axis drives all enter the OP state, but this Ethercat to serial port cannot enter the OP but enters SAEFOP
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