the holy grail...

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07 Apr 2022 08:32 #239519 by GuiHue
Replied by GuiHue on topic the holy grail...
I did only skip read this thread which I found searching for EL2004.
Are you still using this Beckhoff component? I have found that it likes to not work with linuxcnc-ethercat as the implementation in EL2xxx.c is faulty. It uses the same index as for other EL2xxx (0x7000) but that is not correct.
I came across the error while looking at sudo dmesg.

Might be worth looking into (if you are still at it).

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07 Apr 2022 10:09 #239525 by db1981
Replied by db1981 on topic the holy grail...
what kind of errors do you get?

At my configurations el2004s are working, and 0x7000 is the correct offset for Channel 0.

What is the Hardware / Software Rev of your card?

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07 Apr 2022 13:24 #239538 by GuiHue
Replied by GuiHue on topic the holy grail...
Very interesting remark - I have only looked at the reference XML at the Beckhoff site, where I found a different Index (donÄ't have it with me right now).

How can I determine HW/SW rev?

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07 Apr 2022 13:50 #239545 by db1981
Replied by db1981 on topic the holy grail...
in Twincat system Manager

or with etherlab

"ethercat slave -p(pos number) -v"

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07 Apr 2022 17:03 #239560 by GuiHue
Replied by GuiHue on topic the holy grail...
That produces:
groot@grootethercat:~$ ethercat slave -p 10 -v
=== Master 0, Slave 10 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x07d43052
  Revision number: 0x00000000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: no
Port  Type  Link  Loop    Signal  NextSlave
   0  N/A   down  open    yes             9
   1  N/A   down  open    yes            11
   2  N/A   down  closed  no              -
   3  N/A   down  closed  no              -
General:
  Group: DigOut
  Image name: TERM_DO
  Order number: EL2004
  Device name: EL2004 4K. Dig. Ausgang 24V, 0,5A
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 130 mA

If I enter this as EL2004 in the xml file I get the following in dmesg:
[  963.847456] EtherCAT ERROR 0 0:10: PDO entry 0x7000:01 is not mapped.


 

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07 Apr 2022 17:24 #239562 by db1981
Replied by db1981 on topic the holy grail...
strange...
i'm shure this error is not EL2004 related, there must be some config pod count mismatch in front of the el2004. or the content of the SII Eeprom / Firmware has been reflashed and something went wrong. the rev and serial register should hold values....

Which devices are mounted in front of the el2004?

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07 Apr 2022 17:42 - 07 Apr 2022 17:56 #239563 by GuiHue
Replied by GuiHue on topic the holy grail...
I tried a minimal setup. Its just an EK1100 and the EL2004.
groot@grootethercat:~/linuxcnc/configs/sim.axis$ ethercat slaves
0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0,5A
groot@grootethercat:~/linuxcnc/configs/sim.axis$ ethercat slave -p1 -v
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x07d43052
  Revision number: 0x00000000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: no
Port  Type  Link  Loop    Signal  NextSlave
   0  N/A   down  open    yes             0
   1  N/A   down  closed  no              -
   2  N/A   down  closed  no              -
   3  N/A   down  closed  no              -
General:
  Group: DigOut
  Image name: TERM_DO
  Order number: EL2004
  Device name: EL2004 4K. Dig. Ausgang 24V, 0,5A
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 130 mA
 
I had the EL2004 in the mix with other devices. No problem there as long as I don't include it in the startup. To me the error regarding 0x7000 appears to point at the some problem all the time.

Another Update:
I installed TwinCat3 on a WindowsMachine and got it talking to the ethercat system:
It can manually trigger stat eand outputs just fine.
I exported the xml config. Shows no index 7000 anywhere - but a x3001:1 (to 4)
Last edit: 07 Apr 2022 17:56 by GuiHue.

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07 Apr 2022 18:33 #239568 by db1981
Replied by db1981 on topic the holy grail...
interesting, i just ad an el2004 to an Twincat2 Project and there the offset is 0x7000

What gives the output of "ethercat pdos -v -p"

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07 Apr 2022 18:48 - 07 Apr 2022 19:09 #239569 by GuiHue
Replied by GuiHue on topic the holy grail...
As expected: 1600

groot@grootethercat:~/linuxcnc/configs/sim.axis$ ethercat pdos -p1 -v
SM0: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x46, Enable 1
  RxPDO 0x1600 "Channel 1"
    PDO entry 0x3001:01,  1 bit, "Output"
  RxPDO 0x1601 "Channel 2"
    PDO entry 0x3001:02,  1 bit, "Output"
  RxPDO 0x1602 "Channel 3"
    PDO entry 0x3001:03,  1 bit, "Output"
  RxPDO 0x1603 "Channel 4"
    PDO entry 0x3001:04,  1 bit, "Output"

 

I guess the easiest way is to use a generic config...

I guess one could change those in TwinCat3, but I'm concerned to brick something.
Last edit: 07 Apr 2022 19:09 by GuiHue.

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07 Apr 2022 19:15 #239570 by db1981
Replied by db1981 on topic the holy grail...
ok, seems that your el2004 is from the "stoneage"
I just add different hardware revs to twincat and the very old ones are listed with the 3001 offset , and since rev10 the pdo seems to be 7000.

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