Beckhoff EK1100 not entering OP mode

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28 Apr 2025 11:09 #327209 by hellvetica
Beckhoff EK1100 not entering OP mode was created by hellvetica
Hi, I'm trying to put together some Beckhoff IO module with ethercat.
I followed the examples and instructions i found on this forum but I can't get my EK1100 to go into OP mode.
I know my ethercat setup is good because I managed to get a servo drive working through ethercat.
Here's some outputs:
$ ethercat master
Master0
  Phase: Operation
  Active: yes
  Slaves: 2
  Ethernet devices:
    Main: 00:d0:b4:04:12:3b (attached)
      Link: UP
      Tx frames:   159376
      Tx bytes:    9588678
      Rx frames:   159375
      Rx bytes:    9588618
      Tx errors:   0
      Tx frame rate [1/s]:    109    110    112
      Tx rate [KByte/s]:      6.4    6.5    6.6
      Rx frame rate [1/s]:    109    110    112
      Rx rate [KByte/s]:      6.4    6.5    6.6
    Common:
      Tx frames:   218598
      Tx bytes:    13259230
      Rx frames:   218597
      Rx bytes:    13259170
      Lost frames: 0
      Tx frame rate [1/s]:    109    110    112
      Tx rate [KByte/s]:      6.4    6.5    6.6
      Rx frame rate [1/s]:    109    110    112
      Rx rate [KByte/s]:      6.4    6.5    6.6
      Loss rate [1/s]:          0     -0      0
      Frame loss [%]:         0.0   -0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 799152688552526000
    Application time:  799152688552526000
                       2025-04-28 10:51:28.552526000
$ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x044c2c52
  Revision number: 0x00120000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   1646636850           0           0
   1  EBUS  up    open    yes             1   1646637150         300         150
   2  MII   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
General:
  Group: SystemBk
  Image name: 
  Order number: EK1100
  Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: -2000 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x0af93052
  Revision number: 0x00120000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, delay measurement only
  DC system time transmission delay: 150 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             0   1649051520           0         150
   1  EBUS  down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/C   down  closed  no              -            -           -           -
General:
  Group: DigOut
  Image name: 
  Order number: EL2809
  Device name: EL2809 16K. Dig. Ausgang 24V, 0.5A
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 140 mA

And my config:

ethercat-test.hal
loadrt threads name1=servo-thread period1=1000000

loadusr -W lcec_conf ./ethercat-conf.xml
loadrt lcec

addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

start

ethercat-conf.xml
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="EK1100" name="D1"/>
<slave idx="1" type="EL2809" name="D2"/>
</master>
</masters>

When I run
halrun -I -kf ethercat-test.hal
and then open halshow I can see all the pins but the devices stay in PREOP mode. I can write to the output pins but nothing changes on the drive. The RUN led blinks on the EK1100 confirming that it's in PREOP mode.

This is dmesg output:
[ 3307.915399] EtherCAT 0: Scanning bus.
[ 3308.163827] EtherCAT 0: Bus scanning completed in 248 ms.
[ 3308.163831] EtherCAT 0: Using slave 0 as DC reference clock.
[ 3308.195067] EtherCAT 0: Slave states on main device: PREOP.
Here i ran halrun -I -kf ethercat-test.hal
[ 3361.575932] EtherCAT: Requesting master 0...
[ 3361.575936] EtherCAT: Successfully requested master 0.
[ 3361.576003] EtherCAT 0: Domain0: Logical address 0x00000000, 2 byte, expected working counter 1.
[ 3361.576005] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LWR.
[ 3361.576018] EtherCAT 0: Master thread exited.
[ 3361.576020] EtherCAT 0: Starting EtherCAT-OP thread.
[ 3361.589265] EtherCAT 0: Master thread exited.
[ 3361.589274] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 3361.589312] EtherCAT 0: Releasing master...
[ 3361.589313] EtherCAT 0: Released.

Am I doing something wrong?

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28 Apr 2025 11:33 #327212 by hellvetica
Replied by hellvetica on topic Beckhoff EK1100 not entering OP mode
Hi, It turns out I had to reset the power on the device every time i tried a different config.
Suddenly it started working.
The following user(s) said Thank You: tommylight

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