Beckhoff EK1100 not entering OP mode
- hellvetica
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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:
And my config:
ethercat-test.hal
ethercat-conf.xml
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:
Am I doing something wrong?
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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- hellvetica
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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.
Suddenly it started working.
The following user(s) said Thank You: tommylight
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