ethercat
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ethercat-rs
Add simple example
@birkenfeld I try to make a simple example working but it doesn't work :(
Could you have look at this example? Do I miss something?
The aim is simple: Toggle output 3
I'm sorry, didn't see this before now. Will review during the weekend...
The al_states: 2 looks suspicious. When the slaves are working normally, they should be in state 8 (OP) instead of 2 (PREOP). This field is an OR of the state flags, so it seems like all slaves are in PREOP.
It may be that this is because the configured slaves don't match the actual slaves, but you have the check that I though was the right one (leading to the "Unable to configure slave" panic).
It might also be possible that the Weidmüller hardware wants to be put into the OP state explicitly, while Beckhoff does it automatically while activating the master? (I think; I don't have a coupler with me to test ATM. I can do some tests tomorrow.)
I assume you know about the ethercat executable provided by the IgH master? You can access a lot of functionality there, including ioctls that are not wrapped by the original C library (and therefore not in Rust, at the moment). One of those is EC_IOCTL_SLAVE_STATE which is used by the ethercat states FOO command. Maybe you can try that?
It may be that this is because the configured slaves don't match the actual slaves,
Ok, I'll check the whole config again. Is there a simple way to receive some debug/error info?
I assume you know about the
ethercatexecutable provided by the IgH master? You can access a lot of functionality there, including ioctls that are not wrapped by the original C library (and therefore not in Rust, at the moment). One of those isEC_IOCTL_SLAVE_STATEwhich is used by theethercat states FOOcommand. Maybe you can try that?
Yes I tried it. Running ethercat states PO does not help :-\
Can you post the result of ethercat pdos, ethercat slaves -v and ethercat config -v while the example is running?
sudo /opt/etherlab/bin/ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 512, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 512, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 0, ControlRegister 0x64, Enable 0
RxPDO 0x16ff ""
PDO entry 0xf200:01, 1 bit, ""
PDO entry 0xf200:02, 1 bit, ""
PDO entry 0xf200:03, 1 bit, ""
PDO entry 0xf200:04, 1 bit, ""
PDO entry 0xf200:05, 1 bit, ""
PDO entry 0xf200:06, 1 bit, ""
PDO entry 0xf200:07, 1 bit, ""
PDO entry 0xf200:08, 1 bit, ""
PDO entry 0xf200:09, 1 bit, ""
PDO entry 0xf200:0a, 1 bit, ""
PDO entry 0xf200:0b, 1 bit, ""
PDO entry 0xf200:0c, 1 bit, ""
PDO entry 0xf200:0d, 1 bit, ""
PDO entry 0xf200:0e, 1 bit, ""
PDO entry 0xf200:0f, 1 bit, ""
PDO entry 0xf200:10, 1 bit, ""
RxPDO 0x1600 ""
PDO entry 0x7000:01, 1 bit, ""
PDO entry 0x7000:02, 1 bit, ""
PDO entry 0x7000:03, 1 bit, ""
PDO entry 0x7000:04, 1 bit, ""
PDO entry 0x0000:00, 4 bit, "Gap"
RxPDO 0x1601 ""
PDO entry 0x7010:01, 1 bit, ""
PDO entry 0x7010:02, 1 bit, ""
PDO entry 0x7010:03, 1 bit, ""
PDO entry 0x7010:04, 1 bit, ""
PDO entry 0x7010:05, 1 bit, ""
PDO entry 0x7010:06, 1 bit, ""
PDO entry 0x7010:07, 1 bit, ""
PDO entry 0x7010:08, 1 bit, ""
PDO entry 0x7010:09, 1 bit, ""
PDO entry 0x7010:0a, 1 bit, ""
PDO entry 0x7010:0b, 1 bit, ""
PDO entry 0x7010:0c, 1 bit, ""
PDO entry 0x7010:0d, 1 bit, ""
PDO entry 0x7010:0e, 1 bit, ""
PDO entry 0x7010:0f, 1 bit, ""
PDO entry 0x7010:10, 1 bit, ""
SM3: PhysAddr 0x2400, DefaultSize 0, ControlRegister 0x20, Enable 0
TxPDO 0x1aff ""
PDO entry 0xf100:01, 1 bit, ""
PDO entry 0xf100:02, 1 bit, ""
PDO entry 0xf100:03, 1 bit, ""
PDO entry 0xf100:04, 1 bit, ""
PDO entry 0xf100:05, 1 bit, ""
PDO entry 0xf100:06, 1 bit, ""
PDO entry 0xf100:07, 1 bit, ""
PDO entry 0xf100:08, 1 bit, ""
PDO entry 0xf100:09, 1 bit, ""
PDO entry 0xf100:0a, 1 bit, ""
PDO entry 0xf100:0b, 1 bit, ""
PDO entry 0xf100:0c, 1 bit, ""
PDO entry 0xf100:0d, 1 bit, ""
PDO entry 0xf100:0e, 1 bit, ""
PDO entry 0xf100:0f, 1 bit, ""
PDO entry 0xf100:10, 1 bit, ""
TxPDO 0x1a00 ""
PDO entry 0x6000:01, 8 bit, ""
TxPDO 0x1a01 ""
PDO entry 0x6010:01, 8 bit, ""
sudo /opt/etherlab/bin/ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
Vendor Id: 0x00000230
Product code: 0x4f911c30
Revision number: 0x00011100
Serial number: 0x5021d6b0
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 - 1845499234 0 0
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1200/532, TX: 0x1500/532
Standard RX: 0x1000/512, TX: 0x1400/512
Supported protocols: EoE, CoE, FoE
General:
Group: Coupler
Image name:
Order number: UR20-FBC-EC
Device name: UR20-FBC-EC / 1334910000
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: no
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
sudo /opt/etherlab/bin/ethercat config -v
Alias: 0
Position: 0
Vendor Id: 0x00000230
Product code: 0x4f911c30
Attached slave: 0 (PREOP)
Watchdog divider: (Default)
Watchdog intervals: (Default)
SM2, Dir: Output, Watchdog: Default
PDO 0x1600
PDO entry 0x7000:01, 1 bit
PDO entry 0x7000:04, 1 bit
SM3, Dir: Input, Watchdog: Default
PDO 0x1a00
PDO entry 0x6000:01, 8 bit
SDO configuration:
None.
IDN configuration:
None.
Well, I'm a bit at a loss. You might also look in the dmesg for errors/warnings, maybe after calling ethercat debug 1?
Googling suggests that you may need to configure the DC feature before activating the master (calling config_dc on the SlaveConfig. I didn't need this for the Beckhoff coupler.
Well, I'm a bit at a loss. You might also look in the dmesg for errors/warnings, maybe after calling
ethercat debug 1?
That's actually a good idea!
There are some errors and warnings, e.g.:
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: SDO download 0x1600:00 (1 bytes) aborted.
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[Fr Apr 17 13:06:15 2020] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[Fr Apr 17 13:06:15 2020] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1600.
[Fr Apr 17 13:06:15 2020] EtherCAT WARNING 0-0: Slave does not support assigning PDOs!
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: SDO download 0x1A00:00 (1 bytes) aborted.
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[Fr Apr 17 13:06:15 2020] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[Fr Apr 17 13:06:15 2020] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
So it seems that I can't define my own custom mapping (Slave does not support assigning PDOs!).
So what else can I do?
I tried to run an example with the SOEM-rs stack where I did not configure PDOs ... and it worked.
Ah, then you probably have to configure the complete PDO (e.g. all 8 bits of 0x1600) for use in the domain.
It might be enough to configure just index 0x7000:1 with a bit_length of 8; at least that has been the case with Beckhoff input terminals.
Ah, then you probably have to configure the complete PDO (e.g. all 8 bits of 0x1600) for use in the domain.
that doesn't change anything :(
It might be enough to configure just index 0x7000:1 with a bit_length of 8; at least that has been the case with Beckhoff input terminals.
I'll try to configure all PDOs exactly like they are offered.