ArthurKetels
commented
1 year ago There is something wrong with the information the slave returns to SOEM. Most critical are the SM memory addresses. According to your XML it should be: SM0 : 0x1f00 SM1 : 0x1c00 SM2 : 0x1000 SM3: 0x1600
The addresses SOEM gets from the slave are: SM0 : 0x1c00 SM1 : 0x1800 SM2 : 0x0000 SM3 : 0x0000
This will cause the slave to complain with error code 0x0017. Either ask for a slave firmware update to fix the bug or hack the SM settings yourself in the ni_slave() function. Although SM0 and SM1 are off, they do seem to work. So you could be lucky and get away with redefining SM2, SM3, FMMU0 and FMMU1.
You also made a small mistake. The procedure to remap a slave is to first set subindex 0 to value 0 then update the mapping entries, and last set subindex 0 to the correct value.
Hello,
I am trying to read IO from NI modules that are connected to a National Instruments 9144 chassis. I am trying to run the simple_test.c on Linux with the PO2SO function below.
Background: the NI 9144 has a 9239 (4x analog inputs) and a 9401 (8x DIO) mounted in it. Using NI's xml creator tool, I made the xml file that is attached below. I want to have a PDO for the 4 analog inputs (from slave to master) and the 8 digital outputs (from master to slave).
The simple test output is:
PO2SO Function:
ec_slave[1].PO2SOconfig = ni_slave;The slave info is as follows:
-map:
Can someone please help me determine why I am getting this SyncManager error?
From Beckhoff: Error Code 0x0017 Meaning
Invalid Sync Manager configuration Description
Process data communication (cyclic communication) is done via extra memory areas on the ESC, separated for outputs and inputs. The process data length and the process data SyncManager length have to be the same. If this is not the case or the start address or direction does not match this error is returned.
Example: The process data configuration was changed of the slaves which also changed the length of the data. The change was not activated in the configuration so that the configuration tool would have recalculated the SyncManager settings. Current State (or state change)
P→S, S→O Resulting state
Current State + E Solution
Issue a re-calculation of the EtherCAT configuration
simple_test.txt
NI 9144 XML File: 9239_9401_Scan_xml.txt