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OpenEtherCATsociety / SOEM

Simple Open Source EtherCAT Master
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some slaves that donnot support sync signal trigger #765

Closed Edphoenixmax closed 9 months ago

Edphoenixmax commented 10 months ago

I wish you all good! Recently I use the ecx_dcsync0 function to trigger the servomoto successfully while the same code cannot trigger weidemuler slave like UR20_4FC_EC , Is there any possibility that the digital IOmoudles donnot support the sync signal trigger?

ArthurKetels commented 10 months ago

Some more information would be welcome. Can you supply the ESI file of the UR20? There you can read the supported modes. Many slaves only support SM synchronization.

Edphoenixmax commented 10 months ago

WI_ESI_HW2.zip Here is the ESI of UR20 , where can I know the slaves support only SM synchronization? Thanks for your help!

ArthurKetels commented 10 months ago

I could not find the UR20-4FC-EC but you have to look for something like:

                <Dc>
                    <OpMode>
                        <Name>SM_SYNCHRON</Name>
                        <Desc>FreeRun/SM Synchronous</Desc>
                        <AssignActivate>#x0000</AssignActivate>
                    </OpMode>
                    <OpMode>
                        <Name>DC_SYNCHRON</Name>
                        <Desc>DC Synchronous</Desc>
                        <AssignActivate>#x0300</AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                    </OpMode>
                </Dc>

This snippet was from the UR20-FBC. And it shows support for both SM and Sync0.

Edphoenixmax commented 10 months ago

Sorry , I forget its name. Its real name is UR20-FBC-EC, but it did support the sync0 and I donnot know why it cannot change into op station. It is so weird.