Problem with using ODOT CN-8033

We had use SOEM with Beckhoff IOs and servo drives sucessfully, but with ODOT CN-8033 we have problems. I test the most simple situation with only 1 modules of digital inputs CT-121F(16 DI). The traces of slaveinfo applications is attached. slaveinfo.txt ****slaveinfo.txt*** SOEM (Simple Open EtherCAT Master) Slaveinfo Starting slaveinfo ec_init on enp5s0 succeeded. 1 slaves found and configured. Calculated workcounter 0 Not all slaves reached safe operational state. Slave 1 State=12 StatusCode= 1e : Invalid input configuration

Slave:1 Name:CN-8033,Odot Output size: 0bits Input size: 0bits State: 18 Delay: 0[ns] Has DC: 1 DCParentport:0 Activeports:1.0.0.0 Configured address: 1001 Man: 00860816 ID: 20008033 Rev: 00010000 SM0 A:1000 L: 128 F:00010026 Type:1 SM1 A:1080 L: 128 F:00010022 Type:2 SM2 A:1100 L: 4 F:00010064 Type:3 SM3 A:1400 L: 4 F:00010020 Type:4 FMMUfunc 0:1 1:2 2:0 3:0 MBX length wr: 128 rd: 128 MBX protocols : 04 CoE details: 03 FoE details: 00 EoE details: 00 SoE details: 00 Ebus current: 0[mA] only LRD/LWR:0 CoE Object Description found, 18 entries.

Time:1716429316.358 EMERGENCY slave:1 error:a000 ... 0x1a00 "CT-121F" [RECORD maxsub(0x01 / 1)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x02 / 2 0x01 "SubIndex 001" [UNSIGNED32 R_RR] 0x60010108 / 1610678536 ... 0x1c13 "SyncManager 3 assignment" [ARRAY maxsub(0x01 / 1)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x01 / 1 0x01 "SubIndex 001" [UNSIGNED16 R_RR] 0x0000 / 0 ... 0x6000 "" [RECORD maxsub(0x01 / 1)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x00 / 0 0xf000 "Module device profile" [RECORD maxsub(0x02 / 2)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x02 / 2 0x01 "Index distance" [UNSIGNED16 R_RR] 0x0001 / 1 0x02 "maximum number of modules" [UNSIGNED16 R_RR] 0x0040 / 64 0xf010 "Module Profile List" [ARRAY maxsub(0x41 / 65)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x02 / 2 0x01 "SubIndex 001" [UNSIGNED32 R_RR] 0x20008033 / 536903731 0x02 "SubIndex 002" [UNSIGNED32 R_RR] 0x2000121f / 536875551 0xf050 "Detected Module Ident List" [ARRAY maxsub(0x41 / 65)] 0x00 "SubIndex 000" [UNSIGNED8 R_RR] 0x01 / 1 0x01 "SubIndex 001" [UNSIGNED32 R_RR] 0x2000121f / 536875551

It seems that: 1.PDO setting is wrong, 1c13.01 was zero 2.Input size was zero 3.SM2 and SM3 length was wrong(all 4, but infact SM2 should be zero and SM3 should be 2) 4.FMMUx was not set

I had tried to modifyed the SM2 and SM3 length, it will reach operational state, but other things still wrong. ec_slave[1].SM[2].SMlength = 0x0; ec_slave[1].SM[3].SMlength = 0x2; SM2 and SM3 length were change, but not any other things different. SM0 A:1000 L: 128 F:00010026 Type:1 SM1 A:1080 L: 128 F:00010022 Type:2 SM2 A:1100 L: 0 F:00000064 Type:3 SM3 A:1400 L: 2 F:00010020 Type:4 slaveinfo_sm.txt

I tried to set the pdo, but it returns the errors below:

int do_config(uint16 slave) {

uint8 u8val;
uint16 u16val;
int res = 0 ;

u8val = 0;
res += ec_SDOwrite(1, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);

u16val = 0x1a00;
res += ec_SDOwrite(1, 0x1c13, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTRXM);

u8val = 1;
res += ec_SDOwrite(1, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);

printf("init %d axis res : %d, %d\n", 1, slave, res);
return res;

}

output Time:1716429044.300 SDO slave:1 index:1c13.00 error:06010002 Attempt to write to a read only object Time:1716429044.303 SDO slave:1 index:1c13.01 error:06010002 Attempt to write to a read only object Time:1716429044.306 SDO slave:1 index:1c13.00 error:06010002 Attempt to write to a read only object slaveinfo_pdo.txt

What can advise us? Regards!

OpenEtherCATsociety / SOEM

Problem with using ODOT CN-8033 #811