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OpenEtherCATsociety / SOES

Simple Open Source EtherCAT Slave
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Large number of PDO outputs #53

Closed hwstrijker closed 5 years ago

hwstrijker commented 5 years ago

I'm using a Infineon XMC4300 Relax EtherCAT Kit with SOES. I'm performing different tests using various masters, for one of the test I want to have a large process image. I'm reading a button and have one counter on the slave to update one PDO value, the other PDO's are not used right now. When I define 696 bits of outputs in the objectfile the master does give the following output:

SOEM (Simple Open EtherCAT Master) Simple test Starting simple test ec_init on enxc025e929272d succeeded. 1 slaves found and configured. Slaves mapped, state to SAFE_OP. segments : 1 : 109 0 0 0 Request operational state for all slaves Calculated workcounter 3 Not all slaves reached operational state. Slave 1 State=0x12 StatusCode=0x001d : Invalid output configuration Request init state for all slaves End simple test, close socket End program

The same for the Acontis Ethercat manter:

003080 : Master state changed from <UNKNOWN> to <INIT> 003109 : Master state changed from <INIT> to <PREOP> 003117 : ERROR: At least one slave in error status 003117 : Slave error " Slave_1001 [0xFFFFFFFF] ": - EtherCAT address=1001 - State <PREOP ERROR>(0x12), control status <Invalid Output Configuration>(0x1d) 003117 : Slave init command response error - Slave Slave_1001 [0xFFFFFFFF] : - EtherCAT address=1001 - Current State change of slave="PREOP to SAFEOP" target state could not be reached 003118 : CEcSlave::ProcessCmdResult() Slave_1001 [0xFFFFFFFF] : unprocessed dwInvokeId (0x2) 003119 : ecatSetMasterState() Error 0x98110024 in McSm state 'WAIT_MASTER_SAFEOP' for requested state 'MASTER_SAFEOP_DONE' 003119 : Cannot start set master state to SAFEOP (Result = ERROR: Slave error (0x98110024))

however when the output size is 664 bits everything works as expected. Why do I get this error? I did some tests using a oscilloscope and it seems the controller does work correctly so somehow the slave stack does have a problem updating this amount of bits. When using a old version of SOES I don't get the error but the Inputs in the Master do not update however the ESC_read is called by the code.

With soesv3 form #52 I get the same error code .

Both the object-files are attached, the difference is the PDO length. I did add the slaveinfo as well.
objectfile.zip output_slaveinfo.txt

nakarlsson commented 5 years ago

You need to make enough space between SM2 and SM3, it should fit Outputs size 2 Eg. SM2 0x1100 + (PDO size 87 3) will get overwritten by Sm3. SOES v3 should generat an ERROR?

hwstrijker commented 5 years ago

Indeed the SM2 size solved the problem, thanks.