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Beckhoff EK1100 + EL3208 Issue


zoo_lander
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Hello,

 

We have a 465 PMAC with the EtherCAT option, that we have connected to a Beckhoff EK1100 which has a EL3208 and EL1859 modules connected to it. The topology of the network is a follows:

 

Master - PMAC 465

Slave 0 - EK1100 Coupler (has reference distributed clock box checked in settings)

Slave 1 - EL3208 RTD (has reference distributed clock box unchecked in settings)

Slave 2 - EL1859 DIO (has reference distributed clock box unchecked in settings)

 

With no PDOs assigned, the EL1859 and EL3208 transition to the OP state when selecting to run all foreground tasks.

 

We can assign PDOs for the EL1859 and run in a foreground task with no problems. However, when we assign PDOs for the EL3208 and run in a foreground task, the EL3208 always enters the PREOP + E state.

 

I noticed that the clocks for the EL1859 and EL3208 are different, would you think this will make a difference here? I have included the output of running the 'ethercat slaves -v' command on the PMAC, below. Additionally, I can run a command 'ethercat -m0 -p1 -t int32 upload 0x6000 0x11' to read the value of an RTD I have connected to the first channel. It seems the issue is PDO related?

 

Any help would be great, thank you for your time :)

 

 

root@192.168.0.200:/opt/ppmac# ethercat slaves -v

=== Master 0, Slave 0 ===

Device: Main

State: OP

Flag: +

Identity:

Vendor Id: 0x00000002

Product code: 0x044c2c52

Revision number: 0x00110000

Serial number: 0x00000000

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 - 3356697146 0 0

1 EBUS up open yes 1 3356697746 600 145

2 MII down closed no - - - -

3 N/A down closed no - - - -

General:

Group: SystemBk

Image name:

Order number: EK1100

Device name: EK1100 EtherCAT-Koppler (2A E-Bus)

Flags:

Enable SafeOp: no

Enable notLRW: no

Current consumption: -2000 mA

=== Master 0, Slave 1 ===

Device: Main

State: PREOP

Flag: E

Identity:

Vendor Id: 0x00000002

Product code: 0x0c883052

Revision number: 0x00120000

Serial number: 0x00000000

DL information:

FMMU bit operation: no

Distributed clocks: yes, delay measurement only

DC system time transmission delay: 145 ns

Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]

0 EBUS up open yes 0 3359145156 0 145

1 EBUS up open yes 2 3359145466 310 155

2 N/A down closed no - - - -

3 N/C down closed no - - - -

Mailboxes:

Bootstrap RX: 0x1000/244, TX: 0x10f4/244

Standard RX: 0x1000/128, TX: 0x1080/128

Supported protocols: CoE, FoE

General:

Group: AnaIn

Image name:

Order number: EL3208

Device name: EL3208 8K. Ana. Eingang PT100 (RTD)

CoE details:

Enable SDO: yes

Enable SDO Info: yes

Enable PDO Assign: no

Enable PDO Configuration: no

Enable Upload at startup: no

Enable SDO complete access: no

Flags:

Enable SafeOp: no

Enable notLRW: no

Current consumption: 190 mA

=== Master 0, Slave 2 ===

Device: Main

State: OP

Flag: +

Identity:

Vendor Id: 0x00000002

Product code: 0x07433052

Revision number: 0x00100000

Serial number: 0x00000000

DL information:

FMMU bit operation: no

Distributed clocks: yes, 64 bit

DC system time transmission delay: 300 ns

Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]

0 EBUS up open yes 1 3357222496 0 155

1 EBUS down closed no - - - -

2 N/A down closed no - - - -

3 N/C down closed no - - - -

General:

Group: DigIn

Image name: TERM_DI

Order number: EL1859

Device name: EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A

Flags:

Enable SafeOp: no

Enable notLRW: no

Current consumption: 130 mA

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