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Beckhoff EK1100 + EL3208 Issue - Printable Version

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Beckhoff EK1100 + EL3208 Issue - zoo_lander - 05-15-2018

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


RE: Beckhoff EK1100 + EL3208 Issue - zoo_lander - 05-17-2018

I have resolved this issue by assigning ALL PDOs for all channels to a background task. It appears that you cannot map individual PDOs with this particular module, instead you have to map all of the PDOs.