Warmstart Parameter setup on Slave
Hello,
I am attempting to get a Hilscher Slave (comX) up and running using the C-Toolkit. The Master is open source from IgH. The problem I'm running into seems to be that the master sees a different stack configuration than what I set in my WARMSTART message. I am attempting to create a slave with the BUS ON, Handshaking enabled, and a Tx/Rx PDO size of 4 bytes each. After my application sends the Warmstart message (over DPM), I query the Slave configuration using my Master and get a minimal dump of 4 sync managers and no Tx/Rx PDO. When I connect the Hilscher Master to the slave and start it, it seems to send a configuration to my Slave. If I take the cable and reconnect my Slave back to the IgH master and query the configuration, I get the "correct" configuration uploaded, including 3 sync managers and a Tx and Rx PDO of 4 bytes each. Clearly the Hilscher master is reconfiguring the stack in the manner I thought my warmstart setup would. So, I am wondering what I am missing from warmstart setup. I am configuring parameters as follows:
ulSystemFlags = 0
ulWatchdogTime = 0
ulVendorID = 0x44
ulProductCode = 0x3
ulRevisionNumber = 0x20000
ulProcessDataOutputSize = 0x4
ulProcessDataInputSize = 0x4
ulStackConfigurationFlags = (MSK_ECAT_DPM_WARMSTART_STACK_CFG_SM2_NO_HOST_UPDATE |
MSK_ECAT_DPM_WARMSTART_STACK_CFG_SM3_NO_HOST_UPDATE |
MSK_ECAT_DPM_WARMSTART_STACK_CFG_SET_SELF_UPDATE_ON_SM2 |
MSK_ECAT_DPM_WARMSTART_STACK_CFG_SET_SELF_UPDATE_ON_SM3)
ulSIIConfigurationFlags = 0
ulSyncImpulseLength = 0
ulDeviceType = 0
Am I missing something here?
Thanks,
-Pete-
Hello,
There is no additional configuration done by the Hilscher master, the only difference is that the IgH master uses only SII (i.e. EEPROM). Whereas, or master uses the XML file through the configurator.
Therefore, the slave has to be configured before the master tries to scan it.
On the last EtherCAT plugfest, the slave was connected to that master (V2.0.10 at that time). It was working.
Greets,
code-small
On the last EtherCAT plugfest, the slave was connected to that master (V2.0.10 at that time). It was working.
This is encouraging news. Coincidentally, another list member just sent me a netX patch for the IgH master which I believe fills in the missing configuration information.
Thanks for your help,
-Pete-
code-small
Hello,
what version of the ecs firmware have you got?
Greets,
code-small