What Gets Downloaded from SYCON
Hello again,
In my attempt to get an RTAI/Linux Hilscher Slave (comX) fully operational, I have discovered that I need to go into SYCON and "download" from the Master to the Slave. When I do this, the PDO areas are configured correctly and the system exchanges data at a perfect 1ms Rate with the Win32 Master.
My goal is to realize the Slaves in a deeply embedded environment using an IgH master. Therefore I need to orphan myself from the Win32 master configuration.
I thought I could make this happen through Warmstart parameter programming over DPM, however the slave comes up in a STOPed state, and the IgH master fails to find anything other than a minimal configuration (no Tx/Rx PDO, even though I've setup for 4 bytes of TxPDO and 4 bytes RxPDO). Somehow, the Win32 Master is able to "wake up" the slave and get the PDO's properly configured.
I guess my question is how do I emulate this Win32 master download operation via Warmstart parameters?
-Pete-
I tried the SYCON->Export/DBM function but this does not write out a DBM file. It exported an XML file instead. Can I download the XML file directly or does netX need the data as a DBM file?
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
Sorry, but the netX Firmware requires the DBM file. Not the XML file. If your Sycon is unable to create the needed file, please get in contact with Hilscher to receive a newer version which support this feature.
Hi,you can create in Sycon a configuration as known and export this configuration. You will get a *.dbm file, I think. This can be downloaded over the DPM to your comX module.
The other possibility is to sent a warmstart package to the slave (comX).
Please check the C-Toolkt and the according documentation for it.
I am currently using this method to bring up the stack on the comX card. Here is the setup:
DPM_Warmstart = (ECAT_DPM_WARMSTART_REQ_T *)ptPacket;
memset(DPM_Warmstart, 0, sizeof(ECAT_DPM_WARMSTART_REQ_T));
DPM_Warmstart->tHead.ulDest= RCX_PACKET_DEST_DEFAULT_CHANNEL;
DPM_Warmstart->tHead.ulSrc = 0; /* QUESTION what should src be? */
DPM_Warmstart->tHead.ulCmd = 0x2CC4;
DPM_Warmstart->tHead.ulLen = sizeof(DPM_Warmstart->tData);
DPM_Warmstart->tData.ulWatchdogTime = 0; /* NOTE: disables watchdog */
DPM_Warmstart->tData.ulVendorId = 0x44;
DPM_Warmstart->tData.ulProductCode = 0x1;
DPM_Warmstart->tData.ulRevisionNumber = 0x20000;
DPM_Warmstart->tData.ulSerialNumber = 0x00;
DPM_Warmstart->tData.ulProcessDataInputSize = 0x4; /* bytes */
DPM_Warmstart->tData.ulProcessDataOutputSize = 0x4;
DPM_Warmstart->tData.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);
DPM_Warmstart->tData.ulSIIConfigurationFlags = 0x0;
fRet = 1;
return fRet;
This setup gets sent via DevTransferPacket with no errors. When my master querys the slave configuration however, it cannot find Tx/Rx PDOs. It only sees the default power-on configuration (4 sync managers). I'm wondering why warmstart doesn't create the PDO areas?
-P-
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
Can you please provide the FW version, which is running on your comX module. Only to be sure, that the used warmstart package is correct.
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
Hi,
I figured out, that the Sycon.net is not able to generate a dbm file for EtherCAT. Only the xml is supported.
Can you please provide the FW version, which is running on your comX module. Only to be sure, that the used warmstart package is correct.
FW version is 2.0.0 Build 9, 4/29/2008
Hi,I figured out, that the Sycon.net is not able to generate a dbm file for EtherCAT. Only the xml is supported.
Hi AJ,
Is this something which needs to be fixed in SYCON? Or has the comX firmware since been modified to support downloading the XML file?
Thanks,
-Pete-
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
The xml file is useless for the slave. It is only usable for the master.
The xml file is useless for the slave. It is only usable for the master.
OK,
So, as I understand it, if the comX Slave needs a .DBM file for configuration, but SYCON is unable to export one, then I *must* get Warmstart configuration working. This seems to be my only option.
-Pete-
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
Hi,
the slave can only be configured by a warmstart package from the host.
Andreas Jacob
Hilscher Gesellschaft fuer Systemautomation mbH
Hi,
you can create in Sycon a configuration as known and export this configuration. You will get a *.dbm file, I think. This can be downloaded over the DPM to your comX module.
The other possibility is to sent a warmstart package to the slave (comX).
Please check the C-Toolkt and the according documentation for it.