Commit 64fbd94c authored by Jeroen Vreeken's avatar Jeroen Vreeken
Browse files

ec_enum dump of the three drives in Dwingeloo

parent 2b0d4234
Going to initialize interface eth0 for control data
Interface eth0 index nr found: 2
Bind to interface and protocol 0x88a4 done
Setting rx/tx timeout to 0.100000 sec.
Reading byte 0 of all ethercat slaves
Reading byte 0 of all ethercat slaves
Successfull init, 3 slaves found.
Reading byte 0 of all ethercat slaves
Adding 8 bytes for clock distribution to rx_pdo, total pdo is now: 22 bytes
Reading byte 0 of all ethercat slaves
Number of slaves found: 3
EtherCat slave controller 0:
Type: 0x02 = ESC
Revision & Build: 0x01 0x0016
FMMUs supported: 4
Syncmanagers supported: 4
RAM size: 4 Kb
Features: 0x04
Distributed clocks
Sync/Latch PDI config: 0xcc
ESI VendorId: 0x00b9
Vendor: unknown vendorid
ESI ProductCode: 0x1388
Product: unkown productcode
ESI RevisionNo: 0x01f6
ESI SerialNo: 0x7c4a96
ESI Size: 0x0000000f
ESI Version: 0x00000001
ESI Bootstrap RX mailbox offset: 0x1000
ESI Bootstrap RX mailbox size: 0x0214
ESI Bootstrap TX mailbox offset: 0x1800
ESI Bootstrap TX mailbox size: 0x0214
ESI Standard RX mailbox offset: 0x1800
ESI Standard RX mailbox size: 0x00f6
ESI Standard TX mailbox offset: 0x18f6
ESI Standard TX mailbox size: 0x00f6
ESI Mailbox Protocol: 0x000c
ESI EEPROM:
0x0000 (0x0000): 0900 00cc 8813 0000 0000 0000 0000 df00 ................
0x0010 (0x0008): b900 0000 8813 0000 f601 0000 964a 7c00 .............J|.
0x0020 (0x0010): 0000 0000 0000 0000 0010 1402 0018 1402 ................
0x0030 (0x0018): 0018 f600 f618 f600 0c00 0000 0000 0000 ................
0x0040 (0x0020): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0050 (0x0028): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0060 (0x0030): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0070 (0x0038): 0000 0000 0000 0000 0000 0000 0f00 0100 ................
ec_enum: Creating device
ESC supports 4 SyncManagers
ec_enum: Filling device based on ESI information
sm0: 246 bytes @ 0x1800, enabled: 1, ctrl: 26
Using sm0 for tx pdo
sm1: 246 bytes @ 0x18f6, enabled: 1, ctrl: 22
sm2: 0 bytes @ 0x1000, enabled: 1, ctrl: 64
Using sm2 for tx pdo
sm3: 0 bytes @ 0x1100, enabled: 1, ctrl: 20
Using sm3 for rx pdo
PDO index: 0x1a00, sm: 3, entries: 4, name: Kanal 1 Schnellsollwert
index: 0x28c8, bitsize: 8, name: E200 DeviceStatusByte
index: 0x2864, bitsize: 16, name: E100 n-Motor
index: 0x2802, bitsize: 16, name: E02 M-Motor gefiltert
index: 0x26c8, bitsize: 16, name: D200 Drehzahlsollwert-Statuswort
PDO index: 0x1600, sm: 2, entries: 3, name: Kanal 1 Schnellsollwert
index: 0x20b4, bitsize: 8, name: A180 Device Control Byte
index: 0x26e6, bitsize: 16, name: D230 n-Soll Relativ
index: 0x24e6, bitsize: 16, name: C230 M-Max
category type: 0x000a
category length: 0x00f0
0x0000 (0x0000): 0c14 504f 5349 4452 5645 2852 2920 7844 ..POSIDRVE(R) xD
0x0010 (0x0008): 5320 3530 3030 0544 7269 7665 2350 4f53 S 5000.Drive#POS
0x0020 (0x0010): 4944 5249 5645 2028 5229 2078 4453 2035 IDRIVE (R) xDS 5
0x0030 (0x0018): 3030 3020 6d69 7420 4574 6865 7243 4154 000 mit EtherCAT
0x0040 (0x0020): 0544 5249 5645 174b 616e 616c 2031 2053 .DRIVE.Kanal 1 S
0x0050 (0x0028): 6368 6e65 6c6c 736f 6c6c 7765 7274 1545 chnellsollwert.E
0x0060 (0x0030): 3230 3020 4465 7669 6365 5374 6174 7573 200 DeviceStatus
0x0070 (0x0038): 4279 7465 0c45 3130 3020 6e2d 4d6f 746f Byte.E100 n-Moto
0x0080 (0x0040): 7215 4530 3220 4d2d 4d6f 746f 7220 6765 r.E02 M-Motor ge
0x0090 (0x0048): 6669 6c74 6572 7420 4432 3030 2044 7265 filtert D200 Dre
0x00a0 (0x0050): 687a 6168 6c73 6f6c 6c77 6572 742d 5374 hzahlsollwert-St
0x00b0 (0x0058): 6174 7573 776f 7274 1841 3138 3020 4465 atuswort.A180 De
0x00c0 (0x0060): 7669 6365 2043 6f6e 7472 6f6c 2042 7974 vice Control Byt
0x00d0 (0x0068): 6513 4432 3330 206e 2d53 6f6c 6c20 5265 e.D230 n-Soll Re
0x00e0 (0x0070): 6c61 7469 760a 4332 3330 204d 2d4d 6178 lativ.C230 M-Max
category type: 0x001e
category length: 0x0020
0x0000 (0x0000): 0204 0103 0105 0100 0000 0000 0000 0000 ................
0x0010 (0x0008): 0000 0000 0000 0000 0000 0000 0000 0000 ................
category type: 0x0028
category length: 0x0002
0x0000 (0x0000): 0102 ...
category type: 0x0029
category length: 0x0020
0x0000 (0x0000): 0018 f600 2600 0101 f618 f600 2200 0102 ....&......."...
0x0010 (0x0008): 0010 0000 6400 0103 0011 0000 2000 0104 ....d....... ...
category type: 0x0032
category length: 0x0028
0x0000 (0x0000): 001a 0403 0005 0000 c828 0006 0508 0000 .........(......
0x0010 (0x0008): 6428 0007 0310 0000 0228 0008 0310 0000 d(.......(......
0x0020 (0x0010): c826 0009 0610 0000 .&......1
category type: 0x0033
category length: 0x0020
0x0000 (0x0000): 0016 0302 0005 0000 b420 000a 0508 0000 ......... ......
0x0010 (0x0008): e626 000b 0310 0000 e624 000c 0310 0000 .&.......$......
sm0: 246 bytes @ 0x1800, enabled: 1
sm1: 246 bytes @ 0x18f6, enabled: 1
sm2: 5 bytes @ 0x1000, enabled: 1
sm3: 7 bytes @ 0x1100, enabled: 1
sm4: 0 bytes @ 0x0, enabled: 0
sm5: 0 bytes @ 0x0, enabled: 0
sm6: 0 bytes @ 0x0, enabled: 0
sm7: 0 bytes @ 0x0, enabled: 0
EtherCat slave controller 1:
Type: 0x02 = ESC
Revision & Build: 0x01 0x0016
FMMUs supported: 4
Syncmanagers supported: 4
RAM size: 4 Kb
Features: 0x04
Distributed clocks
Sync/Latch PDI config: 0xcc
ESI VendorId: 0x00b9
Vendor: unknown vendorid
ESI ProductCode: 0x1388
Product: unkown productcode
ESI RevisionNo: 0x01f6
ESI SerialNo: 0x7c4a97
ESI Size: 0x0000000f
ESI Version: 0x00000001
ESI Bootstrap RX mailbox offset: 0x1000
ESI Bootstrap RX mailbox size: 0x0214
ESI Bootstrap TX mailbox offset: 0x1800
ESI Bootstrap TX mailbox size: 0x0214
ESI Standard RX mailbox offset: 0x1800
ESI Standard RX mailbox size: 0x00f6
ESI Standard TX mailbox offset: 0x18f6
ESI Standard TX mailbox size: 0x00f6
ESI Mailbox Protocol: 0x000c
ESI EEPROM:
0x0000 (0x0000): 0900 00cc 8813 0000 0000 0000 0000 df00 ................
0x0010 (0x0008): b900 0000 8813 0000 f601 0000 974a 7c00 .............J|.
0x0020 (0x0010): 0000 0000 0000 0000 0010 1402 0018 1402 ................
0x0030 (0x0018): 0018 f600 f618 f600 0c00 0000 0000 0000 ................
0x0040 (0x0020): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0050 (0x0028): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0060 (0x0030): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0070 (0x0038): 0000 0000 0000 0000 0000 0000 0f00 0100 ................
ec_enum: Creating device
ESC supports 4 SyncManagers
ec_enum: Filling device based on ESI information
sm0: 246 bytes @ 0x1800, enabled: 1, ctrl: 26
Using sm0 for tx pdo
sm1: 246 bytes @ 0x18f6, enabled: 1, ctrl: 22
sm2: 0 bytes @ 0x1000, enabled: 1, ctrl: 64
Using sm2 for tx pdo
sm3: 0 bytes @ 0x1100, enabled: 1, ctrl: 20
Using sm3 for rx pdo
PDO index: 0x1a00, sm: 3, entries: 4, name: Kanal 1 Schnellsollwert
index: 0x28c8, bitsize: 8, name: E200 DeviceStatusByte
index: 0x2864, bitsize: 16, name: E100 n-Motor
index: 0x2802, bitsize: 16, name: E02 M-Motor gefiltert
index: 0x26c8, bitsize: 16, name: D200 Drehzahlsollwert-Statuswort
PDO index: 0x1600, sm: 2, entries: 3, name: Kanal 1 Schnellsollwert
index: 0x20b4, bitsize: 8, name: A180 Device Control Byte
index: 0x26e6, bitsize: 16, name: D230 n-Soll Relativ
index: 0x24e6, bitsize: 16, name: C230 M-Max
category type: 0x000a
category length: 0x00f0
0x0000 (0x0000): 0c14 504f 5349 4452 5645 2852 2920 7844 ..POSIDRVE(R) xD
0x0010 (0x0008): 5320 3530 3030 0544 7269 7665 2350 4f53 S 5000.Drive#POS
0x0020 (0x0010): 4944 5249 5645 2028 5229 2078 4453 2035 IDRIVE (R) xDS 5
0x0030 (0x0018): 3030 3020 6d69 7420 4574 6865 7243 4154 000 mit EtherCAT
0x0040 (0x0020): 0544 5249 5645 174b 616e 616c 2031 2053 .DRIVE.Kanal 1 S
0x0050 (0x0028): 6368 6e65 6c6c 736f 6c6c 7765 7274 1545 chnellsollwert.E
0x0060 (0x0030): 3230 3020 4465 7669 6365 5374 6174 7573 200 DeviceStatus
0x0070 (0x0038): 4279 7465 0c45 3130 3020 6e2d 4d6f 746f Byte.E100 n-Moto
0x0080 (0x0040): 7215 4530 3220 4d2d 4d6f 746f 7220 6765 r.E02 M-Motor ge
0x0090 (0x0048): 6669 6c74 6572 7420 4432 3030 2044 7265 filtert D200 Dre
0x00a0 (0x0050): 687a 6168 6c73 6f6c 6c77 6572 742d 5374 hzahlsollwert-St
0x00b0 (0x0058): 6174 7573 776f 7274 1841 3138 3020 4465 atuswort.A180 De
0x00c0 (0x0060): 7669 6365 2043 6f6e 7472 6f6c 2042 7974 vice Control Byt
0x00d0 (0x0068): 6513 4432 3330 206e 2d53 6f6c 6c20 5265 e.D230 n-Soll Re
0x00e0 (0x0070): 6c61 7469 760a 4332 3330 204d 2d4d 6178 lativ.C230 M-Max
category type: 0x001e
category length: 0x0020
0x0000 (0x0000): 0204 0103 0105 0100 0000 0000 0000 0000 ................
0x0010 (0x0008): 0000 0000 0000 0000 0000 0000 0000 0000 ................
category type: 0x0028
category length: 0x0002
0x0000 (0x0000): 0102 ...
category type: 0x0029
category length: 0x0020
0x0000 (0x0000): 0018 f600 2600 0101 f618 f600 2200 0102 ....&......."...
0x0010 (0x0008): 0010 0000 6400 0103 0011 0000 2000 0104 ....d....... ...
category type: 0x0032
category length: 0x0028
0x0000 (0x0000): 001a 0403 0005 0000 c828 0006 0508 0000 .........(......
0x0010 (0x0008): 6428 0007 0310 0000 0228 0008 0310 0000 d(.......(......
0x0020 (0x0010): c826 0009 0610 0000 .&......1
category type: 0x0033
category length: 0x0020
0x0000 (0x0000): 0016 0302 0005 0000 b420 000a 0508 0000 ......... ......
0x0010 (0x0008): e626 000b 0310 0000 e624 000c 0310 0000 .&.......$......
sm0: 246 bytes @ 0x1800, enabled: 1
sm1: 246 bytes @ 0x18f6, enabled: 1
sm2: 5 bytes @ 0x1000, enabled: 1
sm3: 7 bytes @ 0x1100, enabled: 1
sm4: 0 bytes @ 0x0, enabled: 0
sm5: 0 bytes @ 0x0, enabled: 0
sm6: 0 bytes @ 0x0, enabled: 0
sm7: 0 bytes @ 0x0, enabled: 0
EtherCat slave controller 2:
Type: 0x02 = ESC
Revision & Build: 0x01 0x0016
FMMUs supported: 4
Syncmanagers supported: 4
RAM size: 4 Kb
Features: 0x04
Distributed clocks
Sync/Latch PDI config: 0xcc
ESI VendorId: 0x00b9
Vendor: unknown vendorid
ESI ProductCode: 0x1388
Product: unkown productcode
ESI RevisionNo: 0x01f6
ESI SerialNo: 0x7c4a9d
ESI Size: 0x0000000f
ESI Version: 0x00000001
ESI Bootstrap RX mailbox offset: 0x1000
ESI Bootstrap RX mailbox size: 0x0214
ESI Bootstrap TX mailbox offset: 0x1800
ESI Bootstrap TX mailbox size: 0x0214
ESI Standard RX mailbox offset: 0x1800
ESI Standard RX mailbox size: 0x00f6
ESI Standard TX mailbox offset: 0x18f6
ESI Standard TX mailbox size: 0x00f6
ESI Mailbox Protocol: 0x000c
ESI EEPROM:
0x0000 (0x0000): 0900 00cc 8813 0000 0000 0000 0000 df00 ................
0x0010 (0x0008): b900 0000 8813 0000 f601 0000 9d4a 7c00 .............J|.
0x0020 (0x0010): 0000 0000 0000 0000 0010 1402 0018 1402 ................
0x0030 (0x0018): 0018 f600 f618 f600 0c00 0000 0000 0000 ................
0x0040 (0x0020): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0050 (0x0028): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0060 (0x0030): 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0070 (0x0038): 0000 0000 0000 0000 0000 0000 0f00 0100 ................
ec_enum: Creating device
ESC supports 4 SyncManagers
ec_enum: Filling device based on ESI information
sm0: 246 bytes @ 0x1800, enabled: 1, ctrl: 26
Using sm0 for tx pdo
sm1: 246 bytes @ 0x18f6, enabled: 1, ctrl: 22
sm2: 0 bytes @ 0x1000, enabled: 1, ctrl: 64
Using sm2 for tx pdo
sm3: 0 bytes @ 0x1100, enabled: 1, ctrl: 20
Using sm3 for rx pdo
PDO index: 0x1a00, sm: 3, entries: 4, name: Kanal 1 Schnellsollwert
index: 0x28c8, bitsize: 8, name: E200 DeviceStatusByte
index: 0x2864, bitsize: 16, name: E100 n-Motor
index: 0x2802, bitsize: 16, name: E02 M-Motor gefiltert
index: 0x26c8, bitsize: 16, name: D200 Drehzahlsollwert-Statuswort
PDO index: 0x1600, sm: 2, entries: 3, name: Kanal 1 Schnellsollwert
index: 0x20b4, bitsize: 8, name: A180 Device Control Byte
index: 0x26e6, bitsize: 16, name: D230 n-Soll Relativ
index: 0x24e6, bitsize: 16, name: C230 M-Max
category type: 0x000a
category length: 0x00f0
0x0000 (0x0000): 0c14 504f 5349 4452 5645 2852 2920 7844 ..POSIDRVE(R) xD
0x0010 (0x0008): 5320 3530 3030 0544 7269 7665 2350 4f53 S 5000.Drive#POS
0x0020 (0x0010): 4944 5249 5645 2028 5229 2078 4453 2035 IDRIVE (R) xDS 5
0x0030 (0x0018): 3030 3020 6d69 7420 4574 6865 7243 4154 000 mit EtherCAT
0x0040 (0x0020): 0544 5249 5645 174b 616e 616c 2031 2053 .DRIVE.Kanal 1 S
0x0050 (0x0028): 6368 6e65 6c6c 736f 6c6c 7765 7274 1545 chnellsollwert.E
0x0060 (0x0030): 3230 3020 4465 7669 6365 5374 6174 7573 200 DeviceStatus
0x0070 (0x0038): 4279 7465 0c45 3130 3020 6e2d 4d6f 746f Byte.E100 n-Moto
0x0080 (0x0040): 7215 4530 3220 4d2d 4d6f 746f 7220 6765 r.E02 M-Motor ge
0x0090 (0x0048): 6669 6c74 6572 7420 4432 3030 2044 7265 filtert D200 Dre
0x00a0 (0x0050): 687a 6168 6c73 6f6c 6c77 6572 742d 5374 hzahlsollwert-St
0x00b0 (0x0058): 6174 7573 776f 7274 1841 3138 3020 4465 atuswort.A180 De
0x00c0 (0x0060): 7669 6365 2043 6f6e 7472 6f6c 2042 7974 vice Control Byt
0x00d0 (0x0068): 6513 4432 3330 206e 2d53 6f6c 6c20 5265 e.D230 n-Soll Re
0x00e0 (0x0070): 6c61 7469 760a 4332 3330 204d 2d4d 6178 lativ.C230 M-Max
category type: 0x001e
category length: 0x0020
0x0000 (0x0000): 0204 0103 0105 0100 0000 0000 0000 0000 ................
0x0010 (0x0008): 0000 0000 0000 0000 0000 0000 0000 0000 ................
category type: 0x0028
category length: 0x0002
0x0000 (0x0000): 0102 ...
category type: 0x0029
category length: 0x0020
0x0000 (0x0000): 0018 f600 2600 0101 f618 f600 2200 0102 ....&......."...
0x0010 (0x0008): 0010 0000 6400 0103 0011 0000 2000 0104 ....d....... ...
category type: 0x0032
category length: 0x0028
0x0000 (0x0000): 001a 0403 0005 0000 c828 0006 0508 0000 .........(......
0x0010 (0x0008): 6428 0007 0310 0000 0228 0008 0310 0000 d(.......(......
0x0020 (0x0010): c826 0009 0610 0000 .&......A
category type: 0x0033
category length: 0x0020
0x0000 (0x0000): 0016 0302 0005 0000 b420 000a 0508 0000 ......... ......
0x0010 (0x0008): e626 000b 0310 0000 e624 000c 0310 0000 .&.......$......
sm0: 246 bytes @ 0x1800, enabled: 1
sm1: 246 bytes @ 0x18f6, enabled: 1
sm2: 5 bytes @ 0x1000, enabled: 1
sm3: 7 bytes @ 0x1100, enabled: 1
sm4: 0 bytes @ 0x0, enabled: 0
sm5: 0 bytes @ 0x0, enabled: 0
sm6: 0 bytes @ 0x0, enabled: 0
sm7: 0 bytes @ 0x0, enabled: 0
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