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TMDSIDK437X: Single-Chip Motor-Control Application - Cannot enter OP mode, AL Status Code '0x001e - Invalid SM IN cfg'

Edwin Bishun
Prodigy 20 points

Part Number: TMDSIDK437X

Tool/software:

Hello,

I'm looking for help in resolving an issue where my device is unable to enter OP mode when running the ethercat_slave_cia402 application, built as detailed here 2.1. PRU ICSS EtherCAT Slave User Guide — PRU-ICSS Industrial Software for Sitara Processors.

When trying to test the application using TwinCAT 3 EtherCAT master on my PC (as detailed in section 7 of TIDU800B.PDF, found here: TIDEP0025 reference design | TI.com), I am running into an issue where the device will not go into OP mode and the following errors are presented in the TwinCAT 3 error list:

(TIESC_CiA-002)' (1001): state change aborted (requested 'SAFEOP', back to 'PREOP').

Error: 'check device state for SAFEOP'. AL Status '0x0012' read and '0x0004' expected. AL Status Code '0x001e - Invalid SM IN cfg'

Any help to resolve this would be much appreciated, thanks!

  • 0
    TI__Genius 11495 points

    Hi Edwin,

    Edwin Bishun said:
    Error: 'check device state for SAFEOP'. AL Status '0x0012' read and '0x0004' expected. AL Status Code '0x001e - Invalid SM IN cfg'

    You can check where ALSTATUSCODE_INVALIDSMINCFG is getting assigned in ecatslv.c file in the EtherCAT Stack Sources. This error is typically observed if there is a mismatch in the PDO Input and Output size configured from the application and that within the values defined in the ESI file or if the MAX_PD_INPUT_SIZE is not increased if you're having a large value assigned for the input size.

    Regards,
    Aaron