Tool/software:
Hello support, I have some questions about PRUSS-ICSSS and EtherCAT.
An issue riced up reading ESC Register 0x111 from TwinCAT and SOEM (etherlab) Masters.
First of all the working counter does not increment.
Further the value of the 0x111 Register states “Port A: Loop open, no link”, although there is link on Port A (ESC Register 0x110, Bit 4 is set: Physical Lin Port A = TRUE), and the masters are able to read and write EEPROM content.
- Why does only this register do the trouble?
- Where does the PRU firmware read the loop state from (INTC, IEP, PHYs interrupts etc.)?
Below is the cut of the wireshark capture and screenshots from the TwenCAT, showing the reading result of the registers 0x110 and 0x111.
Thanks in advance.
No. Time Source Destination Protocol Length Info
6774 5.353183 Beckhoff_01:00:00 4a:0f:cf:6b:94:51 ECAT 64 3 Cmds, 'APRD': len 10, 'APRD': len 1, 'APRD': len 1
Frame 6774: 64 bytes on wire (512 bits), 64 bytes captured (512 bits) on interface \Device\NPF_{46EE3852-6093-4537-B28A-DFC9177281AF}, id 0
Ethernet II, Src: Beckhoff_01:00:00 (01:01:05:01:00:00), Dst: 4a:0f:cf:6b:94:51 (4a:0f:cf:6b:94:51)
EtherCAT frame header
EtherCAT datagram(s): 3 Cmds, 'APRD': len 10, 'APRD': len 1, 'APRD': len 1
EtherCAT datagram: Cmd: 'APRD' (1), Len: 10, Adp 0x1, Ado 0x0, Cnt 1
Header
Cmd : 1 (Auto Increment Physical Read)
Index: 0xcb
Slave Addr: 0x0001
Offset Addr: 0x0000
Length : 10 (0xa) - No Roundtrip - More Follows...
.... .000 0000 1010 = Length: 10
..00 0... .... .... = Reserved: Valid (0)
.0.. .... .... .... = Round trip: Frame is not circulating
1... .... .... .... = Last indicator: More EtherCAT datagrams will follow
Interrupt: 0x0000
ESC Revision (0x0): 0x90
ESC Type (0x1): 0x01
ESC Build (0x2): 0x04f3
ESC FMMU Cnt (0x4): 0x08
ESC SM Cnt (0x5): 0x08
ESC Ports (0x6): 0x08
ESC DPRAM (0x7): 0x0f
ESC Features (0x8): 0x008c, DC support, DC 64 bit support, CRC ext. detection
Working Cnt: 1
EtherCAT datagram: Cmd: 'APRD' (1), Len: 1, Adp 0x1, Ado 0x102, Cnt 1
Header
Cmd : 1 (Auto Increment Physical Read)
Index: 0x00
Slave Addr: 0x0001
Offset Addr: 0x0102
Length : 1 (0x1) - No Roundtrip - More Follows...
.... .000 0000 0001 = Length: 1
..00 0... .... .... = Reserved: Valid (0)
.0.. .... .... .... = Round trip: Frame is not circulating
1... .... .... .... = Last indicator: More EtherCAT datagrams will follow
Interrupt: 0x0000
ESC Ctrl (0x102): 0x00
.... .000 = Fifo size: 0x0
.... 0... = Low E-Bus jitter: Disabled
Working Cnt: 1
EtherCAT datagram: Cmd: 'APRD' (1), Len: 1, Adp 0x1, Ado 0x111, Cnt 0
Header
Cmd : 1 (Auto Increment Physical Read)
Index: 0x00
Slave Addr: 0x0001
Offset Addr: 0x0111
Length : 1 (0x1) - No Roundtrip - Last Sub Command
.... .000 0000 0001 = Length: 1
..00 0... .... .... = Reserved: Valid (0)
.0.. .... .... .... = Round trip: Frame is not circulating
0... .... .... .... = Last indicator: Last EtherCAT datagram
Interrupt: 0x0000
Working Cnt: 0
