PROCESSOR-SDK-AMIC110: Adding customized object on TI_ESC.xml, resulting in INVALID IN CFG

orient

Hi,

The original TI_ESC.xml file is located in "\ti\PRU-ICSS-EtherCAT_Slave_01.00.08.01\protocols\ethercat_slave\ecat_appl\esi"
I was trying to add my own object on TI_ESC.xml for customized PDO mapping.

Original:
RXPDO Mapping: 1601_1->7010_1, 1602_1->7020_1, 1602_2->7020_2, 1602_3->7020_3;
TXPDO Mapping: 1a00_1->6000_1, 1a03_1->6030_1, 1a03_2->6030_2;
Modification
RXPDO Mapping: 1601_1->6040, 1602_1->6062;
TXPDO Mapping: 1a00_1->6041, 1a03_1->6063;

When testing with TWINCAT, there was an error reporting '0x001e - Invalid SM IN cfg'.
I found it hard to address the cause of this error. Anyone knows how to do it?

Thanks

over 6 years ago

0 Garrett Ding over 6 years ago

TI__Mastermind 43296 points

Hi,

You can step into CheckSmSettings() in ecatslv.c from slave to find out the root cause of '0x001e - Invalid SM IN cfg'.
#define ALSTATUSCODE_INVALIDSMINCFG 0x001E /**< \brief Invalid Input Configuration*/

if ((pSyncMan->Settings[SM_SETTING_ACTIVATE_OFFSET] & SM_SETTING_ENABLE_VALUE) != 0 && SMLength == 0)
{
/* the SM3 size is 0 and the SM3 is active */
result = SYNCMANCHSETTINGS + 1;
}
else if (pSyncMan->Settings[SM_SETTING_ACTIVATE_OFFSET] & SM_SETTING_ENABLE_VALUE)
{
........

Regards,
Garrett

0 orient over 6 years ago in reply to Garrett Ding

Prodigy 170 points

Thanks Garrett, it is solved now by going in to CheckSmSettings in dubug mode.

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PROCESSOR-SDK-AMIC110: Adding customized object on TI_ESC.xml, resulting in INVALID IN CFG