{"action":"created","issue":{"url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/47","repository_url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM","labels_url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/47/labels{/name}","comments_url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/47/comments","events_url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/47/events","html_url":"https://github.com/OpenEtherCATsociety/SOEM/issues/47","id":167539840,"number":47,"title":"simple_test: Invalid input configuration at PREOP","user":{"login":"matwey","id":156627,"avatar_url":"https://avatars.githubusercontent.com/u/156627?v=3","gravatar_id":"","url":"https://api.github.com/users/matwey","html_url":"https://github.com/matwey","followers_url":"https://api.github.com/users/matwey/followers","following_url":"https://api.github.com/users/matwey/following{/other_user}","gists_url":"https://api.github.com/users/matwey/gists{/gist_id}","starred_url":"https://api.github.com/users/matwey/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matwey/subscriptions","organizations_url":"https://api.github.com/users/matwey/orgs","repos_url":"https://api.github.com/users/matwey/repos","events_url":"https://api.github.com/users/matwey/events{/privacy}","received_events_url":"https://api.github.com/users/matwey/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2016-07-26T07:35:46Z","updated_at":"2016-07-28T21:39:10Z","closed_at":null,"body":"Hello,\r\n\r\nI am using SOEM from master branch with NanoTec N5 motor controllers:\r\n\r\nhttp://en.nanotec.com/products/1597-n5-motor-controller-for-canopen-ethercat-or-ethernetip/\r\n\r\nWhen I run simple_test, I see the following:\r\n\r\n```\r\n# ./simple_test eth1\r\nSOEM (Simple Open EtherCAT Master)\r\nSimple test\r\nStarting simple test\r\nec_init on eth1 succeeded.\r\n2 slaves found and configured.\r\nSlaves mapped, state to SAFE_OP.\r\nsegments : 1 : 36 0 0 0\r\nRequest operational state for all slaves\r\nCalculated workcounter 6\r\nNot all slaves reached operational state.\r\nSlave 1 State=0x12 StatusCode=0x001e : Invalid input configuration\r\nSlave 2 State=0x12 StatusCode=0x001e : Invalid input configuration\r\n\r\nRequest init state for all slaves\r\nEnd simple test, close socket\r\nEnd program\r\n```\r\n\r\nslaveinfo says the following:\r\n\r\n```\r\nSOEM (Simple Open EtherCAT Master)\r\nSlaveinfo\r\nStarting slaveinfo\r\nec_init on eth1 succeeded.\r\n2 slaves found and configured.\r\nCalculated workcounter 6\r\nNot all slaves reached safe operational state.\r\nSlave 1 State=12 StatusCode=  1e : Invalid input configuration\r\nSlave 2 State=12 StatusCode=  1e : Invalid input configuration\r\n\r\nSlave:1\r\n Name:N5\r\n Output size: 88bits\r\n Input size: 56bits\r\n State: 18\r\n Delay: 0[ns]\r\n Has DC: 1\r\n DCParentport:0\r\n Activeports:0.1.0.0\r\n Configured address: 1001\r\n Man: 0000026c ID: 00000002 Rev: 00000001\r\n SM0 A:1000 L: 128 F:00010026 Type:1\r\n SM1 A:1080 L: 128 F:00010022 Type:2\r\n FMMU0 Ls:00000000 Ll:  11 Lsb:0 Leb:7 Ps:0000 Psb:0 Ty:02 Act:01\r\n FMMU1 Ls:00000016 Ll:   7 Lsb:0 Leb:7 Ps:0000 Psb:0 Ty:01 Act:01\r\n FMMUfunc 0:0 1:0 2:0 3:0\r\n MBX length wr: 128 rd: 128 MBX protocols : 0c\r\n CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00\r\n Ebus current: 0[mA]\r\n only LRD/LWR:0\r\n\r\nSlave:2\r\n Name:N5\r\n Output size: 88bits\r\n Input size: 56bits\r\n State: 18\r\n Delay: 740[ns]\r\n Has DC: 1\r\n DCParentport:1\r\n Activeports:1.1.0.0\r\n Configured address: 1002\r\n Man: 0000026c ID: 00000002 Rev: 00000001\r\n SM0 A:1000 L: 128 F:00010026 Type:1\r\n SM1 A:1080 L: 128 F:00010022 Type:2\r\n FMMU0 Ls:0000000b Ll:  11 Lsb:0 Leb:7 Ps:0000 Psb:0 Ty:02 Act:01\r\n FMMU1 Ls:0000001d Ll:   7 Lsb:0 Leb:7 Ps:0000 Psb:0 Ty:01 Act:01\r\n FMMUfunc 0:0 1:0 2:0 3:0\r\n MBX length wr: 128 rd: 128 MBX protocols : 0c\r\n CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00\r\n Ebus current: 0[mA]\r\n only LRD/LWR:0\r\nEnd slaveinfo, close socket\r\nEnd program\r\n```\r\n\r\nWhat is the reason for \"invalid input configuration\" could be?"},"comment":{"url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/comments/236033298","html_url":"https://github.com/OpenEtherCATsociety/SOEM/issues/47#issuecomment-236033298","issue_url":"https://api.github.com/repos/OpenEtherCATsociety/SOEM/issues/47","id":236033298,"user":{"login":"nakarlsson","id":9747659,"avatar_url":"https://avatars.githubusercontent.com/u/9747659?v=3","gravatar_id":"","url":"https://api.github.com/users/nakarlsson","html_url":"https://github.com/nakarlsson","followers_url":"https://api.github.com/users/nakarlsson/followers","following_url":"https://api.github.com/users/nakarlsson/following{/other_user}","gists_url":"https://api.github.com/users/nakarlsson/gists{/gist_id}","starred_url":"https://api.github.com/users/nakarlsson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nakarlsson/subscriptions","organizations_url":"https://api.github.com/users/nakarlsson/orgs","repos_url":"https://api.github.com/users/nakarlsson/repos","events_url":"https://api.github.com/users/nakarlsson/events{/privacy}","received_events_url":"https://api.github.com/users/nakarlsson/received_events","type":"User","site_admin":false},"created_at":"2016-07-28T21:39:10Z","updated_at":"2016-07-28T21:39:10Z","body":"It looks Ok,  when and what do you write to 1c12, 1c13?\r\n\r\nUsually you would  do it before configure_map or in PREOP 2 SAFEOP hook\r\n\r\nSDOWrite 1c12 ,0  = 0\r\nSDOWrite 1c13 ,0 = 0\r\n\r\nSDOWrite 1c12 ,1 = 0x1600\r\nSDOWrite 1c12 ,0 = 1\r\n\r\nSDOWrite 1c13 ,1 = 0x1A00\r\nSDOWrite 1c13 ,0  = 1"}}
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