Ethercat Setup - Beginners question

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10 Jul 2021 14:26 #214180 by Columbo
Hi guys,

in the last days I read a lot about EtherCAT + LinuxCNC + EL6751 and I know, that 

ethercat slaves -v

must bring clean results.

In my case the command above brings results depending on time. So if i check the command several times in the shell (with breaks between pressing ENTER of ~1second) the result is once every slave is 0x00000000(VId and PId), sometimes EK1100 is found (with VId und PId) and EL6751 is not found, sometimes both is found and everything seems fine.

root@fraese:~# ethercat slaves
0  1:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  0:0  ???  +  0x00000000:0x00000000
1  0:1  ???  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  INIT   +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  INIT   +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  INIT   +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  INIT   +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  INIT   +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  1:1  PREOP  +  EL6751 CANopen Master
root@fraese:~# ethercat slaves
0  1:0  PREOP  +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  0:0  PREOP  +  0x00000000:0x00000000
1  0:1  INIT   +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  PREOP  +  0x00000000:0x00000000
1  1:1  INIT   +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
root@fraese:~# ethercat slaves
0  1:0  INIT   +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  PREOP  +  0x00000000:0x00000000
1  1:1  INIT   +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  PREOP  +  0x00000000:0x00000000
1  1:1  INIT   +  0x00000000:0x00000000
root@fraese:~# ethercat slaves
0  1:0  PREOP  +  0x00000000:0x00000000
1  1:1  PREOP  +  0x00000000:0x00000000

uname -r --> 4.19.0-11-rt-amd64

and 

ethercat master 
root@fraese:~# ethercat master
Master0
  Phase: Idle
  Active: no
  Slaves: 2
  Ethernet devices:
    Main: 00:0e:0c:72:77:c6 (attached)
      Link: UP
      Tx frames:   1155551
      Tx bytes:    82652516
      Rx frames:   946299
      Rx bytes:    61064888
      Tx errors:   0
      Tx frame rate [1/s]:    559    571    578
      Tx rate [KByte/s]:     42.6   39.8   40.5
      Rx frame rate [1/s]:    438    460    467
      Rx rate [KByte/s]:     28.0   28.5   28.9
    Common:
      Tx frames:   1241098
      Tx bytes:    88861057
      Rx frames:   1015609
      Rx bytes:    65493131
      Lost frames: 225489
      Tx frame rate [1/s]:    559    571    578
      Tx rate [KByte/s]:     42.6   39.8   40.5
      Rx frame rate [1/s]:    438    460    467
      Rx rate [KByte/s]:     28.0   28.5   28.9
      Loss rate [1/s]:        121    111    111
      Frame loss [%]:        21.6   19.4   19.2
  Distributed clocks:
    Reference clock:   None
    DC reference time: 0
    Application time:  0

May you give me a hint, where my problem is?

If I disconnect the EL6751 the EK1100 is found every time.

Thanks
Grretings
Columbo

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11 Jul 2021 12:05 #214249 by Columbo
Hi guys,

I found out what makes the nodes unstable dissappear. Between the EK1100 and the EL6751 there were 2 pcs. KL1104 and 2pcs. KL2114. I removed them from the package and now I can look forward for further experiments.

Thanks

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