Problem bei installation Ethercat

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16 Aug 2021 16:48 #217896 by Columbo
Hallo db1981,

anbei, wie gewünscht.
[   97.795300] EtherCAT 0: Master debug level set to 1.
[  110.831332] EtherCAT: Requesting master 0...
[  110.831342] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  110.831343] EtherCAT: Successfully requested master 0.
[  110.831347] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x00000000de8d3fec)
[  110.831349] EtherCAT DEBUG 0: Created domain 0.
[  110.831351] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[  110.831352] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044C2C52.
[  110.831355] EtherCAT DEBUG 0 0:0: Attached slave main-0.
[  110.831377] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831378] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000002/0x1A5F3052.
[  110.831379] EtherCAT DEBUG 0 0:1: Attached slave main-1.
[  110.831391] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x1C32, subindex = 0x02, data = 0x000000003c5d154b, size = 4)
[  110.831393] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x1C33, subindex = 0x03, data = 0x000000003c5d154b, size = 4)
[  110.831395] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0xF800, subindex = 0x00, data = 0x00000000e9569cd6, size = 46)
[  110.831397] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x8000, subindex = 0x00, data = 0x00000000d5d0f177, size = 76)
[  110.831399] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x8006, subindex = 0x00, data = 0x00000000fab01baf, size = 14)
[  110.831400] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x8008, subindex = 0x00, data = 0x00000000fab01baf, size = 14)
[  110.831402] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x8003, subindex = 0x00, data = 0x000000006f4e11f3, size = 152)
[  110.831404] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x1C12, subindex = 0x00, data = 0x000000003c5d154b, size = 4)
[  110.831405] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000016edc89a, index = 0x1C13, subindex = 0x00, data = 0x00000000fab01baf, size = 10)
[  110.831441] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000016edc89a, sync_index = 0, dir = 1, watchdog_mode = 0)
[  110.831443] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000016edc89a, sync_index = 0)
[  110.831444] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000016edc89a, sync_index = 1, dir = 2, watchdog_mode = 0)
[  110.831445] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000016edc89a, sync_index = 1)
[  110.831446] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000016edc89a, sync_index = 2, dir = 1, watchdog_mode = 0)
[  110.831447] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000016edc89a, sync_index = 2)
[  110.831449] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000016edc89a, sync_index = 2, pdo_index = 0x1600)
[  110.831450] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600.
[  110.831450] EtherCAT DEBUG 0 0:1: No default mapping found.
[  110.831452] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000016edc89a, pdo_index = 0x1600)
[  110.831454] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000016edc89a, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 64)
[  110.831455] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000016edc89a, sync_index = 3, dir = 2, watchdog_mode = 0)
[  110.831456] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000016edc89a, sync_index = 3)
[  110.831457] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000016edc89a, sync_index = 3, pdo_index = 0x1A00)
[  110.831458] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00.
[  110.831459] EtherCAT DEBUG 0 0:1: No default mapping found.
[  110.831460] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000016edc89a, pdo_index = 0x1A00)
[  110.831461] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000016edc89a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 64)
[  110.831467] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000016edc89a, sync_index = 3, pdo_index = 0x1A82)
[  110.831471] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A82.
[  110.831471] EtherCAT DEBUG 0 0:1: No default mapping found.
[  110.831472] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000016edc89a, pdo_index = 0x1A82)
[  110.831474] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000016edc89a, pdo_index = 0x1A82, entry_index = 0xF103, entry_subindex = 0x00, entry_bit_length = 1)
[  110.831475] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000016edc89a, sync_index = 3, pdo_index = 0x1A83)
[  110.831476] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A83.
[  110.831476] EtherCAT DEBUG 0 0:1: No default mapping found.
[  110.831477] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000016edc89a, pdo_index = 0x1A83)
[  110.831478] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000016edc89a, pdo_index = 0x1A83, entry_index = 0xF102, entry_subindex = 0x00, entry_bit_length = 8)
[  110.831501] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831503] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x7000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831504] EtherCAT DEBUG 0: Domain 0: Added 8 bytes at 0.
[  110.831506] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831507] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x7000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831508] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831510] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x7000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831511] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831512] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x7000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831514] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831515] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x6000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831516] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 8.
[  110.831517] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831518] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x6000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831519] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831521] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x6000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831522] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831523] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0x6000, subindex = 0x01, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831524] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831525] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0xF103, subindex = 0x00, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831527] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000de8d3fec, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052)
[  110.831528] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000016edc89a, index = 0xF102, subindex = 0x00, domain = 0x00000000ec578e6c, bit_position = 0x00000000ea6e333f)
[  110.831552] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000ec578e6c, mem = 0x0000000050bf9389)
[  110.831554] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000de8d3fec, send_cb = 0x000000003a49ff55, receive_cb = 0x0000000033732d46, cb_data = 0x00000000de8d3fec)
[  110.831554] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000de8d3fec)
[  110.831557] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[  110.831558] EtherCAT 0: Domain0: Logical address 0x00000000, 18 byte, expected working counter 3.
[  110.831559] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 18 byte, type LRW at 00000000a6430c79.
[  110.831559] EtherCAT DEBUG 0: Stopping master thread.
[  110.835177] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  110.835191] EtherCAT 0: Master thread exited.
[  110.835195] EtherCAT DEBUG 0: FSM datagram is 00000000b42ab0ea.
[  110.835196] EtherCAT 0: Starting EtherCAT-OP thread.
[  110.835246] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[  110.835247] EtherCAT DEBUG 0: mmap()
[  110.835251] EtherCAT DEBUG 0: Vma fault, virtual_address = 0000000079d06b49, offset = 0, page = 00000000bf75e0cb
[  110.871531] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[  110.871534] EtherCAT DEBUG 0-main-1: Checking system time offset.
[  110.875563] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=101485811930, app_time=682447589166338233, diff=682447487680526303
[  110.875565] EtherCAT DEBUG 0-main-1: Setting time offset to 682447487680526303 (was 0)
[  110.883625] EtherCAT DEBUG 0: Requesting OP...
[  110.883630] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP.
[  110.883631] EtherCAT DEBUG 0-main-0: Configuring...
[  110.883633] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP.
[  110.883634] EtherCAT DEBUG 0-main-1: Configuring...
[  110.891691] EtherCAT DEBUG 0-main-0: PREOP -> INIT.
[  110.891694] EtherCAT DEBUG 0-main-0: Now in INIT.
[  110.891695] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations...
[  110.891696] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag...
[  110.895719] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations...
[  110.899750] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  110.899753] EtherCAT DEBUG 0-main-0: Slave does not support mailbox communication.
[  110.899754] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI.
[  110.911844] EtherCAT 0: Slave states on main device: PREOP.
[  110.911848] EtherCAT DEBUG 0-main-0: Now in PREOP.
[  110.911848] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT.
[  110.927971] EtherCAT DEBUG 0-main-0: PREOP -> SAFEOP.
[  110.927974] EtherCAT DEBUG 0-main-0: Now in SAFEOP.
[  110.936038] EtherCAT 0: Slave states on main device: PREOP, OP.
[  110.936040] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration.
[  110.944099] EtherCAT DEBUG 0-main-1: PREOP -> INIT.
[  110.944102] EtherCAT DEBUG 0-main-1: Now in INIT.
[  110.944103] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations...
[  110.944104] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag...
[  110.948141] EtherCAT 0: Slave states on main device: INIT, OP.
[  110.948143] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations...
[  110.952182] EtherCAT DEBUG 0-main-1: Clearing DC assignment...
[  110.956215] EtherCAT DEBUG 0-main-1: Configuring mailbox sync managers...
[  110.956218] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1
[  110.956219] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1
[  110.960251] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI.
[  111.024691] EtherCAT DEBUG 0-main-1: Now in PREOP.
[  111.024692] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT.
[  111.028725] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C32:02.
[  111.028727] EtherCAT DEBUG: 00 09 3D 00
[  111.028729] EtherCAT DEBUG 0-main-1: Expedited download request:
[  111.028729] EtherCAT DEBUG: 00 20 23 32 1C 02 00 09 3D 00
[  111.032759] EtherCAT 0: Slave states on main device: PREOP, OP.
[  111.040817] EtherCAT DEBUG 0-main-1: Download response:
[  111.040819] EtherCAT DEBUG: 00 30 60 32 1C 02 00 09 3D 00
[  111.040823] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C33:03.
[  111.040823] EtherCAT DEBUG: 00 9F 24 00
[  111.040825] EtherCAT DEBUG 0-main-1: Expedited download request:
[  111.040826] EtherCAT DEBUG: 00 20 23 33 1C 03 00 9F 24 00
[  111.052932] EtherCAT DEBUG 0-main-1: Download response:
[  111.052933] EtherCAT DEBUG: 00 30 60 33 1C 03 00 9F 24 00
[  111.052937] EtherCAT DEBUG 0-main-1: Downloading SDO 0xF800:00.
[  111.052938] EtherCAT DEBUG: 11 00 7F 00 80 00 A0 0F 00 00 00 00 00 00 00 1E
[  111.052940] EtherCAT DEBUG: 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.052943] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.052945] EtherCAT DEBUG 0-main-1: Normal download request:
[  111.052946] EtherCAT DEBUG: 00 20 21 00 F8 00 2E 00 00 00 11 00 7F 00 80 00
[  111.052948] EtherCAT DEBUG: A0 0F 00 00 00 00 00 00 00 1E 64 00 00 00 00 00
[  111.052951] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.052953] EtherCAT DEBUG: 00 00 00 00 00 00 00 00
[  111.069072] EtherCAT DEBUG 0-main-1: Download response:
[  111.069074] EtherCAT DEBUG: 00 30 60 00 F8 00 2E 00 00 00
[  111.069078] EtherCAT DEBUG 0-main-1: Downloading SDO 0x8000:00.
[  111.069078] EtherCAT DEBUG: 2E 00 0F 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069081] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069084] EtherCAT DEBUG: 00 00 00 00 64 00 03 00 D0 07 D0 07 05 00 0A 00
[  111.069086] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069089] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069092] EtherCAT DEBUG 0-main-1: Normal download request:
[  111.069092] EtherCAT DEBUG: 00 20 21 00 80 00 4C 00 00 00 2E 00 0F 00 00 00
[  111.069095] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069097] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00
[  111.069100] EtherCAT DEBUG: 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00
[  111.069103] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  111.069105] EtherCAT DEBUG: 00 00 00 00 00 00
[  111.081193] EtherCAT WARNING 0-main-1: CoE Emergency Request received:
               Error code 0xFF00, Error register 0x01, data:
[  111.081195] EtherCAT DEBUG: 10 06 07 1D 20
[  111.089250] EtherCAT DEBUG 0-main-1: Download response:
[  111.089251] EtherCAT DEBUG: 00 20 80 00 80 00 43 00 04 06
[  111.089255] EtherCAT ERROR 0-main-1: SDO download 0x8000:00 (76 bytes) aborted.
[  111.089259] EtherCAT ERROR 0-main-1: SDO abort message 0x06040043: "General parameter incompatibility reason".
[  111.089261] EtherCAT ERROR 0-main-1: SDO configuration failed.
[  120.880765] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x00000000de8d3fec)
[  120.880767] EtherCAT DEBUG 0: Stopping master thread.
[  120.883622] EtherCAT DEBUG 0: Master OP thread exiting...
[  120.883640] EtherCAT 0: Master thread exited.
[  120.883651] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  120.883700] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[  120.883711] EtherCAT DEBUG 0: UNMATCHED datagram:
[  120.883712] EtherCAT DEBUG: 0C 7D 00 00 00 00 12 80 00 00 00 00 00 00 00 00
[  120.883716] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[  120.883721] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram
[  120.883722] EtherCAT 0: Releasing master...
[  120.883723] initialized.
[  120.883728] EtherCAT DEBUG 0-main-0: Changing state from OP to PREOP (forced).
[  120.883729] EtherCAT DEBUG 0-main-0: Configuring...
[  120.883731] EtherCAT DEBUG 0-main-1: Changing state from PREOP to PREOP (forced).
[  120.883732] EtherCAT DEBUG 0-main-1: Configuring...
[  120.883736] EtherCAT DEBUG 0: Datagram 00000000b42ab0ea already queued (skipping).
[  120.883737] EtherCAT DEBUG 0: OPERATION -> IDLE.
[  120.883739] EtherCAT 0: Released.
[  120.891848] EtherCAT DEBUG 0-main-0: OP -> INIT.
[  120.891851] EtherCAT DEBUG 0-main-0: Now in INIT.
[  120.891852] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations...
[  120.891853] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag...
[  120.895895] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations...
[  120.899936] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  120.899939] EtherCAT DEBUG 0-main-0: Slave does not support mailbox communication.
[  120.899940] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI.
[  120.912074] EtherCAT 0: Slave states on main device: PREOP.
[  120.912077] EtherCAT DEBUG 0-main-0: Now in PREOP.
[  120.912078] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT.
[  120.916118] EtherCAT DEBUG 0-main-0: Finished configuration.
[  120.944386] EtherCAT DEBUG 0-main-1: PREOP -> INIT.
[  120.944389] EtherCAT DEBUG 0-main-1: Now in INIT.
[  120.944390] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations...
[  120.944391] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag...
[  120.948430] EtherCAT 0: Slave states on main device: INIT, PREOP.
[  120.948433] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations...
[  120.952472] EtherCAT DEBUG 0-main-1: Clearing DC assignment...
[  120.956513] EtherCAT DEBUG 0-main-1: Configuring mailbox sync managers...
[  120.956516] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1
[  120.956517] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1
[  120.960559] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI.
[  121.025189] EtherCAT DEBUG 0-main-1: Now in PREOP.
[  121.025190] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT.
[  121.029232] EtherCAT DEBUG 0-main-1: Finished configuration.
[  121.033275] EtherCAT 0: Slave states on main device: PREOP.
[  121.550532] EtherCAT WARNING: Datagram 00000000b42ab0ea (master-fsm) was SKIPPED 1 time.

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16 Aug 2021 17:32 #217900 by Columbo
...eine Vermutung wäre, dass die Download Response nicht stimmt:

alle anderen Responses beginnen mit:

00 30 60

gefolgt von den letzten Bytes des Expedited download request:


...aber keine Ahnung, was das bedeutet, geschweigedenn, wie ich das behebe.

Grüße
Columbo

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16 Aug 2021 17:41 #217902 by db1981
Hi,

ich werde die response morgen mal dekodieren, mal schauen was er sagt...
Bitte schaue mal im Twincat was deine Klemme für eine Revision hat: (EL6751-0000-0022) findest du bei el6751 auf dem ethercat reiter.

muss mal überlegen wie man dabei jetzt debug mäßig weiterkommt, debugging über das medium forum wird glaube ich sehr langwierig.

grüße

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16 Aug 2021 17:55 #217904 by Columbo
Hallo db1981,

konnte mir schon vorstellen, dass das hier nicht ewig so weiter geht. In der letzten Zeit nehme ich dich ja ordentlich in Beschlag! Die FW der EL6751 hab ich auf 13 geupdatet. Jimpanski hat im Thread

www.forum.linuxcnc.org/ethercat/38338-et...-servo-drives#156621

schon geschrieben, dass die Firmware neuer als 12 sein muss.

Ich kann mich um den Debug versuchen auch selber kümmern. Leider steht zum Download Response nichts in der IgH Doku. Würde da auch gerne was selber dazu lesen. Weiß bloß nicht wo ich ansetzen soll.

Grüße
Columbo

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16 Aug 2021 18:10 #217907 by Columbo
so, ok. Habs nun gecheckt.

Firmware ist, wie geschrieben die 13 und Product/Revision die

EL6751-0000-0019

Grüße

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16 Aug 2021 18:30 #217910 by db1981
Hi,

das ist alles Can kommunikation, die emergency objekte, download responses etc. findest du in der CAN OPEN spezifikation, nicht bei igh ....

Wie weit ist denn Montabaur von deiner Homebase entfernt ?

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17 Aug 2021 05:16 #217952 by andrax
Moin, 

ich konnte jetzt hier nicht viel beitragen, da ich kein Equipment fürs debugging habe.
mir ist aber eines aufgefallen:
[  111.089255] EtherCAT ERROR 0-main-1: SDO download 0x8000:00 (76 bytes) aborted.
[  111.089259] EtherCAT ERROR 0-main-1: SDO abort message 0x06040043: "General parameter incompatibility reason".
Hier sollte man mal näher hin schauen.
Ich hab da noch eine Idee, weis aber nicht ob das geht und sinnvoll ist.
Wie wärs, wenn man die Konfig aus dem Systemmanager in EEprom schreibt und dann die el6751 über den "Backup Parameter Storage" startet?

Hier ein Auszug aus der Doku
[b]Erzeugen des Backup Parameter Storage[/b] Alternativ zum Lesen der InfoData kann auch durch Beschreiben des Entries 0x1010:01 mit dem Wert 0x65766173 der Backup Parameter Storage erstellt werden. Anschließend ist die EL6751 nach INIT zu schalten und mit Konfiguration...

Beim Übergang von INIT nach PREOP wird die im Backup Parameter Storage Objekt 0x10F2 gespeicherte Konfiguration geladenen. Da im Backup Parameter Storage Objekt die StartUp-SDOs aus der Konfiguration der EL6751 mit StartUp-SDOs [} 128] gespeichert sind, entspricht der Ablauf dem dort beschriebenen. Zunächst wird also das Objekt 0xF800 mit den gespeicherten Daten beschrieben und die EL6751 schaltet den CAN-Controller mit der entsprechenden Baudrate aus 0xF800:02 nach ONLINE. Anschließend werden die CANopen-Slaves entsprechend der gespeicherten CANopen Slave Konfiguration erzeugt. Wenn der Zustand PREOP quittiert ist, kann die aktuelle CANopen Konfiguration in den Objekten 0xF800, 0x8yy0, 0x8yy6, 0x8yy8 und 0x8yy3 ausgelesen werden.

>Seite 133 aus der Dokumentation el6751

Gruß

Andre

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17 Aug 2021 06:40 #217957 by Columbo
Hallo Andre,

auch Danke für deine Info. Ich werf jetzt hier erstmal die Bremse rein und versuche mich erstmal selber schlau zu machen, ohne euch ständig mit meinen Fragen zu nerven.

Grüße
Columbo

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25 Aug 2021 10:40 #218696 by Columbo
Hallo,

nun hole ich den Thread nochmal hoch und beschreibe meine letzten Arbeiten und Fortschritte.

Neben etlichen theoretischen Grundlagen, hab ich mir auch noch die Klemmenbeschreibung der EL6751 angeschaut. Auch die Initcmds verstehe ich inzwischen ganz gut.

Nun ist aktuell mein größtes Problem, dass der Befehlt

ethercat sdos

die profilspezifischen Objekte 0x8000:XX nicht beeinhaltet, auch keine 0x6000:XX. Ist das evtl. der Grund für den Fehler beim SDO Download? Muss da vielleicht dem LCNC noch eine .eds Datei der Klemme übergeben werden?! Suche im im TC3 nach den Objekten der Klemme via SDO (Online) erscheinen die wichtigen profilspezifischen Objekte 0x8000, 0x8003, usw.

@andrax: Den Hinweis mit dem Backup Storage habe ich aufm Schirm!!!

Grüße
Columbo

P.S. Ich mache sehr gerne weiter an dem Thema und ihr müsst mich nicht an die Hand nehmen als Support, aber irgendwelche kleinen Hinweise, wo ich weiter recherchieren kann wünsche ich mir.

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25 Aug 2021 11:52 #218700 by db1981
Hi,

Der etherlab Master zeigt dir nur die Sachen an die auch im sii eeprom der Karte abgelegt sind . Ob die Adresse wirklich funktioniert stellt der Master dann beim Schreiben / lesen fest . Ethercat Sdo/ pdo ist nur Info Kram , der Master macht mit den Infos sonst nichts .

Kurze mal testweise deine twincat Config runter auf einen sdo und schaue mal ob die Initialisierung von dem 8000er dann weniger als 76 Bytes ist . Wenn ja pass mal die initcmds an und probiere nochmal . Evtl klappt das mit dem initcms und den 76 Bytes nicht , muss ich nochmal checken …

Du kannst auch den 8000er mal testweise einzeln als sdoconfig Zeile . In die ethercat_conf XML setzen .

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