Problem bei installation Ethercat

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5 years 2 months ago #217952 by andrax
Replied by andrax on topic Problem bei installation Ethercat
Moin, 

ich konnte jetzt hier nicht viel beitragen, da ich kein Equipment fürs debugging habe.
mir ist aber eines aufgefallen:
Code:
[  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
Code:
[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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5 years 2 months ago #217957 by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
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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5 years 2 months ago #218696 by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
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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5 years 2 months ago #218700 by db1981
Replied by db1981 on topic Problem bei installation Ethercat
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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5 years 2 weeks ago #222866 by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
Hallo,

nach langer Pause hab ich mich nu wieder aufgerafft und weiter gemacht.

Aus der TC3 Konfiguration nochmal unter der EL6751 Klemme die Startup Einträge als .csv kopiert und einzeln in eine ethercat_conf.xml - Vorlage eingetragen und siehe da: Der Fehler mit General incompatibility parameter reason ist verschwunden.

Leider hänge ich nun genau an der gleichen Stelle an der JimPanski in diesem Thread hing:

forum.linuxcnc.org/ethercat/38338-etherc...ervo-drives?start=20

Hier der Ausdruck von dmesg:
Code:
[ 6275.691885] EtherCAT: Requesting master 0... [ 6275.691888] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 6275.691889] EtherCAT: Successfully requested master 0. [ 6275.691892] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x00000000d5b16c60) [ 6275.691893] EtherCAT DEBUG 0: Created domain 0. [ 6275.691896] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52) [ 6275.691897] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044C2C52. [ 6275.691900] EtherCAT DEBUG 0 0:0: Attached slave main-0. [ 6275.691925] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.691926] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000002/0x1A5F3052. [ 6275.691928] EtherCAT DEBUG 0 0:1: Attached slave main-1. [ 6275.691932] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x1C32, data = 0x00000000c00b1efa, size = 12) [ 6275.691934] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x1C33, data = 0x00000000c00b1efa, size = 12) [ 6275.691940] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0xF800, data = 0x00000000553caca3, size = 46) [ 6275.691942] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x8000, data = 0x00000000ca9283f2, size = 76) [ 6275.691944] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x8006, data = 0x00000000c00b1efa, size = 14) [ 6275.691945] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x8008, data = 0x00000000c00b1efa, size = 14) [ 6275.691947] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x8003, data = 0x000000008c21c56c, size = 159) [ 6275.691949] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x1C12, data = 0x00000000fd1e0850, size = 4) [ 6275.691951] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0x00000000a8d12d6c, index = 0x1C13, data = 0x00000000c00b1efa, size = 10) [ 6275.691991] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000a8d12d6c, sync_index = 0, dir = 1, watchdog_mode = 0) [ 6275.691993] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a8d12d6c, sync_index = 0) [ 6275.691994] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000a8d12d6c, sync_index = 1, dir = 2, watchdog_mode = 0) [ 6275.691995] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a8d12d6c, sync_index = 1) [ 6275.691997] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000a8d12d6c, sync_index = 2, dir = 1, watchdog_mode = 0) [ 6275.691998] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a8d12d6c, sync_index = 2) [ 6275.692002] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a8d12d6c, sync_index = 2, pdo_index = 0x1600) [ 6275.692014] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600. [ 6275.692014] EtherCAT DEBUG 0 0:1: No default mapping found. [ 6275.692016] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a8d12d6c, pdo_index = 0x1600) [ 6275.692018] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a8d12d6c, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 64) [ 6275.692019] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000a8d12d6c, sync_index = 3, dir = 2, watchdog_mode = 0) [ 6275.692020] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a8d12d6c, sync_index = 3) [ 6275.692021] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a8d12d6c, sync_index = 3, pdo_index = 0x1A00) [ 6275.692022] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00. [ 6275.692023] EtherCAT DEBUG 0 0:1: No default mapping found. [ 6275.692024] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a8d12d6c, pdo_index = 0x1A00) [ 6275.692025] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a8d12d6c, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 64) [ 6275.692027] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a8d12d6c, sync_index = 3, pdo_index = 0x1A82) [ 6275.692027] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A82. [ 6275.692028] EtherCAT DEBUG 0 0:1: No default mapping found. [ 6275.692029] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a8d12d6c, pdo_index = 0x1A82) [ 6275.692030] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a8d12d6c, pdo_index = 0x1A82, entry_index = 0xF103, entry_subindex = 0x00, entry_bit_length = 1) [ 6275.692031] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a8d12d6c, sync_index = 3, pdo_index = 0x1A83) [ 6275.692032] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A83. [ 6275.692032] EtherCAT DEBUG 0 0:1: No default mapping found. [ 6275.692033] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a8d12d6c, pdo_index = 0x1A83) [ 6275.692035] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a8d12d6c, pdo_index = 0x1A83, entry_index = 0xF102, entry_subindex = 0x00, entry_bit_length = 8) [ 6275.692056] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692059] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x7000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692060] EtherCAT DEBUG 0: Domain 0: Added 8 bytes at 0. [ 6275.692061] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692063] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x7000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692064] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692065] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x7000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692066] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692068] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x7000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692069] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692070] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x6000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692071] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 8. [ 6275.692072] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692074] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x6000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692075] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692076] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x6000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692077] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692079] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0x6000, subindex = 0x01, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692080] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692081] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0xF103, subindex = 0x00, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692082] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000d5b16c60, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [ 6275.692083] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a8d12d6c, index = 0xF102, subindex = 0x00, domain = 0x0000000004c22d1a, bit_position = 0x0000000083376b5d) [ 6275.692117] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x0000000004c22d1a, mem = 0x00000000150a6d79) [ 6275.692118] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000d5b16c60, send_cb = 0x00000000defce033, receive_cb = 0x00000000fad923b3, cb_data = 0x00000000d5b16c60) [ 6275.692119] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000d5b16c60) [ 6275.692121] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3. [ 6275.692122] EtherCAT 0: Domain0: Logical address 0x00000000, 18 byte, expected working counter 3. [ 6275.692123] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 18 byte, type LRW at 00000000ee0e5cad. [ 6275.692124] EtherCAT DEBUG 0: Stopping master thread. [ 6275.695735] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 6275.695766] EtherCAT 0: Master thread exited. [ 6275.695770] EtherCAT DEBUG 0: FSM datagram is 000000001232bbf9. [ 6275.695772] EtherCAT 0: Starting EtherCAT-OP thread. [ 6275.695831] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 6275.695833] EtherCAT DEBUG 0: mmap() [ 6275.695835] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 6275.695839] EtherCAT DEBUG 0: Vma fault, virtual_address = 000000002231e638, offset = 0, page = 00000000a976f324 [ 6275.720019] EtherCAT DEBUG 0: Configuration changed. [ 6275.720022] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 6275.724069] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=687295683549475190, app_time=687295683548685415, diff=-789775 [ 6275.724072] EtherCAT DEBUG 0-main-1: Setting time offset to 687289387747740559 (was 687289387748530334) [ 6275.732136] EtherCAT DEBUG 0: Requesting OP... [ 6275.732142] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 6275.732143] EtherCAT DEBUG 0-main-0: Configuring... [ 6275.732145] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 6275.732145] EtherCAT DEBUG 0-main-1: Configuring... [ 6275.740229] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 6275.740234] EtherCAT DEBUG 0-main-0: Now in INIT. [ 6275.740235] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 6275.740236] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 6275.744280] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 6275.748324] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 6275.748328] EtherCAT DEBUG 0-main-0: Slave does not support mailbox communication. [ 6275.748329] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 6275.760406] EtherCAT 0: Slave states on main device: PREOP. [ 6275.760410] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 6275.760411] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 6275.776496] EtherCAT DEBUG 0-main-0: PREOP -> SAFEOP. [ 6275.776500] EtherCAT DEBUG 0-main-0: Now in SAFEOP. [ 6275.784540] EtherCAT 0: Slave states on main device: PREOP, OP. [ 6275.784543] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration. [ 6275.788566] EtherCAT DEBUG 0-main-1: Now in INIT. [ 6275.788568] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 6275.788570] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 6275.792588] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 6275.796620] EtherCAT 0: Slave states on main device: INIT, OP. [ 6275.796622] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 6275.800670] EtherCAT DEBUG 0-main-1: Configuring mailbox sync managers... [ 6275.800674] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1 [ 6275.800675] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1 [ 6275.804698] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 6275.869318] EtherCAT 0: Slave states on main device: PREOP, OP. [ 6275.869321] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 6275.869322] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 6275.873363] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C32. [ 6275.873366] EtherCAT DEBUG: 03 00 01 00 80 96 98 00 00 00 00 00 [ 6275.873370] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.873370] EtherCAT DEBUG: 00 20 31 32 1C 00 0C 00 00 00 03 00 01 00 80 96 [ 6275.873374] EtherCAT DEBUG: 98 00 00 00 00 00 [ 6275.885459] EtherCAT DEBUG 0-main-1: Download response: [ 6275.885461] EtherCAT DEBUG: 00 30 60 32 1C 00 0C 00 00 00 [ 6275.885465] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C33. [ 6275.885466] EtherCAT DEBUG: 03 00 22 00 00 00 00 00 80 8D 5B 00 [ 6275.885468] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.885469] EtherCAT DEBUG: 00 20 31 33 1C 00 0C 00 00 00 03 00 22 00 00 00 [ 6275.885471] EtherCAT DEBUG: 00 00 80 8D 5B 00 [ 6275.897582] EtherCAT DEBUG 0-main-1: Download response: [ 6275.897584] EtherCAT DEBUG: 00 30 60 33 1C 00 0C 00 00 00 [ 6275.897588] EtherCAT DEBUG 0-main-1: Downloading SDO 0xF800. [ 6275.897589] EtherCAT DEBUG: 11 00 7F 00 80 00 10 27 00 00 00 00 00 00 00 1E [ 6275.897592] EtherCAT DEBUG: 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.897594] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.897598] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.897598] EtherCAT DEBUG: 00 20 31 00 F8 00 2E 00 00 00 11 00 7F 00 80 00 [ 6275.897601] EtherCAT DEBUG: 10 27 00 00 00 00 00 00 00 1E 64 00 00 00 00 00 [ 6275.897603] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.897606] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 [ 6275.913764] EtherCAT DEBUG 0-main-1: Download response: [ 6275.913766] EtherCAT DEBUG: 00 30 60 00 F8 00 2E 00 00 00 [ 6275.913770] EtherCAT DEBUG 0-main-1: Downloading SDO 0x8000. [ 6275.913771] EtherCAT DEBUG: 2E 00 0F 00 92 01 00 00 00 00 00 00 00 00 00 00 [ 6275.913773] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.913776] EtherCAT DEBUG: 00 00 00 00 64 00 03 00 D0 07 D0 07 05 00 0A 00 [ 6275.913778] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.913781] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.913783] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.913784] EtherCAT DEBUG: 00 20 31 00 80 00 4C 00 00 00 2E 00 0F 00 92 01 [ 6275.913786] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.913788] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00 [ 6275.913791] EtherCAT DEBUG: 03 00 D0 07 D0 07 05 00 0A 00 00 00 00 00 00 00 [ 6275.913793] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ 6275.913795] EtherCAT DEBUG: 00 00 00 00 00 00 [ 6275.925901] EtherCAT DEBUG 0-main-1: Download response: [ 6275.925903] EtherCAT DEBUG: 00 30 60 00 80 00 4C 00 00 00 [ 6275.925906] EtherCAT DEBUG 0-main-1: Downloading SDO 0x8006. [ 6275.925906] EtherCAT DEBUG: 01 00 8F 01 00 00 01 08 E8 03 00 00 00 00 [ 6275.925909] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.925910] EtherCAT DEBUG: 00 20 31 06 80 00 0E 00 00 00 01 00 8F 01 00 00 [ 6275.925912] EtherCAT DEBUG: 01 08 E8 03 00 00 00 00 [ 6275.937999] EtherCAT DEBUG 0-main-1: Download response: [ 6275.938001] EtherCAT DEBUG: 00 30 60 06 80 00 0E 00 00 00 [ 6275.938005] EtherCAT DEBUG 0-main-1: Downloading SDO 0x8008. [ 6275.938006] EtherCAT DEBUG: 01 00 0F 02 00 00 FF 08 00 00 00 00 00 00 [ 6275.938009] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.938009] EtherCAT DEBUG: 00 20 31 08 80 00 0E 00 00 00 01 00 0F 02 00 00 [ 6275.938012] EtherCAT DEBUG: FF 08 00 00 00 00 00 00 [ 6275.950140] EtherCAT DEBUG 0-main-1: Download response: [ 6275.950142] EtherCAT DEBUG: 00 30 60 08 80 00 0E 00 00 00 [ 6275.950146] EtherCAT DEBUG 0-main-1: Downloading SDO 0x8003. [ 6275.950146] EtherCAT DEBUG: 13 00 00 18 01 04 00 8F 01 00 00 00 18 02 01 00 [ 6275.950149] EtherCAT DEBUG: 01 00 18 03 02 00 E8 03 00 14 01 04 00 0F 02 00 [ 6275.950152] EtherCAT DEBUG: 00 00 14 02 01 00 FF 00 1A 00 04 00 00 00 00 00 [ 6275.950155] EtherCAT DEBUG: 00 1A 01 04 00 10 00 41 60 00 1A 02 04 00 20 00 [ 6275.950158] EtherCAT DEBUG: 63 60 00 1A 03 04 00 08 00 61 60 00 1A 04 04 00 [ 6275.950160] EtherCAT DEBUG: 08 00 60 28 00 1A 00 04 00 04 00 00 00 00 16 00 [ 6275.950163] EtherCAT DEBUG: 04 00 00 00 00 00 00 16 01 04 00 10 00 40 60 00 [ 6275.950166] EtherCAT DEBUG: 16 02 04 00 20 00 7A 60 00 16 03 04 00 08 00 60 [ 6275.950169] EtherCAT DEBUG: 60 00 16 04 04 00 08 00 61 28 00 16 00 04 00 04 [ 6275.950171] EtherCAT DEBUG: 00 00 00 88 2F 01 01 00 04 88 2F 0A 01 00 41 [ 6275.950175] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.950175] EtherCAT DEBUG: 00 20 31 03 80 00 9F 00 00 00 13 00 00 18 01 04 [ 6275.950178] EtherCAT DEBUG: 00 8F 01 00 00 00 18 02 01 00 01 00 18 03 02 00 [ 6275.950181] EtherCAT DEBUG: E8 03 00 14 01 04 00 0F 02 00 00 00 14 02 01 00 [ 6275.950183] EtherCAT DEBUG: FF 00 1A 00 04 00 00 00 00 00 00 1A 01 04 00 10 [ 6275.950186] EtherCAT DEBUG: 00 41 60 00 1A 02 04 00 20 00 63 60 00 1A 03 04 [ 6275.950189] EtherCAT DEBUG: 00 08 00 61 60 00 1A 04 04 00 08 00 60 28 00 1A [ 6275.950191] EtherCAT DEBUG: 00 04 00 04 00 00 00 00 16 00 04 00 00 00 00 00 [ 6275.950194] EtherCAT DEBUG: 00 16 01 04 00 10 00 40 60 00 16 02 04 00 20 00 [ 6275.950197] EtherCAT DEBUG: 7A 60 00 16 03 04 00 08 00 60 60 00 16 04 04 00 [ 6275.950201] EtherCAT DEBUG: 08 00 61 28 00 16 00 04 00 04 00 00 00 88 2F 01 [ 6275.950204] EtherCAT DEBUG: 01 00 04 88 2F 0A 01 00 41 [ 6275.962336] EtherCAT DEBUG 0-main-1: Download response: [ 6275.962338] EtherCAT DEBUG: 00 30 60 03 80 00 9F 00 00 00 [ 6275.962343] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12. [ 6275.962343] EtherCAT DEBUG: 01 00 00 16 [ 6275.962346] EtherCAT DEBUG 0-main-1: Expedited download request: [ 6275.962346] EtherCAT DEBUG: 00 20 33 12 1C 00 01 00 00 16 [ 6275.974465] EtherCAT DEBUG 0-main-1: Download response: [ 6275.974467] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 16 [ 6275.974470] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13. [ 6275.974471] EtherCAT DEBUG: 04 00 00 1A 82 1A 83 1A 84 1A [ 6275.974473] EtherCAT DEBUG 0-main-1: Normal download request: [ 6275.974474] EtherCAT DEBUG: 00 20 31 13 1C 00 0A 00 00 00 04 00 00 1A 82 1A [ 6275.974477] EtherCAT DEBUG: 83 1A 84 1A [ 6275.986590] EtherCAT DEBUG 0-main-1: Download response: [ 6275.986592] EtherCAT DEBUG: 00 30 60 13 1C 00 0A 00 00 00 [ 6275.986599] EtherCAT DEBUG 0-main-1: Reading mapping of PDO 0x1600. [ 6275.986601] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1600:00. [ 6275.986602] EtherCAT DEBUG 0-main-1: Upload request: [ 6275.986603] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ 6275.998704] EtherCAT DEBUG 0-main-1: Upload response: [ 6275.998706] EtherCAT DEBUG: 00 30 4F 00 16 00 01 00 00 00 [ 6275.998709] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6275.998710] EtherCAT DEBUG: 01 [ 6275.998711] EtherCAT DEBUG 0-main-1: 1 PDO entries mapped. [ 6275.998713] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1600:01. [ 6275.998714] EtherCAT DEBUG 0-main-1: Upload request: [ 6275.998714] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ 6276.010770] EtherCAT DEBUG 0-main-1: Upload response: [ 6276.010771] EtherCAT DEBUG: 00 30 43 00 16 01 40 01 00 70 [ 6276.010775] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6276.010775] EtherCAT DEBUG: 40 01 00 70 [ 6276.010779] EtherCAT DEBUG 0-main-1: PDO entry 0x7000:01, 64 bit, "???". [ 6276.010781] EtherCAT WARNING 0-main-1: Slave does not support assigning PDOs! [ 6276.010781] EtherCAT WARNING 0-main-1: Currently assigned PDOs: (none). PDOs to assign: 0x1600 [ 6276.010786] EtherCAT DEBUG 0-main-1: Reading mapping of PDO 0x1A00. [ 6276.010787] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1A00:00. [ 6276.010788] EtherCAT DEBUG 0-main-1: Upload request: [ 6276.010789] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 6276.022829] EtherCAT DEBUG 0-main-1: Upload response: [ 6276.022831] EtherCAT DEBUG: 00 30 4F 00 1A 00 01 00 00 00 [ 6276.022835] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6276.022835] EtherCAT DEBUG: 01 [ 6276.022836] EtherCAT DEBUG 0-main-1: 1 PDO entries mapped. [ 6276.022838] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1A00:01. [ 6276.022839] EtherCAT DEBUG 0-main-1: Upload request: [ 6276.022839] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 6276.034893] EtherCAT DEBUG 0-main-1: Upload response: [ 6276.034895] EtherCAT DEBUG: 00 30 43 00 1A 01 40 01 00 60 [ 6276.034898] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6276.034899] EtherCAT DEBUG: 40 01 00 60 [ 6276.034902] EtherCAT DEBUG 0-main-1: PDO entry 0x6000:01, 64 bit, "???". [ 6276.034905] EtherCAT DEBUG 0-main-1: Reading mapping of PDO 0x1A82. [ 6276.034906] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1A82:00. [ 6276.034907] EtherCAT DEBUG 0-main-1: Upload request: [ 6276.034908] EtherCAT DEBUG: 00 20 40 82 1A 00 00 00 00 00 [ 6276.046960] EtherCAT DEBUG 0-main-1: Upload response: [ 6276.046962] EtherCAT DEBUG: 00 30 4F 82 1A 00 00 00 00 00 [ 6276.046966] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6276.046966] EtherCAT DEBUG: 00 [ 6276.046967] EtherCAT DEBUG 0-main-1: 0 PDO entries mapped. [ 6276.046969] EtherCAT WARNING 0-main-1: Slave does not support changing the PDO mapping! [ 6276.046970] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: (none). Entries to map: 0xF103:00/1 [ 6276.046972] EtherCAT DEBUG 0-main-1: Reading mapping of PDO 0x1A83. [ 6276.046974] EtherCAT DEBUG 0-main-1: Uploading SDO 0x1A83:00. [ 6276.046975] EtherCAT DEBUG 0-main-1: Upload request: [ 6276.046975] EtherCAT DEBUG: 00 20 40 83 1A 00 00 00 00 00 [ 6276.059058] EtherCAT DEBUG 0-main-1: Upload response: [ 6276.059060] EtherCAT DEBUG: 00 30 4F 83 1A 00 00 00 00 00 [ 6276.059063] EtherCAT DEBUG 0-main-1: Uploaded data: [ 6276.059063] EtherCAT DEBUG: 00 [ 6276.059064] EtherCAT DEBUG 0-main-1: 0 PDO entries mapped. [ 6276.059065] EtherCAT WARNING 0-main-1: Slave does not support changing the PDO mapping! [ 6276.059066] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: (none). Entries to map: 0xF102:00/8 [ 6276.059068] EtherCAT WARNING 0-main-1: Slave does not support assigning PDOs! [ 6276.059069] EtherCAT WARNING 0-main-1: Currently assigned PDOs: (none). PDOs to assign: 0x1A00 0x1A82 0x1A83 [ 6276.059075] EtherCAT DEBUG 0-main-1: SM2: Addr 0x1000, Size   8, Ctrl 0x26, En 1 [ 6276.059076] EtherCAT DEBUG 0-main-1: SM3: Addr 0x1400, Size  10, Ctrl 0x22, En 1 [ 6276.063110] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000000, Size   8, PhysAddr 0x1000, SM2, Dir out [ 6276.063113] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000008, Size  10, PhysAddr 0x1400, SM3, Dir in [ 6276.079252] EtherCAT ERROR 0-main-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 6276.083291] EtherCAT ERROR 0-main-1: AL status message 0x001E: "Invalid input configuration". [ 6276.087345] EtherCAT 0: Slave states on main device: PREOP, OP + ERROR. [ 6276.091377] EtherCAT 0-main-1: Acknowledged state PREOP. [ 6276.099464] EtherCAT 0: Slave states on main device: PREOP, OP.

Mein TwinCat Projekt ist so konfiguriert, wie es Conny im Betrag schreibt, mit aktiviertem MDP. Auch das FW-Update für die EL6751 habe ich von Beckhoff bekommen und konnte meine (zugegebenermaßen) alte Klemme auf FW13 updaten.

Leider ohne Erfolg. Wenn von euch keiner mehr eine Idee hat, besorge ich mir mal eine neue EL6751 zum Testen, evtl. liegts ja wirklich an alter Hardware. Eine weitere Alternative wäre der englischsprachige Teil des Forums. Mir scheint, dass "plopes" Jimpanski bei dem Problem ordentlich helfen konnte.

Grüße
Columbo

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5 years 2 weeks ago #222870 by db1981
Replied by db1981 on topic Problem bei installation Ethercat
Hallo,

ich hab jetzt den ganzen Faden nicht mehr so ganz auf dem Schirm, mein Bauchgefühl meldet sich aber und sagt das es evtl. ne Lösung hat.....

könnte ich nochmal folgende Infos bekommen:

-wie ist der Etherlab master installiert worden? (ec-debianize? mit saschas patchen? )
-die ethercat-conf.xml zu oben gezeigtem dmesg.
-die TC3 solution

grüße

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