Problem bei installation Ethercat
11 Oct 2021 19:46 #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:
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
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:
[ 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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11 Oct 2021 21:26 #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
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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12 Oct 2021 12:25 #222928
by Columbo
Die Datei 21_10_11_Vorlage.txt muss noch in .tsproj geändert werden. Ich kann keine .tsproj Datei hier hochladen.
Replied by Columbo on topic Problem bei installation Ethercat
Die Datei 21_10_11_Vorlage.txt muss noch in .tsproj geändert werden. Ich kann keine .tsproj Datei hier hochladen.
Attachments:
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12 Oct 2021 12:49 #222930
by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
...wenn ich mich richtig erinnere, habe ich dieses Image installiert:
github.com/grotius-cnc/LINUX_RTOS
War sehr einfach. Auf dem Desktop lag nach der Installation ein Skript, dass alle EC-Komponenten geladen hat. In der /etc/default/ethercat nur die MAC angepasst und update-ethercat-config ausgeführt.
uname -r
4.19.0-11-rt-amd64
weitere Info gebe ich gerne!
Grüße
Columbo
Grüße
github.com/grotius-cnc/LINUX_RTOS
War sehr einfach. Auf dem Desktop lag nach der Installation ein Skript, dass alle EC-Komponenten geladen hat. In der /etc/default/ethercat nur die MAC angepasst und update-ethercat-config ausgeführt.
uname -r
4.19.0-11-rt-amd64
weitere Info gebe ich gerne!
Grüße
Columbo
Grüße
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12 Oct 2021 13:01 #222932
by db1981
Replied by db1981 on topic Problem bei installation Ethercat
kann ich irgendwo den inhalt des ec installations Skript einsehen?
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12 Oct 2021 17:01 #222948
by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
dieses .sh Skript wird ausgeführt:
#!/bin/sh
# 1.0 Patch mercurial, this is only needed when downloading from etherlab-hg source with mercurial.
# search for hg config file in your /c drive : $ hg config --debug
# enable qpush in config file by adding :
# [extensions]
# mq =
rm -rf /etc/mercurial/hgrc
cp /usr/share/ethercat/install_script/hgrc /etc/mercurial/
# 2.0 Install ethercat ==> https://github.com/grotius-cnc/ethercat-hg/releases/tag/1.2
# 2.1 Build .deb packages, if it trows an error, check if your kernel header files are present.
#/usr/share/ethercat/ethercat_source/etherlabmaster/dpkg-buildpackage
# 2.2 Install .deb packages located in /usr/share/ethercat/ethercat_source/
dpkg -i /usr/share/ethercat/ethercat/etherlabmaster_1.5.2+20190904hg33b922p8ea394-1_amd64.deb
# 2.3 Delete previous installed ethercat file by step #2 at /etc/default/ethercat.
rm /etc/default/ethercat
echo "Remove ethercat file in /etc/default/ethercat"
# 2.4 Copy blanco ethercat file to /etc/default/
cp /usr/share/ethercat/install_script/ethercat /etc/default/
# 2.5 Append text "mac-adres" to blanco ethercat file.
echo MASTER0_DEVICE="$(cat /sys/class/net/enp0s25/address)" >> /etc/default/ethercat
echo ".. Retrieved MAC adres : $(cat /sys/class/net/enp0s25/address)"
echo ".. .. Appending MAC adres to last line of ethercat file /etc/default/"
# 2.6 Changing priveleges to /etc/udev/rules.d/00-ethercat.rules
# Set the file permissions
chmod go+rwx /etc/udev/rules.d/99-ethercat.rules
# Add new priveleges
echo "KERNEL=="\"EtherCAT[0-9]*\"", MODE="\"777\"", GROUP=""\"ethercat\"" > /etc/udev/rules.d/99-ethercat.rules
# /dev/EtherCAT0
#chmod go+rwx /dev/EtherCAT0
# 3.0 Install linuxcnc-ethercat from source
# be sure libexpat1-dev is installed
make -C /usr/share/ethercat/linuxcnc_ethercat/
echo "Compiling the linuxcnc-ethercat lcec driver"
# 3.1 Copy "lcec.so" to /usr/lib/linuxcnc/modules/
cp /usr/share/ethercat/linuxcnc_ethercat/src/lcec.so /usr/lib/linuxcnc/modules/
# 3.2 Add rights to lcec_conf
chmod 777 /usr/share/ethercat/linuxcnc_ethercat/src/lcec_conf
# 4.0 Ethercat bus not started, try again :
# 4.1 Update ethercat config
update-ethercat-config
# 4.2 Start ethercat bus without rebooting
systemctl restart systemd-modules-load.service
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12 Oct 2021 17:03 #222949
by Columbo
Replied by Columbo on topic Problem bei installation Ethercat
....das wollte ich auch noch schicken:
ethercat version:
IgH EtherCAT master 1.5.2 unknown
ethercat version:
IgH EtherCAT master 1.5.2 unknown
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12 Oct 2021 17:52 #222956
by db1981
Replied by db1981 on topic Problem bei installation Ethercat
Mmhhh, *kopfschüttel* ....
wenn das alles ist, dann ist das sehr strange... verstehe auch nicht wieso der Kollege alles auf seinen Account klonen muss anstelle die aktuellen original und "vollständigen" Quellen zu benutzen. macht keine Sinn. (außer für Marketing....)
an der etherlab installation müssten wir etwas ändern, sonst kann ich da keine vernünftigen Aussagen zu treffen.
wenn das alles ist, dann ist das sehr strange... verstehe auch nicht wieso der Kollege alles auf seinen Account klonen muss anstelle die aktuellen original und "vollständigen" Quellen zu benutzen. macht keine Sinn. (außer für Marketing....)
an der etherlab installation müssten wir etwas ändern, sonst kann ich da keine vernünftigen Aussagen zu treffen.
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12 Oct 2021 18:02 #222957
by db1981
Replied by db1981 on topic Problem bei installation Ethercat
Ich kann jetzt nur nicht blicken, was an dem Buster noch alles verfummelt ist.
sinnvoll wäre folgendes:
bitte mal ec-debianize clonen und testen ob das get_source skript durchläuft.
git clone github.com/sittner/ec-debianize.git (ordner deiner wahl)
dann in dem ordner mal das skript starten,
Falls fehlerfrei durchläuft -> danach in dem Ordner cd etherlabmaster , dpkg checkbuilddebs, wenn kein fehler, dpkg buildpackage und schauen ob 3 deb Pakete in dem ec-debianize Ordner erstellt werden.
sinnvoll wäre folgendes:
bitte mal ec-debianize clonen und testen ob das get_source skript durchläuft.
git clone github.com/sittner/ec-debianize.git (ordner deiner wahl)
dann in dem ordner mal das skript starten,
Falls fehlerfrei durchläuft -> danach in dem Ordner cd etherlabmaster , dpkg checkbuilddebs, wenn kein fehler, dpkg buildpackage und schauen ob 3 deb Pakete in dem ec-debianize Ordner erstellt werden.
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13 Oct 2021 05:39 #223002
by andrax
Replied by andrax on topic Problem bei installation Ethercat
Moin,
sry das ich mich die ganze Zeit nicht gemeldet habe.
Häuslebau und CNC geht halt nicht gleichzeitig.
Bei deinem Logfile stört mich folgendes:
undMeines Erachtens, ist das erzeugen/Anlegen der pdo's fehlgeschlagen.
Kannst du mal aus Twincat die letzten gespeicherten Fehler der el6751 posten?
Alternativ ging bei mir auch:
-Linuxcnc hoch fahren
-Kabel umstöpseln auf deinen Twincatrechner (ethercat nicht ausschalten)
-Fehler auslesen
Alternativ würde ich mal ein Backup Parameter Storage erzeugen.
Da im Fehlerfall die Klemme erstmal darauf zurückgreift bevor sie aussteigt.
Gruß
Andre
sry das ich mich die ganze Zeit nicht gemeldet habe.
Häuslebau und CNC geht halt nicht gleichzeitig.
Bei deinem Logfile stört mich folgendes:
Slave does not support assigning PDOs!EtherCAT DEBUG 0-main-1: 0 PDO entries mappedKannst du mal aus Twincat die letzten gespeicherten Fehler der el6751 posten?
Alternativ ging bei mir auch:
-Linuxcnc hoch fahren
-Kabel umstöpseln auf deinen Twincatrechner (ethercat nicht ausschalten)
-Fehler auslesen
Alternativ würde ich mal ein Backup Parameter Storage erzeugen.
Da im Fehlerfall die Klemme erstmal darauf zurückgreift bevor sie aussteigt.
Gruß
Andre
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