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Ethercat HAL driver
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7 years 3 days ago #149047
by sqmathlete
Replied by sqmathlete on topic Ethercat HAL driver
@ Conny,
Not as far as I know. Its a pain but having twincat available is kind of a prerequisite for serious trouble shooting and development.
Dan
Not as far as I know. Its a pain but having twincat available is kind of a prerequisite for serious trouble shooting and development.
Dan
The following user(s) said Thank You: JimPanski
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6 years 11 months ago - 6 years 11 months ago #149378
by JimPanski
Replied by JimPanski on topic Ethercat HAL driver
Hi Dan,
the win pc is on the way. in the meantime, i searched a bit in this forum.
found an other ethercat thread here and got a hint looking into syslog..
config.xml
Makes it sense to post the complete syslog here?
Thanks
Conny
the win pc is on the way. in the meantime, i searched a bit in this forum.
found an other ethercat thread here and got a hint looking into syslog..
Warning: Spoiler!
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552498] EtherCAT 0: Master thread exited.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552525] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552651] EtherCAT 0: Releasing master...
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552653] EtherCAT 0: Released.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554984] EtherCAT ERROR 0-9: Failed to receive AL state datagram:
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554989] Datagram
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554990] initialized
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554991] .
Nov 1 15:49:28 we80-cnc kernel: [ 4861.652611] EtherCAT ERROR 0-14: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:28 we80-cnc kernel: [ 4861.653372] EtherCAT 0-14: Acknowledged state SAFEOP.
Nov 1 15:49:28 we80-cnc kernel: [ 4861.660461] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:28 we80-cnc kernel: [ 4861.908476] EtherCAT WARNING: Datagram ffff955cb395e678 (master-fsm) was SKIPPED 1 time.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.218964] EtherCAT: Requesting master 0...
Nov 1 15:49:28 we80-cnc kernel: [ 4862.218967] EtherCAT: Successfully requested master 0.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220661] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220663] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220689] EtherCAT 0: Master thread exited.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220692] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220721] EtherCAT WARNING 0: 1 datagram UNMATCHED!
Nov 1 15:49:28 we80-cnc kernel: [ 4862.243255] EtherCAT 0: Domain 0: Working counter changed to 4/27
Nov 1 15:49:28 we80-cnc kernel: [ 4862.243257] .
Nov 1 15:49:29 we80-cnc dhclient[3194]: DHCPDISCOVER on enp0s25 to 255.255.255.255 port 67 interval 16
Nov 1 15:49:39 we80-cnc kernel: [ 4873.157431] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 1 15:49:39 we80-cnc kernel: [ 4873.577162] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 1 15:49:43 we80-cnc kernel: [ 4876.664580] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.664586] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.796863] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.903654] EtherCAT 0: Domain 0: Working counter changed to 5/27
Nov 1 15:49:43 we80-cnc kernel: [ 4876.903656] .
Nov 1 15:49:44 we80-cnc kernel: [ 4877.847147] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:44 we80-cnc kernel: [ 4877.904611] EtherCAT 0: Domain 0: 13 working counter changes - now 23/27
Nov 1 15:49:44 we80-cnc kernel: [ 4877.904613] .
Nov 1 15:49:45 we80-cnc dhclient[3194]: DHCPDISCOVER on enp0s25 to 255.255.255.255 port 67 interval 21
Nov 1 15:49:59 we80-cnc kernel: [ 4892.853740] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 1 15:49:59 we80-cnc kernel: [ 4892.853745] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 1 15:49:59 we80-cnc kernel: [ 4892.861763] EtherCAT ERROR 0-16: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:59 we80-cnc kernel: [ 4892.864023] EtherCAT 0: Domain 0: Working counter changed to 25/27
Nov 1 15:49:59 we80-cnc kernel: [ 4892.864025] .
Nov 1 15:49:59 we80-cnc kernel: [ 4892.869780] EtherCAT 0-16: Acknowledged state SAFEOP.
Nov 1 15:49:59 we80-cnc kernel: [ 4893.026125] EtherCAT ERROR 0-17: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:59 we80-cnc kernel: [ 4893.038150] EtherCAT 0-17: Acknowledged state SAFEOP.
Nov 1 15:49:59 we80-cnc kernel: [ 4893.106282] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552525] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552651] EtherCAT 0: Releasing master...
Nov 1 15:49:27 we80-cnc kernel: [ 4861.552653] EtherCAT 0: Released.
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554984] EtherCAT ERROR 0-9: Failed to receive AL state datagram:
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554989] Datagram
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554990] initialized
Nov 1 15:49:27 we80-cnc kernel: [ 4861.554991] .
Nov 1 15:49:28 we80-cnc kernel: [ 4861.652611] EtherCAT ERROR 0-14: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:28 we80-cnc kernel: [ 4861.653372] EtherCAT 0-14: Acknowledged state SAFEOP.
Nov 1 15:49:28 we80-cnc kernel: [ 4861.660461] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:28 we80-cnc kernel: [ 4861.908476] EtherCAT WARNING: Datagram ffff955cb395e678 (master-fsm) was SKIPPED 1 time.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.218964] EtherCAT: Requesting master 0...
Nov 1 15:49:28 we80-cnc kernel: [ 4862.218967] EtherCAT: Successfully requested master 0.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220661] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220663] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220689] EtherCAT 0: Master thread exited.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220692] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 1 15:49:28 we80-cnc kernel: [ 4862.220721] EtherCAT WARNING 0: 1 datagram UNMATCHED!
Nov 1 15:49:28 we80-cnc kernel: [ 4862.243255] EtherCAT 0: Domain 0: Working counter changed to 4/27
Nov 1 15:49:28 we80-cnc kernel: [ 4862.243257] .
Nov 1 15:49:29 we80-cnc dhclient[3194]: DHCPDISCOVER on enp0s25 to 255.255.255.255 port 67 interval 16
Nov 1 15:49:39 we80-cnc kernel: [ 4873.157431] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 1 15:49:39 we80-cnc kernel: [ 4873.577162] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 1 15:49:43 we80-cnc kernel: [ 4876.664580] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.664586] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.796863] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
Nov 1 15:49:43 we80-cnc kernel: [ 4876.903654] EtherCAT 0: Domain 0: Working counter changed to 5/27
Nov 1 15:49:43 we80-cnc kernel: [ 4876.903656] .
Nov 1 15:49:44 we80-cnc kernel: [ 4877.847147] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:44 we80-cnc kernel: [ 4877.904611] EtherCAT 0: Domain 0: 13 working counter changes - now 23/27
Nov 1 15:49:44 we80-cnc kernel: [ 4877.904613] .
Nov 1 15:49:45 we80-cnc dhclient[3194]: DHCPDISCOVER on enp0s25 to 255.255.255.255 port 67 interval 21
Nov 1 15:49:59 we80-cnc kernel: [ 4892.853740] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 1 15:49:59 we80-cnc kernel: [ 4892.853745] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 1 15:49:59 we80-cnc kernel: [ 4892.861763] EtherCAT ERROR 0-16: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:59 we80-cnc kernel: [ 4892.864023] EtherCAT 0: Domain 0: Working counter changed to 25/27
Nov 1 15:49:59 we80-cnc kernel: [ 4892.864025] .
Nov 1 15:49:59 we80-cnc kernel: [ 4892.869780] EtherCAT 0-16: Acknowledged state SAFEOP.
Nov 1 15:49:59 we80-cnc kernel: [ 4893.026125] EtherCAT ERROR 0-17: AL status message 0x001B: "Sync manager watchdog".
Nov 1 15:49:59 we80-cnc kernel: [ 4893.038150] EtherCAT 0-17: Acknowledged state SAFEOP.
Nov 1 15:49:59 we80-cnc kernel: [ 4893.106282] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
Warning: Spoiler!
Nov 2 09:50:44 we80-cnc kernel: [ 1440.168944] EtherCAT: Requesting master 0...
Nov 2 09:50:44 we80-cnc kernel: [ 1440.168947] EtherCAT: Successfully requested master 0.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.170349] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.170350] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.173082] EtherCAT 0: Master thread exited.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.173085] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.432125] EtherCAT 0: Domain 0: Working counter changed to 1/27
Nov 2 09:50:44 we80-cnc kernel: [ 1440.432126] .
Nov 2 09:50:45 we80-cnc kernel: [ 1441.436184] EtherCAT 0: Domain 0: 13 working counter changes - now 19/27
Nov 2 09:50:45 we80-cnc kernel: [ 1441.436186] .
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467421] EtherCAT ERROR 0-15: SDO download 0x1600:00 (1 bytes) aborted.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467425] EtherCAT ERROR 0-15: SDO abort message 0x06090030: "Value range of parameter exceeded".
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467427] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467428] EtherCAT WARNING 0-15:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467429] Currently mapped PDO entries:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467430] 0x7000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467430]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467431] 0x7000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467431] . Entries to map:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467432] 0x7000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467432]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467433] 0x7000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467433]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467434] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1600.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515555] EtherCAT ERROR 0-15: SDO download 0x1A00:00 (1 bytes) aborted.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515559] EtherCAT ERROR 0-15: SDO abort message 0x06010002: "Attempt to write a read-only object".
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515561] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515562] EtherCAT WARNING 0-15:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515563] Currently mapped PDO entries:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515564] 0x6000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515564]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515565] 0x6000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515565]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515566] 0x6000:03/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515566] . Entries to map:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515567] 0x6000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515567]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515568] 0x6000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515568]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515569] 0x6000:03/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515569]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515570] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1A00.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.972545] EtherCAT 0: Slave states on main device: OP.
Nov 2 09:50:47 we80-cnc kernel: [ 1442.440242] EtherCAT 0: Domain 0: 4 working counter changes - now 27/27
Nov 2 09:50:47 we80-cnc kernel: [ 1442.440244] .
Nov 2 09:54:15 we80-cnc kernel: [ 1650.707895] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 2 09:54:15 we80-cnc kernel: [ 1651.219930] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 2 09:54:28 we80-cnc kernel: [ 1663.713645] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 2 09:54:28 we80-cnc kernel: [ 1664.225682] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 2 09:55:05 we80-cnc kernel: [ 1701.397095] EtherCAT 0: Master thread exited.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.397122] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.398389] EtherCAT 0: Releasing master...
Nov 2 09:55:05 we80-cnc kernel: [ 1701.398391] EtherCAT 0: Released.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.443458] EtherCAT 0: Slave states on main device: PREOP, OP.
Nov 2 09:55:06 we80-cnc kernel: [ 1701.547627] EtherCAT 0: Slave states on main device: PREOP.
Nov 2 09:55:21 we80-cnc wpa_supplicant[583]: wlp2s0: WPA: Group rekeying completed with 9c:c7:a6:1f:ad:87 [GTK=TKIP]
Nov 2 09:55:39 we80-cnc kernel: [ 1734.458470] EtherCAT: Requesting master 0...
Nov 2 09:55:39 we80-cnc kernel: [ 1734.458473] EtherCAT: Successfully requested master 0.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.459936] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.459938] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460662] EtherCAT 0: Master thread exited.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460665] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460736] EtherCAT WARNING 0: 1 datagram UNMATCHED!
Nov 2 09:55:39 we80-cnc kernel: [ 1734.723952] EtherCAT 0: Domain 0: Working counter changed to 1/27
Nov 2 09:55:39 we80-cnc kernel: [ 1734.723954] .
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711774] EtherCAT ERROR 0-15: SDO download 0x1600:00 (1 bytes) aborted.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711779] EtherCAT ERROR 0-15: SDO abort message 0x06090030: "Value range of parameter exceeded".
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711781] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711782] EtherCAT WARNING 0-15:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711783] Currently mapped PDO entries:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711784] 0x7000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711784]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711785] 0x7000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711785] . Entries to map:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711786] 0x7000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711786]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711787] 0x7000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711787]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711788] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1600.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.725002] EtherCAT 0: Domain 0: 13 working counter changes - now 19/27
Nov 2 09:55:40 we80-cnc kernel: [ 1735.725004] .
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759884] EtherCAT ERROR 0-15: SDO download 0x1A00:00 (1 bytes) aborted.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759888] EtherCAT ERROR 0-15: SDO abort message 0x06010002: "Attempt to write a read-only object".
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759889] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759890] EtherCAT WARNING 0-15:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759891] Currently mapped PDO entries:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759892] 0x6000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759892]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759893] 0x6000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759893]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759894] 0x6000:03/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759894] . Entries to map:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759895] 0x6000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759895]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759896] 0x6000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759896]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759897] 0x6000:03/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759898]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759898] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1A00.
Nov 2 09:55:40 we80-cnc kernel: [ 1736.120676] EtherCAT 0: Slave states on main device: OP.
Nov 2 09:55:41 we80-cnc kernel: [ 1736.729053] EtherCAT 0: Domain 0: 4 working counter changes - now 27/27
Nov 2 09:55:41 we80-cnc kernel: [ 1736.729055] .
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407864] EtherCAT 0: Master thread exited.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407892] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407946] EtherCAT 0: Releasing master...
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407947] EtherCAT 0: Released.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408950] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408954] Datagram
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408955] initialized
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408955] .
Nov 2 09:56:22 we80-cnc kernel: [ 1777.505431] EtherCAT ERROR 0-14: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:22 we80-cnc kernel: [ 1777.506193] EtherCAT 0-14: Acknowledged state SAFEOP.
Nov 2 09:56:22 we80-cnc kernel: [ 1777.513369] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:22 we80-cnc kernel: [ 1777.858339] EtherCAT WARNING: Datagram ffff940f75730678 (master-fsm) was SKIPPED 1 time.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.511187] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.511191] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.515472] EtherCAT ERROR 0-16: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:37 we80-cnc kernel: [ 1792.516493] EtherCAT 0-16: Acknowledged state SAFEOP.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.523546] EtherCAT ERROR 0-17: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:37 we80-cnc kernel: [ 1792.541032] EtherCAT 0-17: Acknowledged state SAFEOP.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.557714] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.168947] EtherCAT: Successfully requested master 0.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.170349] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.170350] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.173082] EtherCAT 0: Master thread exited.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.173085] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 2 09:50:44 we80-cnc kernel: [ 1440.432125] EtherCAT 0: Domain 0: Working counter changed to 1/27
Nov 2 09:50:44 we80-cnc kernel: [ 1440.432126] .
Nov 2 09:50:45 we80-cnc kernel: [ 1441.436184] EtherCAT 0: Domain 0: 13 working counter changes - now 19/27
Nov 2 09:50:45 we80-cnc kernel: [ 1441.436186] .
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467421] EtherCAT ERROR 0-15: SDO download 0x1600:00 (1 bytes) aborted.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467425] EtherCAT ERROR 0-15: SDO abort message 0x06090030: "Value range of parameter exceeded".
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467427] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467428] EtherCAT WARNING 0-15:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467429] Currently mapped PDO entries:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467430] 0x7000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467430]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467431] 0x7000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467431] . Entries to map:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467432] 0x7000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467432]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467433] 0x7000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467433]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.467434] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1600.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515555] EtherCAT ERROR 0-15: SDO download 0x1A00:00 (1 bytes) aborted.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515559] EtherCAT ERROR 0-15: SDO abort message 0x06010002: "Attempt to write a read-only object".
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515561] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515562] EtherCAT WARNING 0-15:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515563] Currently mapped PDO entries:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515564] 0x6000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515564]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515565] 0x6000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515565]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515566] 0x6000:03/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515566] . Entries to map:
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515567] 0x6000:01/8
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515567]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515568] 0x6000:02/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515568]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515569] 0x6000:03/16
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515569]
Nov 2 09:50:46 we80-cnc kernel: [ 1441.515570] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1A00.
Nov 2 09:50:46 we80-cnc kernel: [ 1441.972545] EtherCAT 0: Slave states on main device: OP.
Nov 2 09:50:47 we80-cnc kernel: [ 1442.440242] EtherCAT 0: Domain 0: 4 working counter changes - now 27/27
Nov 2 09:50:47 we80-cnc kernel: [ 1442.440244] .
Nov 2 09:54:15 we80-cnc kernel: [ 1650.707895] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 2 09:54:15 we80-cnc kernel: [ 1651.219930] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 2 09:54:28 we80-cnc kernel: [ 1663.713645] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 1 (2437/0 MHz)
Nov 2 09:54:28 we80-cnc kernel: [ 1664.225682] wlp2s0: AP 9c:c7:a6:1f:ad:87 changed bandwidth, new config is 2437 MHz, width 2 (2447/0 MHz)
Nov 2 09:55:05 we80-cnc kernel: [ 1701.397095] EtherCAT 0: Master thread exited.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.397122] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.398389] EtherCAT 0: Releasing master...
Nov 2 09:55:05 we80-cnc kernel: [ 1701.398391] EtherCAT 0: Released.
Nov 2 09:55:05 we80-cnc kernel: [ 1701.443458] EtherCAT 0: Slave states on main device: PREOP, OP.
Nov 2 09:55:06 we80-cnc kernel: [ 1701.547627] EtherCAT 0: Slave states on main device: PREOP.
Nov 2 09:55:21 we80-cnc wpa_supplicant[583]: wlp2s0: WPA: Group rekeying completed with 9c:c7:a6:1f:ad:87 [GTK=TKIP]
Nov 2 09:55:39 we80-cnc kernel: [ 1734.458470] EtherCAT: Requesting master 0...
Nov 2 09:55:39 we80-cnc kernel: [ 1734.458473] EtherCAT: Successfully requested master 0.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.459936] EtherCAT 0: Domain0: Logical address 0x00000000, 69 byte, expected working counter 27.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.459938] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 69 byte, type LRW.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460662] EtherCAT 0: Master thread exited.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460665] EtherCAT 0: Starting EtherCAT-OP thread.
Nov 2 09:55:39 we80-cnc kernel: [ 1734.460736] EtherCAT WARNING 0: 1 datagram UNMATCHED!
Nov 2 09:55:39 we80-cnc kernel: [ 1734.723952] EtherCAT 0: Domain 0: Working counter changed to 1/27
Nov 2 09:55:39 we80-cnc kernel: [ 1734.723954] .
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711774] EtherCAT ERROR 0-15: SDO download 0x1600:00 (1 bytes) aborted.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711779] EtherCAT ERROR 0-15: SDO abort message 0x06090030: "Value range of parameter exceeded".
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711781] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711782] EtherCAT WARNING 0-15:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711783] Currently mapped PDO entries:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711784] 0x7000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711784]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711785] 0x7000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711785] . Entries to map:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711786] 0x7000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711786]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711787] 0x7000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711787]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.711788] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1600.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.725002] EtherCAT 0: Domain 0: 13 working counter changes - now 19/27
Nov 2 09:55:40 we80-cnc kernel: [ 1735.725004] .
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759884] EtherCAT ERROR 0-15: SDO download 0x1A00:00 (1 bytes) aborted.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759888] EtherCAT ERROR 0-15: SDO abort message 0x06010002: "Attempt to write a read-only object".
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759889] EtherCAT WARNING 0-15: Failed to clear PDO mapping.
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759890] EtherCAT WARNING 0-15:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759891] Currently mapped PDO entries:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759892] 0x6000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759892]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759893] 0x6000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759893]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759894] 0x6000:03/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759894] . Entries to map:
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759895] 0x6000:01/8
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759895]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759896] 0x6000:02/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759896]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759897] 0x6000:03/16
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759898]
Nov 2 09:55:40 we80-cnc kernel: [ 1735.759898] EtherCAT WARNING 0-15: Failed to configure mapping of PDO 0x1A00.
Nov 2 09:55:40 we80-cnc kernel: [ 1736.120676] EtherCAT 0: Slave states on main device: OP.
Nov 2 09:55:41 we80-cnc kernel: [ 1736.729053] EtherCAT 0: Domain 0: 4 working counter changes - now 27/27
Nov 2 09:55:41 we80-cnc kernel: [ 1736.729055] .
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407864] EtherCAT 0: Master thread exited.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407892] EtherCAT 0: Starting EtherCAT-IDLE thread.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407946] EtherCAT 0: Releasing master...
Nov 2 09:56:21 we80-cnc kernel: [ 1777.407947] EtherCAT 0: Released.
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408950] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408954] Datagram
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408955] initialized
Nov 2 09:56:21 we80-cnc kernel: [ 1777.408955] .
Nov 2 09:56:22 we80-cnc kernel: [ 1777.505431] EtherCAT ERROR 0-14: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:22 we80-cnc kernel: [ 1777.506193] EtherCAT 0-14: Acknowledged state SAFEOP.
Nov 2 09:56:22 we80-cnc kernel: [ 1777.513369] EtherCAT ERROR 0-15: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:22 we80-cnc kernel: [ 1777.858339] EtherCAT WARNING: Datagram ffff940f75730678 (master-fsm) was SKIPPED 1 time.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.511187] EtherCAT ERROR 0-15: Timeout while acknowledging state SAFEOP + ERROR.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.511191] EtherCAT ERROR 0-15: Failed to acknowledge state change.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.515472] EtherCAT ERROR 0-16: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:37 we80-cnc kernel: [ 1792.516493] EtherCAT 0-16: Acknowledged state SAFEOP.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.523546] EtherCAT ERROR 0-17: AL status message 0x001B: "Sync manager watchdog".
Nov 2 09:56:37 we80-cnc kernel: [ 1792.541032] EtherCAT 0-17: Acknowledged state SAFEOP.
Nov 2 09:56:37 we80-cnc kernel: [ 1792.557714] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
config.xml
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1004" name="i1"/>
<slave idx="2" type="EL1004" name="i2"/>
<slave idx="3" type="EL1004" name="i3"/>
<slave idx="4" type="EL1004" name="i4"/>
<slave idx="5" type="EL1004" name="i5"/>
<slave idx="6" type="EL1004" name="i6"/>
<slave idx="7" type="EL1004" name="i7"/>
<slave idx="8" type="EL1004" name="i8"/>
<slave idx="9" type="EL1004" name="i9"/>
<slave idx="10" type="EL1004" name="i10"/>
<slave idx="11" type="EL2008" name="e1"/>
<slave idx="12" type="EL2008" name="e2"/>
<slave idx="13" type="EL2024" name="e3"/>
<slave idx="14" type="EL5101" name="encspi"/>
<slave idx="15" type="EL5101" name="encx"/>
<slave idx="16" type="EL5101" name="encz"/>
<slave idx="17" type="EL4034" name="ana"/>
</master>
</masters>
Makes it sense to post the complete syslog here?
Thanks
Conny
Last edit: 6 years 11 months ago by JimPanski. Reason: added config
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- Nico2017
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6 years 11 months ago #149577
by Nico2017
Replied by Nico2017 on topic Ethercat HAL driver
Hi all,
I have a new drive that I am trying to control with EtherCAT. When using the ethercat-config .xml file used by the linuxcnc-ethercat driver it seems that the drive stay in PRE-OP stage and is not able to go to OP (the lcec state PRE-OP pin is true in the halshow).
When using TwinCAT on a windows machine, using the scan devices button, the drives goes to OP without any issue. There is actually a list of Startup command visible in TwinCAT in the Startup panel that I cannot modify. Should I reproduce those Startup command under the ethercat file for the linuxcnc ethercat driver? Apparently this should be something like using the command <initCmds filename="DriveInitCommand.xml"/> in the slave lines as shown in the linuxcnc-ethercat-master\examples\initcmds code from GitHub.
Then each command should be described like the following example inside DriveInitCommand.xml:
If you are missing those Startup command, do you think it could be the reason why the drive stays in PRE-OP mode?
Thank you for your help.
Nicolas
I have a new drive that I am trying to control with EtherCAT. When using the ethercat-config .xml file used by the linuxcnc-ethercat driver it seems that the drive stay in PRE-OP stage and is not able to go to OP (the lcec state PRE-OP pin is true in the halshow).
When using TwinCAT on a windows machine, using the scan devices button, the drives goes to OP without any issue. There is actually a list of Startup command visible in TwinCAT in the Startup panel that I cannot modify. Should I reproduce those Startup command under the ethercat file for the linuxcnc ethercat driver? Apparently this should be something like using the command <initCmds filename="DriveInitCommand.xml"/> in the slave lines as shown in the linuxcnc-ethercat-master\examples\initcmds code from GitHub.
Then each command should be described like the following example inside DriveInitCommand.xml:
Code:
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox><CoE><InitCmds>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Max current]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>17</SubIndex>
<Data>10270000</Data>
</InitCmd>
</InitCmds></CoE></EtherCATMailbox>
If you are missing those Startup command, do you think it could be the reason why the drive stays in PRE-OP mode?
Thank you for your help.
Nicolas
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- roschi
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6 years 11 months ago - 6 years 11 months ago #149919
by roschi
Replied by roschi on topic Ethercat HAL driver
@Nico2017
A00F transformation to 0x0FA0.
--> You have to switch / interchange the sequence of bytes: 0F A0 --> A0 0F
BR
Andreas
A00F transformation to 0x0FA0.
--> You have to switch / interchange the sequence of bytes: 0F A0 --> A0 0F
BR
Andreas
Last edit: 6 years 11 months ago by roschi.
The following user(s) said Thank You: Nico2017
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6 years 10 months ago #152763
by manojpatil
Replied by manojpatil on topic Ethercat HAL driver
Hello sir, can u help me?? I am working on linuxcnc EtherCAT, and I am a beginner in that so please tell me the how to configure my driver to Linux CNC software?? I have a igh etherlab master.
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6 years 10 months ago #153031
by manojpatil
Replied by manojpatil on topic Ethercat HAL driver
Hello Sir,
can u please tell me the where can I change that sequence... in controlword Register Or Driver xml file???
can u please tell me the where can I change that sequence... in controlword Register Or Driver xml file???
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