Ethercat protocol not responding

check the dmesg output after starting linuxcnc, if there is nothing obivous set debug level to 1 "ethercat debug 1" and check again

Thanks Rodw for all your help, I really appreciate it.

I did a little bit of research and by typing the following command I got some response which give more detail information

Command:
sudo dmesg

Response:
[    5.627340] EtherCAT: Master driver 1.6.0-rc1 unknown
[    5.627452] EtherCAT: 1 master waiting for devices.
[    5.635705] ec_generic: EtherCAT master generic Ethernet device module 1.6.0-rc1 unknown
[    5.635714] EtherCAT: Accepting 1C:1B:0D:12:9F:8F as main device for master 0.
[    5.635726] ec_generic: Binding socket to interface 2 (enp1s0).
[    5.666467] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    5.666668] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.674399] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[    6.182096] IPv6: ADDRCONF(NETDEV_UP): enp1s0: link is not ready
[    6.183690] r8169 0000:01:00.0: firmware: failed to load rtl_nic/rtl8168g-2.fw (-2)
[    6.184341] r8169 0000:01:00.0: Direct firmware load for rtl_nic/rtl8168g-2.fw failed with error -2
[    6.184344] r8169 0000:01:00.0 enp1s0: unable to load firmware patch rtl_nic/rtl8168g-2.fw (-2)
[    6.184571] Generic PHY r8169-100:00: attached PHY driver [Generic PHY] (mii_bus:phy_addr=r8169-100:00, irq=IGNORE)
[    6.190351] EtherCAT 0: Link state of ecm0 changed to DOWN.
[    6.284799] IPv6: ADDRCONF(NETDEV_UP): enp1s0: link is not ready
[    6.317610] IPv6: ADDRCONF(NETDEV_UP): enx006f000126bb: link is not ready
[    6.319923] IPv6: ADDRCONF(NETDEV_UP): enx006f000126bb: link is not ready
[    6.668969] IPv6: ADDRCONF(NETDEV_CHANGE): enx006f000126bb: link becomes ready
[    6.677326] asix 1-8:1.0 enx006f000126bb: link up, 100Mbps, full-duplex, lpa 0xC5E1
[    6.977853] broken atomic modeset userspace detected, disabling atomic
[    7.917529] r8169 0000:01:00.0 enp1s0: Link is Up - 100Mbps/Full - flow control off
[    7.917548] IPv6: ADDRCONF(NETDEV_CHANGE): enp1s0: link becomes ready
[    7.922397] EtherCAT 0: Link state of ecm0 changed to UP.
[    7.930401] EtherCAT 0: 1 slave(s) responding on main device.
[    7.930406] EtherCAT 0: Slave states on main device: PREOP.
[    7.930502] EtherCAT 0: Scanning bus.
[    7.940800] EtherCAT 0: Bus scanning completed in 8 ms.
[    7.940803] EtherCAT 0: Using slave 0 as DC reference clock.
[    8.493519] fuse init (API version 7.27)
[   11.220067] rfkill: input handler disabled
[  260.551951] EtherCAT: Requesting master 0...
[  260.551953] EtherCAT: Successfully requested master 0.
[  260.552139] EtherCAT 0: Domain0: Logical address 0x00000000, 46 byte, expected working counter 3.
[  260.552141] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 46 byte, type LRW at 000000006b7f61bb.
[  260.552148] EtherCAT 0: Master thread exited.
[  260.552149] EtherCAT 0: Starting EtherCAT-OP thread.
[  260.552170] EtherCAT WARNING 0: 61 datagrams TIMED OUT!
[  260.811521] EtherCAT ERROR 0-0: SDO download 0x1C12:00 (1 bytes) aborted.
[  260.811525] EtherCAT ERROR 0-0: SDO abort message 0x06040041: "The object cannot be mapped into the PDO".
[  260.811526] EtherCAT WARNING 0-0: Failed to set number of assigned PDOs of SM2.
[  260.811527] EtherCAT WARNING 0-0: Currently assigned PDOs: (none). PDOs to assign: 0x1600
[  260.811529] EtherCAT WARNING 0-0: PDO configuration failed.
[  260.820520] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[  260.821519] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[  260.823519] EtherCAT 0-0: Acknowledged state PREOP.

As I can see from the info that the slave is refusing to change the state and I can't figure it out

If someone got this type of problem kindly help me out .

Thanks and Regards
Abhishek

Hi db1981,

After setting debug level to 1 using "ethercat debug 1" in terminal

I did dmesg and I got response which I have attached in text file below:


 


I can see some changes but cannot figure out the cause of error

Thanks and Regards
Abhishek

one or more register from your slave can not be mapped to pdo, because the slave doesn'T support this.

what type of slave is this?

please post output from "ethercat pdos"

Hi db1981,

Thanks for the reply,

Note: I have directly connected the servo drive to my PC without any Bus-Coupler like Bechkoff(EK 1100), etc...
Could this be causing any problems?

The response is below for given command.

Command:
ethercat pdos

Response:
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    6, ControlRegister 0x74, Enable 1
SM3: PhysAddr 0x1400, DefaultSize    6, ControlRegister 0x30, Enable 1
  TxPDO 0x1a01 "2nd Transmit PDO mapping"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""

Regards
Abhishek
 

you don't need EK1100 etc, you can connect the servo directly to the Ethernet Card.

If this above is realy the full pdo output from the slave, then something with the slaves sii eeprom is wrong.

please try "ethercat pdos" again after a fresh reboot, without trying to start linuxcnc.