EtherCAT Servo cannot set to OP state
22 Jan 2024 08:00 #291320
by lraja143
EtherCAT Servo cannot set to OP state was created by lraja143
Dear friends,
I am facing the issue in ethercat master implementation.
I have installed igh ethercat master.
I have tried to set the servo in op state using igh commands. But, the Servo cannot set to OP state.
Servo drive: veichi servo sd700.
I have get more information about this using gmesg command. It says "ERROR 0.0 timeout while setting state OP.
Kindly check and give me a suggestion /solution to solve this issue
I am facing the issue in ethercat master implementation.
I have installed igh ethercat master.
I have tried to set the servo in op state using igh commands. But, the Servo cannot set to OP state.
Servo drive: veichi servo sd700.
I have get more information about this using gmesg command. It says "ERROR 0.0 timeout while setting state OP.
Kindly check and give me a suggestion /solution to solve this issue
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31 Jan 2024 06:45 #292051
by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
Hi, did you solve the problem ? I have the same servodrive, I`ll check next week.
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31 Jan 2024 10:43 #292058
by foxington
Replied by foxington on topic EtherCAT Servo cannot set to OP state
try and let terminal output below...
ethercat pdos
ethercat cstruct
ethercat debug 1Please Log in or Create an account to join the conversation.
03 Feb 2024 04:56 #292278
by lraja143
Replied by lraja143 on topic EtherCAT Servo cannot set to OP state
Dear Stean, The problem is not solved. Kindly help me if you solved this issue
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03 Feb 2024 06:33 #292280
by lraja143
Replied by lraja143 on topic EtherCAT Servo cannot set to OP state
Dear Sir,
I have shared the terminal output as suggested by you. Kindly check and help me
"lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1602, 2, slave_0_pdo_entries + 0},
{0x1a02, 3, slave_0_pdo_entries + 2},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat debug 1
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep ethercat
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep EtherCAT
[ 180.830901] EtherCAT: Master driver 1.6.0-rc1 unknown
[ 180.831419] EtherCAT: 1 master waiting for devices.
[ 180.867495] ec_generic: EtherCAT master generic Ethernet device module 1.6.0-rc1 unknown
[ 180.867568] EtherCAT: Accepting DC:A6:32:28:79:61 as main device for master 0.
[ 180.884585] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 430.573013] EtherCAT 0: Link state of ecm0 changed to UP.
[ 430.582246] EtherCAT 0: 1 slave(s) responding on main device.
[ 430.582270] EtherCAT 0: Slave states on main device: INIT.
[ 430.582419] EtherCAT 0: Scanning bus.
[ 430.843757] EtherCAT 0: Bus scanning completed in 260 ms.
[ 430.843780] EtherCAT 0: Using slave 0 as DC reference clock.
[ 430.848691] EtherCAT 0: Slave states on main device: PREOP.
[ 531.164458] EtherCAT 0: Master debug level set to 1.
[ 678.455807] EtherCAT: Requesting master 0...
[ 678.455849] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 678.455859] EtherCAT: Successfully requested master 0.
[ 678.455931] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x0000000069c462d7)
[ 678.455946] EtherCAT DEBUG 0: Created domain 0.
[ 678.456348] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.456360] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00850104/0x01030507.
[ 678.456369] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 678.456875] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 0, dir = 2, watchdog_mode = 0)
[ 678.456895] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 0)
[ 678.456910] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 1, dir = 2, watchdog_mode = 0)
[ 678.456968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 1)
[ 678.456981] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 2, dir = 1, watchdog_mode = 0)
[ 678.456995] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 2)
[ 678.457016] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 2, pdo_index = 0x1602)
[ 678.457028] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602.
[ 678.457034] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1602)
[ 678.457065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457081] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457095] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 3, dir = 2, watchdog_mode = 0)
[ 678.457107] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 3)
[ 678.457167] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 3, pdo_index = 0x1A02)
[ 678.457178] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02.
[ 678.457185] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457237] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1A02)
[ 678.457262] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457279] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457294] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457467] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457495] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6040, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457509] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0.
[ 678.457522] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457538] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x60FF, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457552] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457568] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6041, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457577] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 6.
[ 678.457589] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457605] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6064, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457619] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457635] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x606C, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.458339] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000b5134dfa, mem = 0x0000000008bda562)
[ 678.458358] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x0000000069c462d7, send_cb = 0x00000000547b267b, receive_cb = 0x000000002a851c7b, cb_data = 0x0000000069c462d7)
[ 678.458366] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x0000000069c462d7)
[ 678.458379] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ 678.458386] EtherCAT 0: Domain0: Logical address 0x00000000, 16 byte, expected working counter 3.
[ 678.458395] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 16 byte, type LRW at 000000006890a4e7.
[ 678.458404] EtherCAT DEBUG 0: Stopping master thread.
[ 678.458583] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 678.458806] EtherCAT 0: Master thread exited.
[ 678.458823] EtherCAT DEBUG 0: FSM datagram is 00000000feeb28d1.
[ 678.458830] EtherCAT 0: Starting EtherCAT-OP thread.
[ 678.460757] EtherCAT DEBUG 0: mmap()
[ 678.460847] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 000000005554fe22
[ 678.469036] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[ 679.205026] EtherCAT DEBUG 0: Configuration changed.
[ 679.205057] EtherCAT DEBUG 0-0: Checking system time offset.
[ 679.305020] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[ 679.305050] EtherCAT DEBUG 0: Requesting OP...
[ 679.501127] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 679.501197] EtherCAT DEBUG 0-0: Configuring...
[ 679.649612] EtherCAT DEBUG 0-0: Now in INIT.
[ 679.649637] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 679.649644] EtherCAT DEBUG 0-0: Clearing mailbox check flag...
[ 679.749636] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 679.849590] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 679.899690] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 679.899735] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 679.899748] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 679.999602] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 680.149609] EtherCAT DEBUG 0-0: Now in PREOP.
[ 680.149637] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 680.199618] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1602.
[ 680.199642] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:00.
[ 680.199648] EtherCAT DEBUG 0-0: Upload request:
[ 680.199653] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00
[ 680.399623] EtherCAT DEBUG 0-0: Upload response:
[ 680.399645] EtherCAT DEBUG: 00 30 4F 02 16 00 02 00 00 00
[ 680.399688] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.399710] EtherCAT DEBUG: 02
[ 680.399721] EtherCAT DEBUG 0-0: 2 PDO entries mapped.
[ 680.399726] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:01.
[ 680.399733] EtherCAT DEBUG 0-0: Upload request:
[ 680.399737] EtherCAT DEBUG: 00 20 40 02 16 01 00 00 00 00
[ 680.599635] EtherCAT DEBUG 0-0: Upload response:
[ 680.599656] EtherCAT DEBUG: 00 30 43 02 16 01 10 00 40 60
[ 680.599699] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.599723] EtherCAT DEBUG: 10 00 40 60
[ 680.599746] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 680.599754] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:02.
[ 680.599760] EtherCAT DEBUG 0-0: Upload request:
[ 680.599764] EtherCAT DEBUG: 00 20 40 02 16 02 00 00 00 00
[ 680.799635] EtherCAT DEBUG 0-0: Upload response:
[ 680.799655] EtherCAT DEBUG: 00 30 43 02 16 02 20 00 FF 60
[ 680.799698] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.799722] EtherCAT DEBUG: 20 00 FF 60
[ 680.799744] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 680.799753] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602.
[ 680.799758] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x60FF:00/32. Entries to map: 0x6040:00/16 0x60FF:00/32
[ 680.799796] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 680.799802] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 680.799806] EtherCAT DEBUG: 00
[ 680.799818] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.799822] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00
[ 680.999693] EtherCAT DEBUG 0-0: Download response:
[ 680.999736] EtherCAT DEBUG: 00 30 60 02 16 00 00 00 00 00
[ 680.999827] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 680.999841] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01.
[ 680.999848] EtherCAT DEBUG: 10 00 40 60
[ 680.999870] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.999877] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60
[ 681.199690] EtherCAT DEBUG 0-0: Download response:
[ 681.199717] EtherCAT DEBUG: 00 30 60 02 16 01 10 00 40 60
[ 681.199763] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2.
[ 681.199812] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02.
[ 681.199822] EtherCAT DEBUG: 20 00 FF 60
[ 681.199844] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.199848] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60
[ 681.399652] EtherCAT DEBUG 0-0: Download response:
[ 681.399675] EtherCAT DEBUG: 00 30 60 02 16 02 20 00 FF 60
[ 681.399783] EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
[ 681.399789] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 681.399795] EtherCAT DEBUG: 02
[ 681.399806] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.399810] EtherCAT DEBUG: 00 20 2F 02 16 00 02 00 00 00
[ 681.599670] EtherCAT DEBUG 0-0: Download response:
[ 681.599691] EtherCAT DEBUG: 00 30 60 02 16 00 02 00 00 00
[ 681.599755] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1602.
[ 681.599762] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 681.599767] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1602
[ 681.599789] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 681.599795] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.599800] EtherCAT DEBUG: 00
[ 681.599811] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.599816] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 681.799689] EtherCAT DEBUG 0-0: Download response:
[ 681.799716] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[ 681.799796] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1.
[ 681.799804] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 681.799811] EtherCAT DEBUG: 02 16
[ 681.799825] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.799830] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00
[ 681.999681] EtherCAT DEBUG 0-0: Download response:
[ 681.999701] EtherCAT DEBUG: 00 30 60 12 1C 01 02 16 00 00
[ 681.999766] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 681.999774] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.999779] EtherCAT DEBUG: 01
[ 681.999790] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.999794] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 682.199998] EtherCAT DEBUG 0-0: Download response:
[ 682.200061] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[ 682.200145] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[ 682.200164] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A02.
[ 682.200170] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:00.
[ 682.200176] EtherCAT DEBUG 0-0: Upload request:
[ 682.200180] EtherCAT DEBUG: 00 20 40 02 1A 00 00 00 00 00
[ 682.399800] EtherCAT DEBUG 0-0: Upload response:
[ 682.399846] EtherCAT DEBUG: 00 30 4F 02 1A 00 03 00 00 00
[ 682.399898] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.399904] EtherCAT DEBUG: 03
[ 682.399962] EtherCAT DEBUG 0-0: 3 PDO entries mapped.
[ 682.399970] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:01.
[ 682.399977] EtherCAT DEBUG 0-0: Upload request:
[ 682.399981] EtherCAT DEBUG: 00 20 40 02 1A 01 00 00 00 00
[ 682.599826] EtherCAT DEBUG 0-0: Upload response:
[ 682.599873] EtherCAT DEBUG: 00 30 43 02 1A 01 10 00 41 60
[ 682.599923] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.599929] EtherCAT DEBUG: 10 00 41 60
[ 682.599999] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 682.600014] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:02.
[ 682.600021] EtherCAT DEBUG 0-0: Upload request:
[ 682.600025] EtherCAT DEBUG: 00 20 40 02 1A 02 00 00 00 00
[ 682.799765] EtherCAT DEBUG 0-0: Upload response:
[ 682.799795] EtherCAT DEBUG: 00 30 43 02 1A 02 20 00 64 60
[ 682.799841] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.799845] EtherCAT DEBUG: 20 00 64 60
[ 682.799898] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 682.799909] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:03.
[ 682.799915] EtherCAT DEBUG 0-0: Upload request:
[ 682.799919] EtherCAT DEBUG: 00 20 40 02 1A 03 00 00 00 00
[ 682.999740] EtherCAT DEBUG 0-0: Upload response:
[ 682.999761] EtherCAT DEBUG: 00 30 43 02 1A 03 20 00 6C 60
[ 682.999823] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.999828] EtherCAT DEBUG: 20 00 6C 60
[ 682.999849] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???".
[ 682.999857] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02.
[ 682.999862] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32
[ 682.999913] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 682.999918] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 682.999923] EtherCAT DEBUG: 00
[ 682.999934] EtherCAT DEBUG 0-0: Expedited download request:
[ 682.999939] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00
[ 683.199759] EtherCAT DEBUG 0-0: Download response:
[ 683.199795] EtherCAT DEBUG: 00 30 60 02 1A 00 00 00 00 00
[ 683.199844] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 683.199889] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01.
[ 683.199896] EtherCAT DEBUG: 10 00 41 60
[ 683.199917] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.199923] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60
[ 683.399749] EtherCAT DEBUG 0-0: Download response:
[ 683.399769] EtherCAT DEBUG: 00 30 60 02 1A 01 10 00 41 60
[ 683.399831] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[ 683.399840] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02.
[ 683.399845] EtherCAT DEBUG: 20 00 64 60
[ 683.399867] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.399871] EtherCAT DEBUG: 00 20 23 02 1A 02 20 00 64 60
[ 683.599762] EtherCAT DEBUG 0-0: Download response:
[ 683.599783] EtherCAT DEBUG: 00 30 60 02 1A 02 20 00 64 60
[ 683.599868] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[ 683.599877] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03.
[ 683.599882] EtherCAT DEBUG: 20 00 6C 60
[ 683.599902] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.599907] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 6C 60
[ 683.799876] EtherCAT DEBUG 0-0: Download response:
[ 683.799920] EtherCAT DEBUG: 00 30 60 02 1A 03 20 00 6C 60
[ 683.799969] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 683.799978] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 683.799984] EtherCAT DEBUG: 03
[ 683.800037] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.800044] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00
[ 683.999810] EtherCAT DEBUG 0-0: Download response:
[ 683.999846] EtherCAT DEBUG: 00 30 60 02 1A 00 03 00 00 00
[ 683.999901] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A02.
[ 683.999909] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 683.999914] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A02
[ 683.999988] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 683.999996] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.000002] EtherCAT DEBUG: 00
[ 684.000013] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.000019] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 684.199899] EtherCAT DEBUG 0-0: Download response:
[ 684.199952] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[ 684.200018] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1.
[ 684.200028] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 684.200078] EtherCAT DEBUG: 02 1A
[ 684.200096] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.200101] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00
[ 684.400258] EtherCAT DEBUG 0-0: Download response:
[ 684.400290] EtherCAT DEBUG: 00 30 60 13 1C 01 02 1A 00 00
[ 684.400339] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 684.400347] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.400354] EtherCAT DEBUG: 01
[ 684.400367] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.400372] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[ 684.700098] EtherCAT DEBUG 0-0: Download response:
[ 684.700119] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[ 684.700168] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 684.700184] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x64, En 1
[ 684.700191] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 10, Ctrl 0x20, En 1
[ 684.800044] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1100, SM2, Dir out
[ 684.800072] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 10, PhysAddr 0x1400, SM3, Dir in
[ 685.049798] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 685.100060] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 690.300338] EtherCAT ERROR 0-0: Timeout while setting state OP.
[ 690.405518] EtherCAT 0: Slave states on main device: SAFEOP.
[ 699.098638] EtherCAT 0: Releasing master...
[ 699.098661] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x0000000069c462d7)
[ 699.098670] EtherCAT DEBUG 0: Stopping master thread.
[ 699.098691] EtherCAT DEBUG 0: Master OP thread exiting...
[ 699.101684] EtherCAT 0: Master thread exited.
[ 699.101736] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 699.105202] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ 699.105234] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[ 699.105247] EtherCAT 0: Released.
[ 699.105303] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 699.105310] EtherCAT DEBUG: 0C 6C 00 00 00 00 10 00 00 00 00 00 00 00 00 00
[ 699.105376] EtherCAT DEBUG: 40 02 05 00 00 00 00 00 00 00 03 00
[ 699.105428] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ 699.105523] EtherCAT DEBUG 0: Datagram 00000000feeb28d1 already queued (skipping).
[ 699.117950] EtherCAT DEBUG 0-0: Changing state from SAFEOP to PREOP (forced).
[ 699.117976] EtherCAT DEBUG 0-0: Configuring...
[ 700.085883] EtherCAT WARNING: Datagram 00000000feeb28d1 (master-fsm) was SKIPPED 1 time.
[ 704.117853] EtherCAT ERROR 0-0: Timeout while setting state INIT.
"
I have shared the terminal output as suggested by you. Kindly check and help me
"lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1602, 2, slave_0_pdo_entries + 0},
{0x1a02, 3, slave_0_pdo_entries + 2},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat debug 1
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep ethercat
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep EtherCAT
[ 180.830901] EtherCAT: Master driver 1.6.0-rc1 unknown
[ 180.831419] EtherCAT: 1 master waiting for devices.
[ 180.867495] ec_generic: EtherCAT master generic Ethernet device module 1.6.0-rc1 unknown
[ 180.867568] EtherCAT: Accepting DC:A6:32:28:79:61 as main device for master 0.
[ 180.884585] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 430.573013] EtherCAT 0: Link state of ecm0 changed to UP.
[ 430.582246] EtherCAT 0: 1 slave(s) responding on main device.
[ 430.582270] EtherCAT 0: Slave states on main device: INIT.
[ 430.582419] EtherCAT 0: Scanning bus.
[ 430.843757] EtherCAT 0: Bus scanning completed in 260 ms.
[ 430.843780] EtherCAT 0: Using slave 0 as DC reference clock.
[ 430.848691] EtherCAT 0: Slave states on main device: PREOP.
[ 531.164458] EtherCAT 0: Master debug level set to 1.
[ 678.455807] EtherCAT: Requesting master 0...
[ 678.455849] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 678.455859] EtherCAT: Successfully requested master 0.
[ 678.455931] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x0000000069c462d7)
[ 678.455946] EtherCAT DEBUG 0: Created domain 0.
[ 678.456348] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.456360] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00850104/0x01030507.
[ 678.456369] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 678.456875] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 0, dir = 2, watchdog_mode = 0)
[ 678.456895] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 0)
[ 678.456910] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 1, dir = 2, watchdog_mode = 0)
[ 678.456968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 1)
[ 678.456981] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 2, dir = 1, watchdog_mode = 0)
[ 678.456995] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 2)
[ 678.457016] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 2, pdo_index = 0x1602)
[ 678.457028] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602.
[ 678.457034] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1602)
[ 678.457065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457081] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457095] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 3, dir = 2, watchdog_mode = 0)
[ 678.457107] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 3)
[ 678.457167] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 3, pdo_index = 0x1A02)
[ 678.457178] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02.
[ 678.457185] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457237] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1A02)
[ 678.457262] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457279] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457294] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457467] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457495] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6040, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457509] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0.
[ 678.457522] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457538] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x60FF, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457552] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457568] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6041, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457577] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 6.
[ 678.457589] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457605] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6064, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457619] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457635] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x606C, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.458339] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000b5134dfa, mem = 0x0000000008bda562)
[ 678.458358] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x0000000069c462d7, send_cb = 0x00000000547b267b, receive_cb = 0x000000002a851c7b, cb_data = 0x0000000069c462d7)
[ 678.458366] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x0000000069c462d7)
[ 678.458379] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ 678.458386] EtherCAT 0: Domain0: Logical address 0x00000000, 16 byte, expected working counter 3.
[ 678.458395] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 16 byte, type LRW at 000000006890a4e7.
[ 678.458404] EtherCAT DEBUG 0: Stopping master thread.
[ 678.458583] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 678.458806] EtherCAT 0: Master thread exited.
[ 678.458823] EtherCAT DEBUG 0: FSM datagram is 00000000feeb28d1.
[ 678.458830] EtherCAT 0: Starting EtherCAT-OP thread.
[ 678.460757] EtherCAT DEBUG 0: mmap()
[ 678.460847] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 000000005554fe22
[ 678.469036] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[ 679.205026] EtherCAT DEBUG 0: Configuration changed.
[ 679.205057] EtherCAT DEBUG 0-0: Checking system time offset.
[ 679.305020] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[ 679.305050] EtherCAT DEBUG 0: Requesting OP...
[ 679.501127] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 679.501197] EtherCAT DEBUG 0-0: Configuring...
[ 679.649612] EtherCAT DEBUG 0-0: Now in INIT.
[ 679.649637] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 679.649644] EtherCAT DEBUG 0-0: Clearing mailbox check flag...
[ 679.749636] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 679.849590] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 679.899690] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 679.899735] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 679.899748] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 679.999602] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 680.149609] EtherCAT DEBUG 0-0: Now in PREOP.
[ 680.149637] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 680.199618] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1602.
[ 680.199642] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:00.
[ 680.199648] EtherCAT DEBUG 0-0: Upload request:
[ 680.199653] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00
[ 680.399623] EtherCAT DEBUG 0-0: Upload response:
[ 680.399645] EtherCAT DEBUG: 00 30 4F 02 16 00 02 00 00 00
[ 680.399688] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.399710] EtherCAT DEBUG: 02
[ 680.399721] EtherCAT DEBUG 0-0: 2 PDO entries mapped.
[ 680.399726] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:01.
[ 680.399733] EtherCAT DEBUG 0-0: Upload request:
[ 680.399737] EtherCAT DEBUG: 00 20 40 02 16 01 00 00 00 00
[ 680.599635] EtherCAT DEBUG 0-0: Upload response:
[ 680.599656] EtherCAT DEBUG: 00 30 43 02 16 01 10 00 40 60
[ 680.599699] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.599723] EtherCAT DEBUG: 10 00 40 60
[ 680.599746] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 680.599754] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:02.
[ 680.599760] EtherCAT DEBUG 0-0: Upload request:
[ 680.599764] EtherCAT DEBUG: 00 20 40 02 16 02 00 00 00 00
[ 680.799635] EtherCAT DEBUG 0-0: Upload response:
[ 680.799655] EtherCAT DEBUG: 00 30 43 02 16 02 20 00 FF 60
[ 680.799698] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.799722] EtherCAT DEBUG: 20 00 FF 60
[ 680.799744] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 680.799753] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602.
[ 680.799758] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x60FF:00/32. Entries to map: 0x6040:00/16 0x60FF:00/32
[ 680.799796] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 680.799802] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 680.799806] EtherCAT DEBUG: 00
[ 680.799818] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.799822] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00
[ 680.999693] EtherCAT DEBUG 0-0: Download response:
[ 680.999736] EtherCAT DEBUG: 00 30 60 02 16 00 00 00 00 00
[ 680.999827] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 680.999841] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01.
[ 680.999848] EtherCAT DEBUG: 10 00 40 60
[ 680.999870] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.999877] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60
[ 681.199690] EtherCAT DEBUG 0-0: Download response:
[ 681.199717] EtherCAT DEBUG: 00 30 60 02 16 01 10 00 40 60
[ 681.199763] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2.
[ 681.199812] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02.
[ 681.199822] EtherCAT DEBUG: 20 00 FF 60
[ 681.199844] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.199848] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60
[ 681.399652] EtherCAT DEBUG 0-0: Download response:
[ 681.399675] EtherCAT DEBUG: 00 30 60 02 16 02 20 00 FF 60
[ 681.399783] EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
[ 681.399789] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 681.399795] EtherCAT DEBUG: 02
[ 681.399806] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.399810] EtherCAT DEBUG: 00 20 2F 02 16 00 02 00 00 00
[ 681.599670] EtherCAT DEBUG 0-0: Download response:
[ 681.599691] EtherCAT DEBUG: 00 30 60 02 16 00 02 00 00 00
[ 681.599755] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1602.
[ 681.599762] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 681.599767] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1602
[ 681.599789] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 681.599795] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.599800] EtherCAT DEBUG: 00
[ 681.599811] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.599816] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 681.799689] EtherCAT DEBUG 0-0: Download response:
[ 681.799716] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[ 681.799796] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1.
[ 681.799804] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 681.799811] EtherCAT DEBUG: 02 16
[ 681.799825] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.799830] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00
[ 681.999681] EtherCAT DEBUG 0-0: Download response:
[ 681.999701] EtherCAT DEBUG: 00 30 60 12 1C 01 02 16 00 00
[ 681.999766] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 681.999774] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.999779] EtherCAT DEBUG: 01
[ 681.999790] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.999794] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 682.199998] EtherCAT DEBUG 0-0: Download response:
[ 682.200061] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[ 682.200145] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[ 682.200164] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A02.
[ 682.200170] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:00.
[ 682.200176] EtherCAT DEBUG 0-0: Upload request:
[ 682.200180] EtherCAT DEBUG: 00 20 40 02 1A 00 00 00 00 00
[ 682.399800] EtherCAT DEBUG 0-0: Upload response:
[ 682.399846] EtherCAT DEBUG: 00 30 4F 02 1A 00 03 00 00 00
[ 682.399898] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.399904] EtherCAT DEBUG: 03
[ 682.399962] EtherCAT DEBUG 0-0: 3 PDO entries mapped.
[ 682.399970] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:01.
[ 682.399977] EtherCAT DEBUG 0-0: Upload request:
[ 682.399981] EtherCAT DEBUG: 00 20 40 02 1A 01 00 00 00 00
[ 682.599826] EtherCAT DEBUG 0-0: Upload response:
[ 682.599873] EtherCAT DEBUG: 00 30 43 02 1A 01 10 00 41 60
[ 682.599923] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.599929] EtherCAT DEBUG: 10 00 41 60
[ 682.599999] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 682.600014] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:02.
[ 682.600021] EtherCAT DEBUG 0-0: Upload request:
[ 682.600025] EtherCAT DEBUG: 00 20 40 02 1A 02 00 00 00 00
[ 682.799765] EtherCAT DEBUG 0-0: Upload response:
[ 682.799795] EtherCAT DEBUG: 00 30 43 02 1A 02 20 00 64 60
[ 682.799841] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.799845] EtherCAT DEBUG: 20 00 64 60
[ 682.799898] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 682.799909] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:03.
[ 682.799915] EtherCAT DEBUG 0-0: Upload request:
[ 682.799919] EtherCAT DEBUG: 00 20 40 02 1A 03 00 00 00 00
[ 682.999740] EtherCAT DEBUG 0-0: Upload response:
[ 682.999761] EtherCAT DEBUG: 00 30 43 02 1A 03 20 00 6C 60
[ 682.999823] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.999828] EtherCAT DEBUG: 20 00 6C 60
[ 682.999849] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???".
[ 682.999857] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02.
[ 682.999862] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32
[ 682.999913] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 682.999918] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 682.999923] EtherCAT DEBUG: 00
[ 682.999934] EtherCAT DEBUG 0-0: Expedited download request:
[ 682.999939] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00
[ 683.199759] EtherCAT DEBUG 0-0: Download response:
[ 683.199795] EtherCAT DEBUG: 00 30 60 02 1A 00 00 00 00 00
[ 683.199844] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 683.199889] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01.
[ 683.199896] EtherCAT DEBUG: 10 00 41 60
[ 683.199917] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.199923] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60
[ 683.399749] EtherCAT DEBUG 0-0: Download response:
[ 683.399769] EtherCAT DEBUG: 00 30 60 02 1A 01 10 00 41 60
[ 683.399831] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[ 683.399840] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02.
[ 683.399845] EtherCAT DEBUG: 20 00 64 60
[ 683.399867] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.399871] EtherCAT DEBUG: 00 20 23 02 1A 02 20 00 64 60
[ 683.599762] EtherCAT DEBUG 0-0: Download response:
[ 683.599783] EtherCAT DEBUG: 00 30 60 02 1A 02 20 00 64 60
[ 683.599868] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[ 683.599877] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03.
[ 683.599882] EtherCAT DEBUG: 20 00 6C 60
[ 683.599902] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.599907] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 6C 60
[ 683.799876] EtherCAT DEBUG 0-0: Download response:
[ 683.799920] EtherCAT DEBUG: 00 30 60 02 1A 03 20 00 6C 60
[ 683.799969] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 683.799978] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 683.799984] EtherCAT DEBUG: 03
[ 683.800037] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.800044] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00
[ 683.999810] EtherCAT DEBUG 0-0: Download response:
[ 683.999846] EtherCAT DEBUG: 00 30 60 02 1A 00 03 00 00 00
[ 683.999901] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A02.
[ 683.999909] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 683.999914] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A02
[ 683.999988] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 683.999996] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.000002] EtherCAT DEBUG: 00
[ 684.000013] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.000019] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 684.199899] EtherCAT DEBUG 0-0: Download response:
[ 684.199952] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[ 684.200018] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1.
[ 684.200028] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 684.200078] EtherCAT DEBUG: 02 1A
[ 684.200096] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.200101] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00
[ 684.400258] EtherCAT DEBUG 0-0: Download response:
[ 684.400290] EtherCAT DEBUG: 00 30 60 13 1C 01 02 1A 00 00
[ 684.400339] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 684.400347] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.400354] EtherCAT DEBUG: 01
[ 684.400367] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.400372] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[ 684.700098] EtherCAT DEBUG 0-0: Download response:
[ 684.700119] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[ 684.700168] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 684.700184] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x64, En 1
[ 684.700191] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 10, Ctrl 0x20, En 1
[ 684.800044] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1100, SM2, Dir out
[ 684.800072] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 10, PhysAddr 0x1400, SM3, Dir in
[ 685.049798] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 685.100060] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 690.300338] EtherCAT ERROR 0-0: Timeout while setting state OP.
[ 690.405518] EtherCAT 0: Slave states on main device: SAFEOP.
[ 699.098638] EtherCAT 0: Releasing master...
[ 699.098661] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x0000000069c462d7)
[ 699.098670] EtherCAT DEBUG 0: Stopping master thread.
[ 699.098691] EtherCAT DEBUG 0: Master OP thread exiting...
[ 699.101684] EtherCAT 0: Master thread exited.
[ 699.101736] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 699.105202] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ 699.105234] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[ 699.105247] EtherCAT 0: Released.
[ 699.105303] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 699.105310] EtherCAT DEBUG: 0C 6C 00 00 00 00 10 00 00 00 00 00 00 00 00 00
[ 699.105376] EtherCAT DEBUG: 40 02 05 00 00 00 00 00 00 00 03 00
[ 699.105428] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ 699.105523] EtherCAT DEBUG 0: Datagram 00000000feeb28d1 already queued (skipping).
[ 699.117950] EtherCAT DEBUG 0-0: Changing state from SAFEOP to PREOP (forced).
[ 699.117976] EtherCAT DEBUG 0-0: Configuring...
[ 700.085883] EtherCAT WARNING: Datagram 00000000feeb28d1 (master-fsm) was SKIPPED 1 time.
[ 704.117853] EtherCAT ERROR 0-0: Timeout while setting state INIT.
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03 Feb 2024 10:03 #292289
by tommylight
Replied by tommylight on topic EtherCAT Servo cannot set to OP state
Duplicate post deleted.
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03 Feb 2024 10:24 #292296
by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
please send all configuration with xml file, I`ll try to check it today
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03 Feb 2024 20:36 #292328
by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
I checked working, you have to check "vid=XXXXXX" and pid="XXXXXX" number in XML file, must match the servodrive ID`s.
command ethercat debug 0 show you more informations
command ethercat debug 0 show you more informations
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03 Feb 2024 20:50 #292330
by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
or XML file is wrong, send to check
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08 Feb 2024 05:30 #292822
by foxington
Replied by foxington on topic EtherCAT Servo cannot set to OP state
I think you should fill up your existing .xml file with correct stuff from your terminal
take care about shape and size of product and vendor IDs...
other stuff like cyclic PDOs you are able to create from some existing .xml samples from this forum... lets to search ethercat-conf.xml and take some time for study ... you have to learn what are what and what should be where... its easy
something like, but I can not tell you if it is working..
take care about shape and size of product and vendor IDs...
* Vendor ID: 0x00850104
* Product code: 0x01030507other stuff like cyclic PDOs you are able to create from some existing .xml samples from this forum... lets to search ethercat-conf.xml and take some time for study ... you have to learn what are what and what should be where... its easy
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};something like, but I can not tell you if it is working..
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="0x00850104" pid=" 0x01030507" name="stuff" configPdos="true">
<!-- Set OpMode to Cyclic Synchronous Velocity -->
<sdoConfig idx="6060" subIdx="00">
<sdoDataRaw data="09 00"/>
</sdoConfig>
<!-- Set Cycle Time -->
<sdoConfig idx="60c2" subIdx="01">
<sdoDataRaw data="01 00"/>
</sdoConfig>
<!-- Set Cycle exp = (-3) == 10^(-3) -->
<sdoConfig idx="60a2" subIdx="02">
<sdoDataRaw data="fd 00"/>
</sdoConfig>
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1602">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="target-controlword" halType="u32"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a02">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="actual-statusword" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actaul-position-si" halType="s32"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
</slave>
</master>
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