Ethercat PDO/SDO Configuration error

scottlaird wrote:

When did it last work, and what's changed since then? Did you upgrade the linuxcnc-ethercat software since it last worked? Have the XML files changed?

Can you exit LinuxCNC, run `sudo dmesg -C`, restart LinuxCNC, and then share what `sudo dmesg` says?
 
Hi thanks for the quick reply, i got the output of sudo dmesg -C this is the section with the Ethercat output, i put the complete .txt as attachment.

The last time it worked was in 2021 and yes since then a new computer/hardware was needed and a complete fresh Linuxcnc/ethercat install was done, but the machine configuration is nearly the same.

But as i got my scaling at that time not tuned to move the right distances i  discarded the EtherCAT COE Setup and Configured the Drives with EtherCAT SOE, but this was never reliable enough. and had  often bus failures.

I´ve updated the Drives Firmware today to FWA-INDRV_-MPB-21V16-D5_FD
and updated the EtherCAT Master to EtherCAT: Master driver 1.5.2 1.5.2.429.g3079ece-1+378.1

  - Sven

Warning: Spoiler!

[    6.165874] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 1.5.2.413.g1ace2f4-1+320.1
[    6.165888] EtherCAT: Accepting 6C:4B:90:CD:99:1D as main device for master 0.
[    6.165900] ec_generic: Binding socket to interface 2 (enp3s0f0).
[    6.200887] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    6.201038] EtherCAT 0: Link state of ecm0 changed to UP.
[    6.211331] mt76x2u 2-3.1:1.0: ASIC revision: 76120044
[    6.264152] usb 2-3.3: 3:1: cannot get freq at ep 0x86
[    6.285462] mt76x2u 2-3.1:1.0: firmware: direct-loading firmware mt7662_rom_patch.bin
[    6.285470] mt76x2u 2-3.1:1.0: ROM patch build: 20141115060606a
[    6.371376] process '/usr/bin/anydesk' started with executable stack
[    6.398803] NET: Registered PF_QIPCRTR protocol family
[    6.426185] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    6.426188] Bluetooth: BNEP filters: protocol multicast
[    6.426193] Bluetooth: BNEP socket layer initialized
[    6.469502] mt76x2u 2-3.1:1.0: firmware: direct-loading firmware mt7662.bin
[    6.469510] mt76x2u 2-3.1:1.0: Firmware Version: 0.0.00
[    6.469512] mt76x2u 2-3.1:1.0: Build: 1
[    6.469514] mt76x2u 2-3.1:1.0: Build Time: 201507311614____
[    6.520415] usb 2-3.3: 3:2: cannot get freq at ep 0x86
[    6.606950] Bluetooth: hci0: RTL: fw version 0xffb8abd3
[    6.743166] Bluetooth: MGMT ver 1.22
[    6.747051] NET: Registered PF_ALG protocol family
[    6.776286] usb 2-3.3: 3:3: cannot get freq at ep 0x86
[    6.844365] EtherCAT 0: Link state of ecm0 changed to DOWN.
[    6.872371] Generic FE-GE Realtek PHY r8169-0-300:00: attached PHY driver (mii_bus:phy_addr=r8169-0-300:00, irq=MAC)
[    7.072623] r8169 0000:03:00.0 enp3s0f0: rtl_ep_ocp_read_cond == 0 (loop: 10, delay: 10000).
[    7.220695] r8169 0000:03:00.0 enp3s0f0: Link is Down
[    7.842571] usb 2-3.3: Warning! Unlikely big volume range (=3896), cval->res is probably wrong.
[    7.842575] usb 2-3.3: [7] FU [Mic Capture Volume] ch = 1, val = 200/4096/1
[    7.842761] usbcore: registered new interface driver snd-usb-audio
[    7.847757] usb 2-3.3: Found UVC 1.00 device FHD Camera Microphone (1bcf:28c4)
[    7.905787] usb 2-3.3: Failed to query (GET_INFO) UVC control 12 on unit 1: -32 (exp. 1).
[    7.916409] usb 2-3.3: Failed to query (GET_INFO) UVC control 14 on unit 1: -32 (exp. 1).
[    7.943404] input: FHD Camera Microphone: FHD Came as /devices/pci0000:00/0000:00:08.1/0000:04:00.3/usb2/2-3/2-3.3/2-3.3:1.0/input/input17
[    7.943482] usbcore: registered new interface driver uvcvideo
[    8.219868] ieee80211 phy1: Selected rate control algorithm 'minstrel_ht'
[    8.220646] usbcore: registered new interface driver mt76x2u
[    8.562019] mt76x2u 2-3.1:1.0 wlxe84e0640c5e3: renamed from wlan0
[    8.612306] bridge: filtering via arp/ip/ip6tables is no longer available by default. Update your scripts to load br_netfilter if you need this.
[    8.809203] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[    8.816390] EtherCAT 0: Link state of ecm0 changed to UP.
[    9.203941] IPv6: ADDRCONF(NETDEV_CHANGE): enp3s0f0: link becomes ready
[    9.220372] EtherCAT 0: 1 slave(s) responding on main device.
[    9.220378] EtherCAT 0: Slave states on main device: INIT.
[    9.220451] EtherCAT 0: Scanning bus.
[    9.291893] Bluetooth: RFCOMM TTY layer initialized
[    9.291914] Bluetooth: RFCOMM socket layer initialized
[    9.291942] Bluetooth: RFCOMM ver 1.11
[    9.659920] usb 2-3.3: Failed to query (GET_DEF) UVC control 12 on unit 1: -32 (exp. 3).
[    9.667150] usb 2-3.3: Failed to query (GET_DEF) UVC control 12 on unit 1: -32 (exp. 3).
[    9.916655] EtherCAT 0: Bus scanning completed in 696 ms.
[    9.916663] EtherCAT 0: Using slave 0 as DC reference clock.
[    9.916666] EtherCAT ERROR 0: Failed to calculate bus topology.
[    9.916668] EtherCAT 0: Starting EoE thread.
[    9.928362] EtherCAT 0: Slave states on main device: PREOP.
[   10.540366] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[   10.540394] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[   10.542365] EtherCAT 0-0: Acknowledged state PREOP.
[   10.543287] eoe: port 1(eoe0a20) entered blocking state
[   10.543308] eoe: port 1(eoe0a20) entered disabled state
[   10.543385] device eoe0a20 entered promiscuous mode
[   10.543430] eoe: port 1(eoe0a20) entered blocking state
[   10.543432] eoe: port 1(eoe0a20) entered listening state
[   14.616032] wlp2s0: authenticate with c8:0e:14:1c:0b:0f
[   15.117937] wlp2s0: send auth to c8:0e:14:1c:0b:0f (try 1/3)
[   15.437201] wlp2s0: authenticate with c8:0e:14:1c:0b:0f
[   15.437250] wlp2s0: send auth to c8:0e:14:1c:0b:0f (try 1/3)
[   15.562189] wlp2s0: authenticated
[   15.564387] wlp2s0: associate with c8:0e:14:1c:0b:0f (try 1/3)
[   15.568698] wlp2s0: RX AssocResp from c8:0e:14:1c:0b:0f (capab=0x1511 status=0 aid=4)
[   15.569018] wlp2s0: associated
[   15.622552] wlp2s0: Limiting TX power to 20 (23 - 3) dBm as advertised by c8:0e:14:1c:0b:0f
[   15.760499] IPv6: ADDRCONF(NETDEV_CHANGE): wlp2s0: link becomes ready
[   15.962540] usb 2-3.3: Failed to query (GET_DEF) UVC control 12 on unit 1: -32 (exp. 3).
[   15.976291] usb 2-3.3: Failed to query (GET_DEF) UVC control 12 on unit 1: -32 (exp. 3).
[   19.668220] wlxe84e0640c5e3: authenticate with c8:0e:14:1c:0b:0f
[   19.758208] wlxe84e0640c5e3: send auth to c8:0e:14:1c:0b:0f (try 1/3)
[   20.061034] wlxe84e0640c5e3: authenticate with c8:0e:14:1c:0b:0f
[   20.061040] wlxe84e0640c5e3: send auth to c8:0e:14:1c:0b:0f (try 1/3)
[   20.201663] wlxe84e0640c5e3: authenticated
[   20.204416] wlxe84e0640c5e3: associate with c8:0e:14:1c:0b:0f (try 1/3)
[   20.207717] wlxe84e0640c5e3: RX AssocResp from c8:0e:14:1c:0b:0f (capab=0x1511 status=0 aid=5)
[   20.225449] wlxe84e0640c5e3: associated
[   20.230635] wlxe84e0640c5e3: Limiting TX power to 20 (23 - 3) dBm as advertised by c8:0e:14:1c:0b:0f
[   20.316481] IPv6: ADDRCONF(NETDEV_CHANGE): wlxe84e0640c5e3: link becomes ready
[   25.632359] eoe: port 1(eoe0a20) entered learning state
[   40.740361] eoe: port 1(eoe0a20) entered forwarding state
[   40.740365] eoe: topology change detected, propagating
[   40.740420] IPv6: ADDRCONF(NETDEV_CHANGE): eoe: link becomes ready
[   53.324226] EtherCAT: Requesting master 0...
[   53.324230] EtherCAT: Successfully requested master 0.
[   53.351403] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.363206] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0a20.
[   53.363255] EtherCAT ERROR 0-0: Reception of CoE upload response failed: No response.
[   53.363258] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries.
[   53.363259] EtherCAT WARNING 0-0: Failed to read PDO entries for PDO 0x1600.
[   53.363261] EtherCAT ERROR 0-0: Reception of CoE download response failed: No response.
[   53.363263] EtherCAT ERROR 0-0: Failed to process SDO request.
[   53.374491] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.374830] EtherCAT ERROR 0-0: Reception of CoE download response failed: No response.
[   53.374833] EtherCAT ERROR 0-0: Failed to process SDO request.
[   53.379385] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.385626] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.386832] EtherCAT ERROR 0-0: Received unknown response while uploading SDO 0x1A00:00.
[   53.386834] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00 
[   53.386838] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries.
[   53.386839] EtherCAT WARNING 0-0: Failed to read PDO entries for PDO 0x1A00.
[   53.409295] EtherCAT ERROR 0-0: SDO download 0x1A00:00 (1 bytes) aborted.
[   53.409299] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[   53.409301] EtherCAT ERROR 0-0: Failed to process SDO request.
[   53.413694] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.419305] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.425049] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[   53.425093] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[   53.426826] EtherCAT WARNING 0-0: Aborting SDO request, slave has error flag set.
[   53.427054] EtherCAT 0-0: Acknowledged state PREOP.
[   53.504378] EtherCAT ERROR 0-0: SDO download 0x1600:00 (1 bytes) aborted.
[   53.504382] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[   53.504383] EtherCAT ERROR 0-0: Failed to process SDO request.
[   53.548715] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[   53.548718] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW.
[   53.548728] EtherCAT 0: Master thread exited.
[   53.548731] EtherCAT 0: Stopping EoE thread.
[   53.548766] EtherCAT 0: EoE thread exited.
[   53.548766] EtherCAT 0: Starting EoE thread.
[   53.548810] EtherCAT 0: Starting EtherCAT-OP thread.
[   53.548832] EtherCAT WARNING 0: 126 datagrams TIMED OUT!
[   53.700957] EtherCAT WARNING 0-0: No sending response for eoe0a20 after 100 tries.
[   53.744415] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[   53.744420] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[   53.780421] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[   53.780426] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[   53.828417] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[   53.828421] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[   55.356040] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[   55.356382] EtherCAT ERROR 0-0: AL status message 0x0001: "Unspecified error".
[   55.362030] EtherCAT 0-0: Acknowledged state PREOP.
[   57.560367] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   58.564366] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   64.584368] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[   68.600367] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   69.604367] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[   69.960366] usb 2-3.2.4: new high-speed USB device number 10 using xhci_hcd
[   70.174835] usb 2-3.2.4: New USB device found, idVendor=0781, idProduct=5567, bcdDevice= 1.00
[   70.174840] usb 2-3.2.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[   70.174842] usb 2-3.2.4: Product: Cruzer Blade
[   70.174843] usb 2-3.2.4: Manufacturer: SanDisk
[   70.174844] usb 2-3.2.4: SerialNumber: 04020123060821233409
[   70.201293] usb-storage 2-3.2.4:1.0: USB Mass Storage device detected
[   70.201451] scsi host1: usb-storage 2-3.2.4:1.0
[   70.201544] usbcore: registered new interface driver usb-storage
[   70.205350] usbcore: registered new interface driver uas
[   71.237429] scsi 1:0:0:0: Direct-Access     SanDisk  Cruzer Blade     1.00 PQ: 0 ANSI: 6
[   71.243122] scsi 1:0:0:0: Attached scsi generic sg0 type 0
[   71.246886] sd 1:0:0:0: [sda] 60088320 512-byte logical blocks: (30.8 GB/28.7 GiB)
[   71.248012] sd 1:0:0:0: [sda] Write Protect is off
[   71.248015] sd 1:0:0:0: [sda] Mode Sense: 43 00 00 00
[   71.248389] sd 1:0:0:0: [sda] Write cache: disabled, read cache: enabled, doesn't support DPO or FUA
[   71.271733]  sda: sda1
[   71.271880] sd 1:0:0:0: [sda] Attached SCSI removable disk
[   71.487236] FAT-fs (sda1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[   72.612369] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[   73.616361] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[   74.616359] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   76.624361] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   78.632364] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[   85.232552] wlp2s0: disconnect from AP c8:0e:14:1c:0b:0f for new auth to c8:0e:14:1c:0b:0e
[   85.324940] wlp2s0: authenticate with c8:0e:14:1c:0b:0e
[   85.324970] wlp2s0: 80 MHz not supported, disabling VHT
[   85.845912] wlp2s0: send auth to c8:0e:14:1c:0b:0e (try 1/3)
[   86.168173] wlp2s0: authenticate with c8:0e:14:1c:0b:0e
[   86.168220] wlp2s0: send auth to c8:0e:14:1c:0b:0e (try 1/3)
[   86.288629] wlp2s0: authenticated
[   86.292361] wlp2s0: associate with c8:0e:14:1c:0b:0e (try 1/3)
[   86.299133] wlp2s0: RX ReassocResp from c8:0e:14:1c:0b:0e (capab=0x1031 status=0 aid=9)
[   86.299331] wlp2s0: associated
[   86.990720] wlp2s0: Limiting TX power to 20 (20 - 0) dBm as advertised by c8:0e:14:1c:0b:0e

 

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