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Etherrcat Master does not start automatically

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03 Sep 2024 08:32 #309270 by Bouni
Etherrcat Master does not start automatically was created by Bouni
Hi,

a bit more than a year ago I got linuxcnc + ethercat running on a Beckhoff CX2040, back then version 2.8.4 and everything built from source (details in my blog post )

For various reasons I sat the project aside. Last Friday I finally started to work at it agiain. I was astonished to see that its now possible to simply install everything via apt without the need to build it from source.

So I grabed a new CF card and installed the latest iso. a year a go I had to build the ccat driver from source as well but now its bunled with the ethercat master. I simply had to enable it in /etc/ethercat.conf

After a bit of trial and error eveything works as expected excpet for one last thing: If I start the CX2040 there is no /dev/EtherCAT

I can't find anything suspicious:
sudo systemctl status ethercat.service

● ethercat.service - EtherCAT Master Kernel Modules
     Loaded: loaded (/lib/systemd/system/ethercat.service; enabled; preset: enabled)
     Active: active (exited) since Tue 2024-09-03 04:00:40 EDT; 24min ago
    Process: 528 ExecStart=/usr/sbin/ethercatctl start (code=exited, status=0/SUCCESS)
   Main PID: 528 (code=exited, status=0/SUCCESS)
        CPU: 21ms

Sep 03 04:00:40 cx2040-lcec systemd[1]: Starting ethercat.service - EtherCAT Master Kernel Modules...
Sep 03 04:00:40 cx2040-lcec systemd[1]: Finished ethercat.service - EtherCAT Master Kernel Modules.
sudo dmesg | grep -E 'ec_|eth0|EtherCAT'

[    1.848464] e1000e 0000:02:00.0 eth0: (PCI Express:2.5GT/s:Width x1) 00:01:05:25:a9:c2
[    1.848468] e1000e 0000:02:00.0 eth0: Intel(R) PRO/1000 Network Connection
[    1.848625] e1000e 0000:02:00.0 eth0: MAC: 3, PHY: 8, PBA No: FFFFFF-0FF
[    2.330142] e1000e 0000:02:00.0 enp2s0: renamed from eth0
[    3.633351] ec_master: loading out-of-tree module taints kernel.
[    3.633620] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[    3.652282] EtherCAT: Master driver 1.6.1 1.6.1
[    3.652304] EtherCAT: 0 masters waiting for devices.
[    3.660096] ec_ccat: DMA0 mem initialized
[    3.660111] ec_ccat: DMA1 mem initialized
[    3.660484] ec_ccat: registered eth0 as network device.
[    3.660600] ec_ccat: registered ccat_update0.
[    3.660657] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000
[    3.660738] ec_ccat: registered ccat_sram0.
[    5.430826] eth0: NIC Link is Up
[    5.430996] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready

If I however do a sudo systemctl restart ethercat.service the master starts and works as expected.

The output of sudo systemctl status ethercat.service stays exactly the same.

dmesg gives a bit more:
sudo dmesg | grep -E 'ec_|eth0|EtherCAT'

[    1.848464] e1000e 0000:02:00.0 eth0: (PCI Express:2.5GT/s:Width x1) 00:01:05:25:a9:c2
[    1.848468] e1000e 0000:02:00.0 eth0: Intel(R) PRO/1000 Network Connection
[    1.848625] e1000e 0000:02:00.0 eth0: MAC: 3, PHY: 8, PBA No: FFFFFF-0FF
[    2.330142] e1000e 0000:02:00.0 enp2s0: renamed from eth0
[    3.633351] ec_master: loading out-of-tree module taints kernel.
[    3.633620] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[    3.652282] EtherCAT: Master driver 1.6.1 1.6.1
[    3.652304] EtherCAT: 0 masters waiting for devices.
[    3.660096] ec_ccat: DMA0 mem initialized
[    3.660111] ec_ccat: DMA1 mem initialized
[    3.660484] ec_ccat: registered eth0 as network device.
[    3.660600] ec_ccat: registered ccat_update0.
[    3.660657] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000
[    3.660738] ec_ccat: registered ccat_sram0.
[    5.430826] eth0: NIC Link is Up
[    5.430996] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 1825.385150] EtherCAT: Master module cleaned up.
[ 1826.509197] EtherCAT: Master driver 1.6.1 1.6.1
[ 1826.509424] EtherCAT: 1 master waiting for devices.
[ 1826.518490] ec_ccat: DMA0 mem initialized
[ 1826.518506] ec_ccat: DMA1 mem initialized
[ 1826.518519] EtherCAT: Accepting 00:01:05:1E:6B:8E as main device for master 0.
[ 1826.518522] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 1826.518761] EtherCAT 0: Link state of ecm0 changed to UP.
[ 1826.518925] ec_ccat: registered ccat_update0.
[ 1826.518964] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000
[ 1826.519688] ec_ccat: registered ccat_sram0.
[ 1826.526190] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 1826.526232] EtherCAT 0: 9 slave(s) responding on main device.
[ 1826.526234] EtherCAT 0: Slave states on main device: PREOP.
[ 1826.526284] EtherCAT 0: Scanning bus.
[ 1827.763458] EtherCAT 0: Bus scanning completed in 1236 ms.
[ 1827.763462] EtherCAT 0: Using slave 0 as DC reference clock.

Does anybody know what stops the master from starting automatically?

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03 Sep 2024 13:07 #309286 by scottlaird
Replied by scottlaird on topic Etherrcat Master does not start automatically
Try `sudo systemctl enable ethercat.service`. That should tell it to start automatically on boot. I'm not sure why that wasn't set up on install, but it sounds like it'll fix the problem.

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04 Sep 2024 03:23 #309324 by rodw
Replied by rodw on topic Etherrcat Master does not start automatically
I think fom memory you need to set a udev rule for it to persist on a restart. Its covered in the sticky.

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04 Sep 2024 04:53 #309327 by Bouni
Replied by Bouni on topic Etherrcat Master does not start automatically
The service is already enabled:
sudo systemctl status ethercat.service
[sudo] password for user:
● ethercat.service - EtherCAT Master Kernel Modules
     Loaded: loaded (/lib/systemd/system/ethercat.service; enabled; preset: enabled)
     Active: active (exited) since Tue 2024-09-03 08:50:22 EDT; 15h ago
    Process: 3800 ExecStart=/usr/sbin/ethercatctl start (code=exited, status=0/SUCCESS)
   Main PID: 3800 (code=exited, status=0/SUCCESS)
        CPU: 46ms

Sep 03 08:50:22 cx2040-lcec systemd[1]: Starting ethercat.service - EtherCAT Master Kernel Modules...
Sep 03 08:50:22 cx2040-lcec systemd[1]: Finished ethercat.service - EtherCAT Master Kernel Modules.

and the udev rule is set:
cat /etc/udev/rules.d/99-ethercat.rules
KERNEL=="EtherCAT[0-9]", MODE="0777"

I have a feeling that its more like a timing issue or has something to do with the IPV6 message in the dmesg logs:
[    5.551029] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready

If I do an ip a right after the start of the system I geth this output:
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host noprefixroute
       valid_lft forever preferred_lft forever
2: enp2s0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc fq_codel state DOWN group default qlen 1000
    link/ether 00:01:05:25:a9:c2 brd ff:ff:ff:ff:ff:ff
3: enp3s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 00:01:05:25:a9:c3 brd ff:ff:ff:ff:ff:ff
    inet 192.168.3.118/24 brd 192.168.3.255 scope global dynamic noprefixroute enp3s0
       valid_lft 3591sec preferred_lft 3591sec
    inet6 fe80::201:5ff:fe25:a9c3/64 scope link noprefixroute
       valid_lft forever preferred_lft forever
4: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 00:01:05:1e:6b:8e brd ff:ff:ff:ff:ff:ff

But if I then restart the service, the eth0 is gone from the list:
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
    link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
    inet 127.0.0.1/8 scope host lo
       valid_lft forever preferred_lft forever
    inet6 ::1/128 scope host noprefixroute
       valid_lft forever preferred_lft forever
2: enp2s0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc fq_codel state DOWN group default qlen 1000
    link/ether 00:01:05:25:a9:c2 brd ff:ff:ff:ff:ff:ff
3: enp3s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
    link/ether 00:01:05:25:a9:c3 brd ff:ff:ff:ff:ff:ff
    inet 192.168.3.118/24 brd 192.168.3.255 scope global dynamic noprefixroute enp3s0
       valid_lft 3503sec preferred_lft 3503sec
    inet6 fe80::201:5ff:fe25:a9c3/64 scope link noprefixroute
       valid_lft forever preferred_lft forever

Maybe network manager tries to configure eth0 (which is the CCAT interface of the CX2040)

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  1. Configuring LinuxCNC
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