Long initialization of Ethercat on servo drive SV660N

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1 year 4 days ago #337338 by Hakan
I assume it is a cia402 drive.
Then the first thing is to try this minimal configuration.
github.com/dbraun1981/hal-cia402/tree/main/example
 

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1 year 4 days ago #337340 by hanz24
i already follow minimal configuration adjust with my servo drive (SV630N), but still the servo doesn't move following linuxcnc sim, and status on my ethercat slave still SAFEOP for my servo drive. here is my hal and xml conf.

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1 year 4 days ago #337342 by Hakan
A line was broken in the hal file maybe it is already fixed. Should give an error in the linuxcnc startup window
Code:
net x-pos-fb => joint.0.motor-pos-fb <= cia402.0.pos- fb
When it goes to safeop it usually tells why in the syslog.
Show us the last 30 lines or so from the command "sudo dmesg"
 

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1 year 3 days ago #337374 by hanz24
Code:
[  130.057958] EtherCAT 0: Link state of ecm0 changed to UP. [  130.098035] EtherCAT 0: 1 slave(s) responding on main device. Re-scanning on next possibility. [  130.098038] EtherCAT 0: Slave states on main device: INIT. [  130.098040] EtherCAT 0: Re-scanning now. [  130.098338] EtherCAT 0: Scanning bus. [  130.423709] EtherCAT 0: Bus scanning completed in 324 ms. [  130.423713] EtherCAT 0: Using slave 0 as DC reference clock. [  130.423716] EtherCAT 0: Starting EoE thread. [  130.429964] EtherCAT 0: Slave states on main device: PREOP. [  223.571989] EtherCAT: Requesting master 0... [  223.571994] EtherCAT: Successfully requested master 0. [  223.572282] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3. [  223.572285] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW. [  223.572300] EtherCAT 0: Master thread exited. [  223.572302] EtherCAT 0: Stopping EoE thread. [  223.572312] EtherCAT 0: EoE thread exited. [  223.572313] EtherCAT 0: Starting EoE thread. [  223.572363] EtherCAT 0: Starting EtherCAT-OP thread. [  223.572393] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [  233.629941] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP. [  233.637940] EtherCAT 0: Slave states on main device: SAFEOP. [  241.597939] EtherCAT 0: Slave states on main device: SAFEOP + ERROR. [  245.322148] EtherCAT 0: Master thread exited. [  245.322152] EtherCAT 0: Stopping EoE thread. [  245.322161] EtherCAT 0: EoE thread exited. [  245.322169] EtherCAT 0: Starting EoE thread. [  245.322206] EtherCAT 0: Starting EtherCAT-IDLE thread. [  245.322267] EtherCAT 0: Releasing master... [  245.322270] EtherCAT 0: Released. [  245.330235] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog". [  245.331449] EtherCAT 0-0: Acknowledged state SAFEOP.

This is some lines that related to ethercat from sudo dmesg, is the problem with sync manager from xml file? or is it because some pdo from my drive didn't match

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1 year 3 days ago #337380 by Hakan
Two errors, one is timeout and one is watchdog.

Let's start with the first one, timeout. You also got Timeout warnings.
This can happen if the network performance is questionable.
Which network card do you use, and which linux module does it use? Find out with "lspci -k".
With a Realtek card, switch to the r8168-dkms driver, maybe not exactly that name but similar at least.
Intel card works best, but can need latency-related settings.

Watchdog is often set with a default value. It's seems your drive need that explicitly set.
Add the line
Code:
<watchdog divider="2498" intervals="1000"/>
after the dcconf line line. If you're interested in trying to decode it, each interval is 40 nanoseconds long,
so this ends up being just under 100 ms. 100 ms is Ethercat default setting.

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1 year 3 days ago - 1 year 3 days ago #337382 by hanz24
Im using Intel I210 for network card, and igb for linux module (?) im not sure about the linux module.

And i already try to adding watchdog line too before, and i think its giving same error. And sometimes my slaves state is in INIT+ERROR after running the linuxcnc sim.

Code:
[  228.150236] EtherCAT: Requesting master 0... [  228.150242] EtherCAT: Successfully requested master 0. [  228.150518] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3. [  228.150521] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW. [  228.150547] EtherCAT 0: Master thread exited. [  228.150550] EtherCAT 0: Stopping EoE thread. [  228.150570] EtherCAT 0: EoE thread exited. [  228.150571] EtherCAT 0: Starting EoE thread. [  228.150622] EtherCAT 0: Starting EtherCAT-OP thread. [  228.150653] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [  238.231729] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP. [  238.241933] EtherCAT 0: Slave states on main device: SAFEOP. [  246.189933] EtherCAT 0: Slave states on main device: SAFEOP + ERROR. [  324.353930] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [  373.619468] EtherCAT 0: Master thread exited. [  373.619473] EtherCAT 0: Stopping EoE thread. [  373.619510] EtherCAT 0: EoE thread exited. [  373.619521] EtherCAT 0: Starting EoE thread. [  373.619565] EtherCAT 0: Starting EtherCAT-IDLE thread. [  373.622301] EtherCAT 0: Releasing master... [  373.622304] EtherCAT 0: Released. [  373.622394] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog". [  373.622878] EtherCAT 0-0: Acknowledged state SAFEOP. [  383.626063] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP. [  383.633953] EtherCAT 0: Slave states on main device: SAFEOP. [  387.645398] EtherCAT: Requesting master 0... [  387.645588] EtherCAT: Successfully requested master 0. [  387.645853] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3. [  387.645856] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW. [  387.645872] EtherCAT 0: Master thread exited. [  387.645875] EtherCAT 0: Stopping EoE thread. [  387.645891] EtherCAT 0: EoE thread exited. [  387.645892] EtherCAT 0: Starting EoE thread. [  387.646323] EtherCAT 0: Starting EtherCAT-OP thread. [  391.577924] EtherCAT ERROR 0-0: Failed to set INIT state, slave refused state change (SAFEOP + ERROR). [  391.579407] EtherCAT ERROR 0-0: AL status message 0x0000: "No error".
Last edit: 1 year 3 days ago by hanz24.

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