<div dir="ltr">Scenario 3: During the running<br>A user application is running, which uses ecrt_sdo_request_read to read state data from the slave. Meanwhile the command "ethercat download" is executed in the terminal => the application suddenly receives EC_INT_REQUEST_FAILURE/EC_REQUEST_ERROR in ecrt_sdo_request_state(), it failes to check the slave state.<br>
<br>Cause: ecrt_sdo_request_read and ecrt_master_sdo_download racing<br></div><div class="gmail_extra"><br><br><div class="gmail_quote">On 30 May 2014 23:57, Jun Yuan <span dir="ltr"><<a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr"><div><div><div><div><div>Hi,<br><br>as Gavin Lambert already mentioned one year ago, see <a href="http://lists.etherlab.org/pipermail/etherlab-dev/2013/000327.html" target="_blank">http://lists.etherlab.org/pipermail/etherlab-dev/2013/000327.html</a>.<br>
<br>I checked the log of an industrial EtherCAT application I made, and I was shocked to discover how deeply and frequently my application is affected by this issue. It doesn't only affect those who use FoE, SoE, etc, it also makes problem while only CoE is used. It doesn't not only affect when the user application is started, but also show its teeth without any application.<br>
</div><br></div>Scenario 1: CoE, no user application<br></div>One slave on the bus with 7 slaves is turned off for temporary maintenance. After 5 - 30 seconds, it's turned on again. =><br><br>[ 4629.242295] EtherCAT ERROR 0-0: Received unknown response while uploading SDO 0x1C12:00.<br>
[ 4629.242297] EtherCAT DEBUG: 00 80 07 00 00 00 11 00 09 06 <br>[ 4629.242305] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.<br><br></div>Cause: SDO dictionary fetch was disrupted as the slave comes up.<br>
</div><div>Consequence: User application cannot be started later, as no PDO was assigned to SM2. <br><br></div><div><br></div>Scenario 2: CoE, with user SDO operation<br><div><div><div><div><div>Soon after all the slaves become online, the user application is started, which read/write several SDOs from the slaves. And most of the sdo operations fail.<br>
<br>[ 1169.599680] EtherCAT DEBUG 0-0: Uploading SDO 0x10F3:02.<br>[ 1169.607575] EtherCAT ERROR 0-0: Received unknown response while uploading SDO 0x10F3:02.<br>[ 1169.607609] EtherCAT ERROR 0-0: Failed to process SDO request.<br>
[ 1169.615791] EtherCAT DEBUG 0-0: Invalid entry description response while fetching SDO entry 0x4810:08!<br>[ 1169.615852] EtherCAT DEBUG 0-0: Downloading SDO 0x10F3:03.<br>[ 1169.626209] EtherCAT DEBUG 0-0: Invalid SDO download response! Retrying...<br>
[ 1169.628254] EtherCAT DEBUG 0-0: Invalid entry description response while fetching SDO entry 0x4810:09!<br>[ 1169.628336] EtherCAT DEBUG 0-0: Uploading SDO 0x10F3:27.<br>[ 1169.638630] EtherCAT ERROR 0-0: Received unknown response while uploading SDO 0x10F3:27.<br>
[ 1169.665583] EtherCAT DEBUG 0-0: Invalid entry description response while fetching SDO entry 0x4810:0A!<br>[ 1169.665852] EtherCAT DEBUG 0-0: Uploading SDO 0x608F:01.<br>[ 1169.675979] EtherCAT ERROR 0-0: Received unknown response while uploading SDO 0x608F:01.<br>
[ 1169.684240] EtherCAT DEBUG 0-0: Invalid entry description response while fetching SDO entry 0x4810:0B!<br><br></div><div>Cause: User SDO operation happens simultaneously with the SDO dictionary fetch.<br></div><div>Consequence: User application has to be aborted.<br>
</div><div><br>Now I would consider it as a serious bug in the IgH EtherCAT Master, which prevents the application to be successfully started every time. I'd like to ask for the opinions/comments from the developers.<br>
<br></div><div>Regards,<br>Jun Yuan<br></div><div><br></div><div><br></div></div></div></div></div></div>
</blockquote></div><br><br clear="all"><br>-- <br>Jun Yuan<br>[Aussprache: Djün Üän]<br><br>Robotics Technology Leaders GmbH<br>Am Loferfeld 58, D-81249 München<br>Tel: +49 89 189 0465 24<br>Fax: +49 89 189 0465 11<br>mailto: <a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a><br>
<br>Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
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