<html xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=iso-8859-1">
<meta name=Generator content="Microsoft Word 11 (filtered medium)">
<style>
<!--
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman";}
a:link, span.MsoHyperlink
{color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{color:purple;
text-decoration:underline;}
span.E-MailFormatvorlage17
{mso-style-type:personal-compose;
font-family:Arial;}
@page Section1
{size:595.3pt 841.9pt;
margin:70.85pt 70.85pt 2.0cm 70.85pt;}
div.Section1
{page:Section1;}
-->
</style>
</head>
<body lang=DE link=blue vlink=purple>
<div class=Section1>
<div>
<p class=MsoNormal style='text-autospace:none'><a name="OLE_LINK7"></a><a
name="OLE_LINK1"></a><a name="OLE_LINK2"></a><a name="OLE_LINK3"></a><a
name="OLE_LINK4"></a><a name="OLE_LINK5"></a><a name="OLE_LINK6"></a><font
size=2 face="Courier New"><span lang=EN-GB style='font-size:10.0pt;font-family:
"Courier New"'>Sometimes SoE configuration failes (during startup).</span></font><font
size=2 face="Courier New"><span lang=EN-GB style='font-size:10.0pt;font-family:
"Courier New"'><o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>I use DC, RTAI,
the newest devel-version of the master and a Rexroth servo drive.<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Is it a
synchronization problem among threads? See the error message:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: Writing IDN 0x000F of drive 0 (2
byte).<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write request:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG: 03 40 0F 00 07 00<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write response:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2 14:54:38
pc-br3 kernel: EtherCAT DEBUG: 04 40 0F 00<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: Writing IDN 0x0010 of drive 0 (32
byte).<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write request:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG: 03 40 10 00 02 00 02 00 28 00 00 00 00
00 00 00<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT DEBUG: 00 00 00 00<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: Failed to receive SoE write
response datagram: Datagram received.<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: Writing IDN 0x0010 failed.<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Dec 2
14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: SoE configuration failed.<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Take a look at
the error message "EtherCAT ERROR 0-0: Failed to receive SoE write
response datagram: Datagram received."<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>First
datagram->state != EC_DATAGRAM_RECEIVED (ec_fsm_soe_write_response(...) and
in ec_datagram_print_state(...) datagram->state ==
EC_DATAGRAM_RECEIVED.<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>Creation of error
message in ec_fsm_soe_write_response(...): <o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
if (datagram->state != EC_DATAGRAM_RECEIVED) {<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
fsm->state = ec_fsm_soe_error;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
EC_SLAVE_ERR(slave, "Failed to receive SoE write"<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
" response datagram:
");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
ec_datagram_print_state(datagram);<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
ec_fsm_soe_print_error(fsm);<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
return;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
}<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>and in
ec_datagram_print_state(...):<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>void
ec_datagram_print_state(<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
const ec_datagram_t *datagram /**< EtherCAT datagram */<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
)<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>{<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("Datagram ");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
switch (datagram->state) {<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_INIT:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("initialized");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_QUEUED:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("queued");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_SENT:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("sent");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_RECEIVED:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("received");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_TIMED_OUT:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
printk("timed out");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
case EC_DATAGRAM_ERROR:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
lang=EN-GB style='font-size:10.0pt;font-family:"Courier New"'>
</span></font><font size=2 face="Courier New"><span style='font-size:10.0pt;
font-family:"Courier New"'>printk("error");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'>
break;<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'>
default:<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'>
printk("???");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'> }<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'>
printk(".\n");<o:p></o:p></span></font></p>
<p class=MsoNormal style='text-autospace:none'><font size=2 face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New"'>}<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'> <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Mit freundlichen Grüßen / Best regards<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'> Andreas Baur<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>-----------------------------------------------------------------------------------</span></font><o:p></o:p></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>PAUL Maschinenfabrik GmbH & Co. KG<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Max-Paul-Straße 1<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>88525 Dürmentingen</span></font><o:p></o:p></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Deutschland / Germany<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=1 face=Arial><span style='font-size:8.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Tel.: +49 (0) 7371 / 500 - 0<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Fax: +49 (0) 7371 / 500 - 111<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Mail: software@paul.eu</span></font><o:p></o:p></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Web: www.paul.eu</span></font><o:p></o:p></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>-----------------------------------------------------------------------------------</span></font><o:p></o:p></p>
<p class=MsoNormal><font size=1 face=Arial><span style='font-size:8.0pt;
font-family:Arial'>Kommanditgesellschaft, Sitz Dürmentingen, Registergericht
Ulm HRA 650073, Pers. haftende Gesellschafterin: <br>
Paul Maschinenfabrik GmbH, Sitz Riedlingen, Registergericht Ulm HRB 650013,
Geschäftsführer: Werner Paul<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=1 face=Arial><span style='font-size:8.0pt;
font-family:Arial'>Ust.-IdNr DE 146544409</span></font><o:p></o:p></p>
</div>
</div>
</body>
</html>