Hi<br><br>I'm EtherCAT starter and I have basic problem.<br>I try to test EtherCAT communication with the Beckhoff EL9800 evaluation hardware.<br><br>I have already done communication test using the Beckhoff TwinCAT system manager( all on windows ).<br>
The EtherCAT bus information has been detected by autoscan box function of TwinCAT system manager <br>and state machine transferred to OP state. It's success<br><br>But, EtherLab Master( 1.5 ) failed autoscan. <br>Is there any master configuration or programming for Beckhoff EL9800 eveluation board?<br>
Could you give me your any tips/suggestions/experiences/manual ? <br><br><ul><li>System Information</li><ul><li>Intel i7 860</li><li>Debian lenny 5.0.7</li><li>Kernel 2.6.34.5 with Xenomai 2.5.5.2</li><li>EtherCAT-capable Device driver 8139too</li>
<li>EtherLab Master 1.5<br></li></ul></ul>
<div><font face="monospace" size="3"><span style="white-space: pre-wrap;"></span></font></div><br>Below text is master debug message.<br>-------------------------------------------------------------------------------------------------------------------------------<br>
[ 7311.084742] EtherCAT 0: 0 slave(s) responding.<br>[ 7311.084744] EtherCAT DEBUG 0: Master state machine detected link down. Clearing slave list.<br>[ 7314.829235] EtherCAT 0: Link state changed to UP.<br>[ 7314.830270] EtherCAT 0: 1 slave(s) responding.<br>
[ 7314.830274] EtherCAT 0: Slave states: INIT.<br>[ 7314.830282] EtherCAT DEBUG 0-0: Init FSM.<br>[ 7314.830306] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays.<br>[ 7314.830324] EtherCAT DEBUG 0: 1 slaves responded to delay measuring.<br>
[ 7314.830326] EtherCAT 0: Scanning bus.<br>[ 7314.830395] EtherCAT DEBUG 0-0: Slave has the System Time register.<br>[ 7314.880972] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP.<br>
[ 7314.880974] EtherCAT DEBUG 0-0: Configuring...<br>[ 7314.881010] EtherCAT DEBUG 0-0: Now in INIT.<br>[ 7314.881012] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>[ 7314.881034] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>
[ 7314.881053] EtherCAT DEBUG 0-0: Clearing DC assignment...<br>[ 7314.881071] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>[ 7314.881074] EtherCAT DEBUG 0-0: SM0: Addr 0x0F00, Size 0, Ctrl 0x46, En 0<br>
[ 7314.881076] EtherCAT DEBUG 0-0: SM1: Addr 0x1000, Size 0, Ctrl 0x00, En 0<br>[ 7314.881730] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR).<br>[ 7314.881750] EtherCAT ERROR 0-0: AL status message 0x0000: "No error".<br>
[ 7314.881752] EtherCAT ERROR 0-0: Unknown AL status code 0x0000.<br>[ 7314.881921] EtherCAT 0-0: Acknowledged state INIT.<br>[ 7314.881923] EtherCAT 0: Bus scanning completed in 51 ms.<br>[ 7314.881925] EtherCAT DEBUG 0: Writing system time offsets...<br>
[ 7314.881927] EtherCAT DEBUG 0: No app_time received up to now.<br>[ 7314.883145] EtherCAT DEBUG 0-0: Ready for requests.<br><br>Slave infomation<br>------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------<br>
toybox:/opt/etherlab# bin/ethercat slaves -v<br>=== Master 0, Slave 0 ===<br>State: INIT<br>Flag: E<br>Identity:<br> Vendor Id: 0x00000002<br> Product code: 0x26483052<br> Revision number: 0x03100001<br> Serial number: 0x00000000<br>
DL information:<br> FMMU bit operation: no<br> Distributed clocks: yes, 32 bit<br> DC system time transmission delay: 0 ns<br>Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]<br> 0 N/A up open yes - 1635389460 0 0<br>
1 N/A down closed no - - - -<br> 2 N/A down closed no - - - -<br> 3 N/A down closed no - - - -<br>
Mailboxes:<br> Bootstrap RX: 0x1000/532, TX: 0x1800/532<br> Standard RX: 0x1800/192, TX: 0x1c00/192<br> Supported protocols: CoE, FoE<br>General:<br> Group: EvaBoard<br> Image name: DEVICE<br> Order number: EL9800<br>
Device name: EL9800 16 Ch. Dig. In-/Output (Build >= 21)<br> CoE details:<br> Enable SDO: no<br> Enable SDO Info: no<br> Enable PDO Assign: no<br> Enable PDO Configuration: no<br> Enable Upload at startup: no<br>
Enable SDO complete access: no<br> Flags:<br> Enable SafeOp: no<br> Enable notLRW: no<br> Current consumption: 0 mA<br><br>Thank you for your greate application.<br><br><br><br><br>