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</o:shapelayout></xml><![endif]--></head><body bgcolor=white lang=EN-NZ link="#0563C1" vlink="#954F72"><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>It sounds like the slave has incorrect SII data and/or defective firmware. It’s claiming to support PDO Configuration (see the output of “ethercat slaves -v”) but the PDO Configuration objects are read-only. It should either not claim support for that or should tolerate writes where the written value is equal to the fixed value in that case.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>(It might be somewhat excusable if the slave has some PDOs that are fixed and some that are reconfigurable; that’s unusual so I don’t think the library checks for that at present. But in that case it really ought to tolerate equal writes.)<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>As long as the “currently mapped PDO entries” and “entries to map” are the same in every case, the warnings can be safely ignored.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'>If you’re feeling adventurous you might be able to patch the SII EEPROM to disable that flag, which would silence the warnings. Or ask the manufacturer if they can fix that themselves.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US'><o:p> </o:p></span></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'>From:</span></b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'> etherlab-users [mailto:etherlab-users-bounces@etherlab.org] <b>On Behalf Of </b>Alessandro Berti<br><b>Sent:</b> Friday, 24 February 2017 20:47<br><b>To:</b> etherlab-users@etherlab.org<br><b>Subject:</b> [etherlab-users] Errors and warning when realtime timer starts<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>I've developed an application using etherlab to control an 8-axis robot prototype. Everything works fine but dmesg return a long list of messages like the ones below (the complete output is attached in the txt file) for all the pdo entries of each slave. These messages are returned once only when the realtime cycle starts and ethercat data begins to be received, processed and sent.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[ 304.761920] EtherCAT ERROR 0-0: SDO download 0x160A:00 (1 bytes) aborted.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[ 304.761923] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[ 304.761924] EtherCAT WARNING 0-0: Failed to clear PDO mapping.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[ 304.761925] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16. Entries to map: 0x6040:00/16<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[ 304.761928] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160A.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>[.....]<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>I followed the "user example" to develop my application and I'm using Elmo Drives with this pdo configuration:<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>ec_pdo_entry_info_t slave_pdo_entries[] = {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6040, 0x00, 16}, /* Controlword */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6060, 0x00, 8}, /* Modes of operation */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x0000, 0x00, 8}, /* Gap */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6071, 0x00, 16}, /* Target torque */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x607a, 0x00, 32}, /* Target position */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x60b1, 0x00, 32}, /* Offset velocity */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x60fe, 0x01, 32}, /* Physical outputs */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6041, 0x00, 16}, /* Statusword */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6061, 0x00, 8}, /* Modes of operation display */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x0000, 0x00, 8}, /* Gap */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6064, 0x00, 32}, /* Position actual value */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6069, 0x00, 32}, /* Velocity sensor actual value */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x6077, 0x00, 16}, /* Torque value */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x60f4, 0x00, 32}, /* Following error actual value */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x60fd, 0x00, 32}, /* Digital inputs */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>};<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>ec_pdo_info_t slave_pdos[] = {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x160a, 1, slave_pdo_entries + 0}, /* RPDO_160A Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x160b, 2, slave_pdo_entries + 1}, /* RPDO_160B Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x160c, 1, slave_pdo_entries + 3}, /* RPDO_160C Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x160f, 1, slave_pdo_entries + 4}, /* RPDO_160F Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1617, 1, slave_pdo_entries + 5}, /* RPDO_1617 Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x161d, 1, slave_pdo_entries + 6}, /* RPDO_161D Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a0a, 1, slave_pdo_entries + 7}, /* TPD0A Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a0b, 2, slave_pdo_entries + 8}, /* TPD0B Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a0e, 1, slave_pdo_entries + 10}, /* TPD0E Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a0f, 1, slave_pdo_entries + 11}, /* TPD0F Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a13, 1, slave_pdo_entries + 12}, /* TPD13 Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a19, 1, slave_pdo_entries + 13}, /* TPD19 Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0x1a1c, 1, slave_pdo_entries + 14}, /* TPD1C Mapping */<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>};<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>ec_sync_info_t slave_syncs[] = {<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {2, EC_DIR_OUTPUT, 6, slave_pdos + 0, EC_WD_ENABLE},<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {3, EC_DIR_INPUT, 7, slave_pdos + 6, EC_WD_DISABLE},<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'> {0xff}<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'>};<o:p></o:p></span></p></div><p class=MsoNormal><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><p><span style='font-family:"Calibri",sans-serif;color:black'>How can I solve this issue? <o:p></o:p></span></p><p><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p><p><span style='font-family:"Calibri",sans-serif;color:black'>Thank you,<o:p></o:p></span></p><p><span style='font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p><p><span style='font-family:"Calibri",sans-serif;color:black'>Alessandro<o:p></o:p></span></p></div></div></body></html>