<div dir="ltr"><div><div>Hi all,</div><div><br></div><div>I have been using the EtherCAT master 1.5.2 for a while on Ubuntu 14.04 with kernel 3.13.0-96-generic. This was working fine until I upgraded Ubuntu to 16.04, after which I was not able to access the slave anymore. When I start the master now, I see the following output and errors in the kernel message buffer:</div><div><br></div><div>[ 66.670838] EtherCAT: Master driver 1.5.2 2eff7c993a63</div><div>[ 66.671013] EtherCAT: 1 master waiting for devices.</div><div>[ 66.675056] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63</div><div>[ 66.675073] EtherCAT: Accepting 00:26:55:E0:23:C8 as main device for master 0.</div><div>[ 66.675078] ec_generic: Binding socket to interface 5 (eth3).</div><div>[ 66.696808] EtherCAT 0: Starting EtherCAT-IDLE thread.</div><div>[ 66.696916] EtherCAT 0: Link state of ecm0 changed to UP.</div><div>[ 66.700973] EtherCAT 0: 1 slave(s) responding on main device.</div><div>[ 66.700975] EtherCAT 0: Slave states on main device: PREOP.</div><div>[ 66.701299] EtherCAT 0: Scanning bus.</div><div>[ 67.032970] EtherCAT 0: Bus scanning completed in 328 ms.</div><div>[ 67.032976] EtherCAT 0: Using slave 0 as DC reference clock.</div><div>[ 67.032978] EtherCAT ERROR 0: Failed to calculate bus topology.</div><div>[ 67.032981] EtherCAT 0: Starting EoE thread.</div><div>[ 67.050878] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).</div><div>[ 67.051543] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".</div><div>[ 67.052126] EtherCAT 0-0: Acknowledged state PREOP.</div><div>[ 70.059310] EtherCAT WARNING 0-0: CoE Emergency Request received:</div><div> Error code 0xA000, Error register 0x02, data:</div><div>[ 70.059315] EtherCAT DEBUG: 0E 10 00 10 00 </div><div><br></div><div>So far I have tried to rebuild and reinstall the EtherCAT driver. I am still using the same 3.13 kernel driver as before the upgrade. Also, the hardware configuration has not changed.</div><div><br></div><div>I am still able to see the slave:</div><div><br></div><div>ethercat slaves -v</div><div>=== Master 0, Slave 0 ===</div><div>Device: Main</div><div>State: PREOP</div><div>Flag: E</div><div>Identity:</div><div> Vendor Id: 0x000001a3</div><div> Product code: 0x019f418d</div><div> Revision number: 0x35313544</div><div> Serial number: 0x00000000</div><div>DL information:</div><div> FMMU bit operation: no</div><div> Distributed clocks: yes, 64 bit</div><div> DC system time transmission delay: 0 ns</div><div>Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]</div><div> 0 MII down closed no - - - -</div><div> 1 MII up open yes - 1723160450 4216451648 0</div><div> 2 N/A down closed no - - - -</div><div> 3 N/A down closed no - - - -</div><div>Mailboxes:</div><div> Bootstrap RX: 0x0000/0, TX: 0x0000/0</div><div> Standard RX: 0x1000/128, TX: 0x1400/128</div><div> Supported protocols: EoE, CoE, FoE</div><div>General:</div><div> Group: Servo Drive</div><div> Image name: DRIVE</div><div> Order number: iPOS4808 BX-CAT v10</div><div> Device name: iPOS4808 BX-CAT v10</div><div> CoE details:</div><div> Enable SDO: yes</div><div> Enable SDO Info: yes</div><div> Enable PDO Assign: yes</div><div> Enable PDO Configuration: yes</div><div> Enable Upload at startup: no</div><div> Enable SDO complete access: no</div><div> Flags:</div><div> Enable SafeOp: no</div><div> Enable notLRW: no</div><div> Current consumption: 0 mA</div><div><br></div><div>------------</div><div><br></div><div>This is the output of the ethercat master command:</div><div>ethercat master -v</div><div>Master0</div><div> Phase: Idle</div><div> Active: no</div><div> Slaves: 1</div><div> Ethernet devices:</div><div> Main: 00:26:55:e0:23:c8 (attached)</div><div> Link: UP</div><div> Tx frames: 9117</div><div> Tx bytes: 628652</div><div> Rx frames: 9116</div><div> Rx bytes: 628592</div><div> Tx errors: 0</div><div> Tx frame rate [1/s]: 249 255 118</div><div> Tx rate [KByte/s]: 14.6 15.7 7.8</div><div> Rx frame rate [1/s]: 249 255 118</div><div> Rx rate [KByte/s]: 14.6 15.7 7.8</div><div> Common:</div><div> Tx frames: 9117</div><div> Tx bytes: 628652</div><div> Rx frames: 9116</div><div> Rx bytes: 628592</div><div> Lost frames: 0</div><div> Tx frame rate [1/s]: 249 255 118</div><div> Tx rate [KByte/s]: 14.6 15.7 7.8</div><div> Rx frame rate [1/s]: 249 255 118</div><div> Rx rate [KByte/s]: 14.6 15.7 7.9</div><div> Loss rate [1/s]: 0 -0 0</div><div> Frame loss [%]: 0.0 -0.0 0.0</div><div> Distributed clocks:</div><div> Reference clock: Slave 0</div><div> Application time: 0</div><div> 2000-01-01 00:00:00.000000000</div><div><br></div><div>------------</div><div><br></div><div>I do not understand what is causing the errors and loss of control of the slave. Any help and hints to solve this are greatly appreciated!</div><div><br></div><div>Regards, </div><div>Klaas Jelmer</div></div>
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