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<p class="MsoNormal">In the current stable branch, the slave selected as the reference clock (which is the first slave that has a DC clock, by default) and also any EoE slaves, are forced to OP mode even when the application is not active. I assume that this
is a misunderstanding about their requirements to provide a clock.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The quick fix is to ensure that the first slave on your network is something that won’t care about being in OP, such as an infrastructure component like an EK1100.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Another fix is to use the default code branch, which includes a change to stop that behaviour by default (though you can re-enable it if you wish). (Although if you do switch to the default branch then I recommend using the non-official
patchset at <a href="https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/#readme">
https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/#readme</a> as well, as this contains other improvements and fixes.)<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><b><span lang="EN-US" style="mso-fareast-language:EN-NZ">From:</span></b><span lang="EN-US" style="mso-fareast-language:EN-NZ"> Giel Hermans<br>
<b>Sent:</b> Wednesday, 11 July 2018 22:24<br>
<b>To:</b> 'etherlab-users@etherlab.org' <etherlab-users@etherlab.org><br>
<b>Subject:</b> [etherlab-users] Slave goes to OP mode after Master starts<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-GB">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">We have a Elmo Solo Twitter drive connected to the Ethercat master on 3 different systems (Ubuntu machine with RT kernel, OpenSuse machine with RT kernel and Beaglebone Black with RT kernel) and see different behaviour
between the systems as soon as the master is started. An application is not running .
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">On one of the 3 systems the drive communication goes well and we can access and control (with a Simulink model application) the drive (and connected motor) over Ethercat.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">When the drive is connected to either of the other systems the drive won’t stay in the PREOP mode but goes to SAFEOP and then OP. Controlling the drive is blocked.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">All 3 systems work perfect with Beckhoff modules and a Maxon Epos3 drive. So it looks like it has to do something with combination drive - system.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">We’ve teste multiple Elmo Solo Twitter drives.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">We can’t figure out what causes this problem and hope one of you can give us a hint.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">As you can see in the in the logs from the systems, system 2 and 3 start loading SM2 and SM3 immediately after entering PREOP as if there is an application active.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Giel Hermans<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Delft University of Technology.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">System details:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Drive: ELMO Solo Twitter Gold with Ethercat option<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">Ethercat 1.5.2 on all 3 systems (same sourcecode)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">System 1 (this one works good)<o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">PC with Ubuntu 14.04LTS<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Kernel version: 3.8.13.14-rt31<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Realtek RLT-8139 ethernet controller<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">8139too ethernet driver<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Generic ethercat driver<o:p></o:p></span></li></ul>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">System 2:<o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">PC with OpenSuse LEAP<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Kernel 3.14.79-rt85-1-preempt-rt<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Intel 82578DM Ethernet controller<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">E1000e Ethernet driver<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">E1000e Ethercat driver (also tested generic driver)<o:p></o:p></span></li></ul>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">System 3:<o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Beaglebone Black with linux verion from machinekit<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Kernel version: 3.8.13-xenomai-r83<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Ethernet controller on chip (couldn’t find info)<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span lang="EN-GB">Generic ethercat driver<o:p></o:p></span></li></ul>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">The ethercat logs from the systems are:<o:p></o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-GB">System 1:<o:p></o:p></span></b></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.352242] EtherCAT DEBUG 0-0: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354785] EtherCAT DEBUG 0-0: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354787] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354832] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354872] EtherCAT DEBUG 0-0: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354911] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354913] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.354914] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20396.357809] EtherCAT DEBUG 0-0: Now in PREOP.<o:p></o:p></span></u></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.357810] EtherCAT DEBUG 0-0: Finished configuration.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.357812] EtherCAT DEBUG 0-0: Ready for requests.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20396.360231] EtherCAT 0: Slave states on main device: PREOP.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20399.351568] EtherCAT DEBUG 0-0: Fetching SDO dictionary.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20399.353147] EtherCAT DEBUG 0-0: SDO list fragments left: 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20399.353923] EtherCAT DEBUG 0-0: SDO list fragments left: 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20399.354402] EtherCAT DEBUG 0-0: SDO list fragments left: 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20400.348642] EtherCAT ERROR 0-0: Timeout while waiting for SDO 0x1000 object description response.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.274616] EtherCAT 0: Link state of ecm0 changed to DOWN.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.278577] EtherCAT 0: 0 slave(s) responding on main device.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.278579] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.278580] EtherCAT 0: Stopping EoE thread.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.278601] EtherCAT DEBUG 0: EoE thread exiting...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20573.278619] EtherCAT 0: EoE thread exited.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-GB">System 2:<o:p></o:p></span></b></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.362944] EtherCAT DEBUG 0-0: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.365724] EtherCAT DEBUG 0-0: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.365728] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.365979] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.366240] EtherCAT DEBUG 0-0: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.366906] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.366910] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.366912] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20942.370558] EtherCAT DEBUG 0-0: Now in PREOP.<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20942.370564] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 32, Ctrl 0x64, En 1<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20942.370566] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 32, Ctrl 0x20, En 1<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20942.373598] EtherCAT DEBUG 0-0: Now in SAFEOP.<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[20942.375686] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<o:p></o:p></span></u></p>
<p class="MsoNormal"><span lang="EN-GB">[20942.375690] EtherCAT DEBUG 0-0: Ready for requests.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.370543] EtherCAT DEBUG 0-0: Fetching SDO dictionary.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.372873] EtherCAT DEBUG 0-0: SDO list fragments left: 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.373857] EtherCAT DEBUG 0-0: SDO list fragments left: 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.374326] EtherCAT DEBUG 0-0: SDO list fragments left: 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.384666] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.384673] EtherCAT DEBUG: <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.384676] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.385181] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[20945.385183] EtherCAT ERROR 0-0: Reception of CoE SDO description response failed: No response.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106944] EtherCAT 0: Link state of ecm0 changed to DOWN.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106953] EtherCAT WARNING 0: 141 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106962] EtherCAT DEBUG 0: TIMED OUT datagram ffff880059743818, index DB waited 2000 us.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106967] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800cfcf6678, index DC waited 2000 us.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106976] EtherCAT WARNING 0-0: Failed to receive mbox check datagram for eoe0s0.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106986] EtherCAT 0: 0 slave(s) responding on main device.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106991] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.106995] EtherCAT 0: Stopping EoE thread.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.107005] EtherCAT DEBUG 0: EoE thread exiting...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[21860.107023] EtherCAT 0: EoE thread exited.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-GB">System 3:<o:p></o:p></span></b></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.575127] EtherCAT DEBUG 0-0: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.576810] EtherCAT DEBUG 0-0: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.576821] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.576880] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.576930] EtherCAT DEBUG 0-0: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.577522] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.577539] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.577549] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><u><span lang="EN-GB">[23171.581895] EtherCAT DEBUG 0-0: Now in PREOP.<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[23171.581932] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 32, Ctrl 0x64, En 1<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[23171.581942] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 32, Ctrl 0x20, En 1<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[23171.586921] EtherCAT DEBUG 0-0: Now in SAFEOP.<o:p></o:p></span></u></p>
<p class="MsoNormal"><u><span lang="EN-GB">[23171.589485] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<o:p></o:p></span></u></p>
<p class="MsoNormal"><span lang="EN-GB">[23171.589500] EtherCAT DEBUG 0-0: Ready for requests.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.582896] EtherCAT DEBUG 0-0: Fetching SDO dictionary.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.584545] EtherCAT DEBUG 0-0: SDO list fragments left: 3<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.586076] EtherCAT DEBUG 0-0: SDO list fragments left: 2<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.586511] EtherCAT DEBUG 0-0: SDO list fragments left: 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.588807] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.598212] EtherCAT DEBUG: <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23174.598224] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB">[23175.586793] EtherCAT ERROR 0-0: Timeout while waiting for SDO 0x1000 object description response.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-GB"><o:p> </o:p></span></p>
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