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<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Another thing to watch for is the physical layout of the cables. It’s best to use shielded cables (and make sure that the devices at both ends are properly earthed). But even then, pay close attention
to where the cables are running and in particular keep the network cables physically separated from power cables or other cables that are likely to generate a lot of electrical noise.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">It's also important to pay attention to the bend radius limits of the cables – and if a cable has *<b>ever</b>* had its limit broken, it may have damaged the shield, so you should replace the cable.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Regular ethernet networks tolerate lost packets with retransmits, so you can get away with sloppy wiring (although it does cause performance loss). EtherCAT networks are much less forgiving.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> Graeme Foot<br>
<b>Sent:</b> Tuesday, 5 November 2019 10:45<br>
<b>To:</b> Ignacio Rosales Gonzalez <narogon@gmail.com>; etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [etherlab-users] Diagnostics, crc and phy errors<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">It looks like it is just a dodgy link between device 5 and device 6.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">To resolve, try the following (depending on what you have handy and assuming your drives are linked by patch cables):<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">- Unplug and replug the patch cable at both ends a few times (to try and get better contact)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">- Take out the patch cable and use contact cleaner on the ends and the ports<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">- Toss the patch cable and replace (and use contact cleaner if you have it)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">The incoming port shows phy errors if the link to the prior component is lost for a long enough time that the phy can detect the drop. If it’s slightly less dodgy than that, a bad cable, noise or
other then it can just show up as crc errors. I don’t know for sure, but if the transmit wires have a dodgy connection but the receive wires are OK, for example, it could only show up as a phy / crc error in one direction.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">It is unlikely to be an error on device 5 itself (unless the eth port is damaged). If the device itself has a problem I often see the two devices either side of it with errors, with no error on
the problem device in the middle. e.g. (modifying your example):<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="color:black">2019-10-31 16:24:08.476<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">P0<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">crc<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">phy<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">fwd<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">crc<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">phy<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">fwd<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">0:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">1:D2 CoE Driv<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">2:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">3:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="background:#D9D9D9;padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">4:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">93<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="background:#D9D9D9;padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">6:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">98<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">7:D2 CoE Driv<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">8:D2 CoE Driv<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">9:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">This usually indicates that the device in the middle repowered / reset, so the devices either side report the error, but the device causing the problem loses its count when it repowered / reset.
This is the case I have often found with bad Beckhoff ELxxxx modules.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Graeme<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>>
<b>On Behalf Of </b>Ignacio Rosales Gonzalez<br>
<b>Sent:</b> Monday, 4 November 2019 11:55 PM<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] Diagnostics, crc and phy errors<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<div>
<p class="MsoNormal">Hello everybody,<o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
<div>
<p class="MsoNormal">I've suffering some errors in two machines. <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal">In both of them the dmesg shows the same <o:p></o:p></p>
<pre style="margin-bottom:12.0pt"> [ 2093.602142] EtherCAT 0: Domain 0: Working counter changed to 18/111.<br> [ 2093.608661] EtherCAT 0: 6 slave(s) responding on main device.<br> [ 2093.640855] EtherCAT 0: Scanning bus.<br> [ 2094.939242] EtherCAT 0: Bus scanning completed in 1332 ms.<br> [ 2094.939248] EtherCAT 0: Using slave main-0 as DC reference clock.<br> [ 2097.856277] EtherCAT 0: Domain 0: Working counter changed to 0/111.<br> [ 2097.876311] EtherCAT 0: 37 slave(s) responding on main device.<br> [ 2097.876312] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.<br> [ 2098.032585] EtherCAT 0: Scanning bus.<o:p></o:p></pre>
<pre style="margin-bottom:12.0pt">But logging the output of the new command ethercat crc I obtain different behaviours,<o:p></o:p></pre>
<pre style="margin-bottom:12.0pt">In one of them the crc counter and phy counter of one of servos practically go up at same time. <o:p></o:p></pre>
<pre style="margin-bottom:12.0pt">In the other only the phy counter in one servo is increased:<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<table class="MsoNormalTable" border="0" cellspacing="0" cellpadding="0" width="603" style="width:452.0pt;border-collapse:collapse">
<tbody>
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<td width="165" nowrap="" colspan="2" valign="bottom" style="width:124.0pt;padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">2019-10-31 16:24:08.476<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt"></td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">P0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt"></td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt"></td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">P1<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt"></td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt"></td>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">crc<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">phy<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">fwd<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">crc<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">phy<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">fwd<o:p></o:p></span></p>
</td>
</tr>
<tr style="height:14.4pt">
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">0:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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</tr>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">1:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">2:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">3:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">4:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal"><span style="color:black">5:D2 CoE Driv<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
</td>
<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<td nowrap="" valign="bottom" style="padding:0cm 0cm 0cm 0cm;height:14.4pt">
<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">93<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">25<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">6:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">7:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">8:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black">9:D2 CoE Driv<o:p></o:p></span></p>
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<p class="MsoNormal" align="right" style="text-align:right"><span style="color:black">0<o:p></o:p></span></p>
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<pre style="margin-bottom:12.0pt"><o:p> </o:p></pre>
<pre style="margin-bottom:12.0pt">The easy solution obviously is try to reconnect all wires and change servos, but could anyone explain whats the difference between the two cases and give me some ligth in order to solve this kind of problems?<br>For example in the the second case the phy counter is incremented in P0 of servodrive 6 and in P1 of servodrive 5. Is this a symphtom of an error in connection between 5 and 6 or an error of the servodrive 5? <o:p></o:p></pre>
<pre>Kind regards<o:p></o:p></pre>
<pre>Ignacio Rosales<o:p></o:p></pre>
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