<div dir="ltr"><div>Hello everybody,</div><div><br></div><div>I've suffering some errors in two machines. <br></div><div>In both of them the dmesg shows the same <br><pre class="gmail-aLF-aPX-K0-aPE"> [ 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.<br><br></pre><pre class="gmail-aLF-aPX-K0-aPE">But logging the output of the new command ethercat crc I obtain different behaviours,<br><br></pre><pre class="gmail-aLF-aPX-K0-aPE">In one of them the crc counter and phy counter of one of servos practically go up at same time. <br><br></pre><pre class="gmail-aLF-aPX-K0-aPE">In the other only the phy counter in one servo is increased:<br>
</pre><table style="border-collapse:collapse;width:452pt" width="604" cellspacing="0" cellpadding="0" border="0"><tbody><tr style="height:14.4pt" height="19"><td style="height:14.4pt;width:80pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="106" height="19"><br></td>
<td colspan="2" style="width:124pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="166">2019-10-31
16:24:08.476</td>
<td style="width:62pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="83"><br></td>
<td style="width:62pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="83"><br></td>
<td style="width:62pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="83"><br></td>
<td style="width:62pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" width="83"><br></td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19"><br></td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">P0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap"><br></td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap"><br></td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">P1</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap"><br></td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap"><br></td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19"><br></td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">crc</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">phy</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">fwd</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">crc</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">phy</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap">fwd</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">0:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">1:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">2:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">3:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">4:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">5:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">93</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">6:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">98</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">7:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">8:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
<tr style="height:14.4pt" height="19">
<td style="height:14.4pt;padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" height="19">9:D2 CoE Driv</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">0</td>
<td style="padding:0px;color:black;font-size:11pt;font-weight:400;font-style:normal;text-decoration:none;font-family:Calibri,sans-serif;vertical-align:bottom;border:medium none;white-space:nowrap" align="right">25</td>
</tr>
</tbody></table>
<pre class="gmail-aLF-aPX-K0-aPE"><br><br></pre><pre class="gmail-aLF-aPX-K0-aPE">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? <br><br></pre><pre class="gmail-aLF-aPX-K0-aPE">Kind regards<br></pre><pre class="gmail-aLF-aPX-K0-aPE">Ignacio Rosales<br></pre></div></div>