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<p class="MsoNormal">Ok, looking more closely at the code in fsm_slave_config, it appears that Etherlab sets this to 1 at the start of the INIT -> PREOP transition but then clears it once PREOP has been reached.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">This is in violation of the EtherCAT standards – there are many more times where the master is supposed to set it to 1.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Unfortunately, without some changes to the state machine, that probably means that Etherlab simply doesn’t support that particular slave at present. There isn’t really any reliable way that you can get your app to consistently set this
as needed. (You can write registers from the app but you’d have to do so each time the slave rebooted or otherwise had reconfiguration triggered.)<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Having said that, something that <b>might</b> work is simply to comment out the entire #ifdef block inside of
<span style="font-size:9.5pt;font-family:Consolas;color:black">ec_fsm_slave_config_state_boot_preop</span> in fsm_slave_config.c. This should make it leave EEPROM access assigned to the slave after reaching PREOP, but it should still be able to claim access
for the scan process in INIT as needed. I haven’t completely thought this through so I’m not sure if there may be some unintended consequences, however.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<P
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<p class="MsoNormal"><b>From:</b> Joachim Sällvin <joachim.sallvin@corpowerocean.com>
<br>
<b>Sent:</b> Friday, 24 April 2020 02:38<br>
<b>To:</b> Gavin Lambert <gavin.lambert@tomra.com>; etherlab-users@etherlab.org<br>
<b>Subject:</b> Sv: reg_read ==> Failed to read register<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black">I think you're right Gavin:
<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"> <o:p></o:p></span></p>
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<p><span style="color:black">"The key issue is probably the “EEPROM No Access” error from the slave".
<o:p></o:p></span></p>
<p><span style="color:black"><o:p> </o:p></span></p>
<p><span style="color:black">I found the link below and entered:<o:p></o:p></span></p>
<p><span style="color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="color:black">$ ethercat -p1 reg_write 0x500 -tbool 1<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="color:black">and now I the slave goes to OP and I can read the encoder position value. After power cycling I have to do it again. I'm wondering if it is correct/possible to let my application do this or if there is a way to
set this bit persitently? How do I get information/documentation regarding register 0x500?<o:p></o:p></span></p>
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<p><span style="color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><a href="https://eur02.safelinks.protection.outlook.com/?url=http%3A%2F%2Flists.etherlab.org%2Fpipermail%2Fetherlab-dev%2F2009%2F000132.html&data=02%7C01%7Cgavin.lambert%40tomra.com%7Cc131c528a3df4b531d0e08d7e793ddab%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637232494590393671&sdata=DkEnSnKraEBa2qPJ9dLEOABN6dKEZNV7vK4BQhnJhrk%3D&reserved=0">http://lists.etherlab.org/pipermail/etherlab-dev/2009/000132.html</a><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black">Many thanks,<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black">Joachim Sällvin<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black">Corpower Ocean<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span style="color:black">Från:</span></b><span style="color:black"> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>><br>
<b>Skickat:</b> den 17 april 2020 01:28<br>
<b>Till:</b> Joachim Sällvin <<a href="mailto:joachim.sallvin@corpowerocean.com">joachim.sallvin@corpowerocean.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a> <<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>><br>
<b>Ämne:</b> RE: reg_read ==> Failed to read register</span> <o:p></o:p></p>
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<p class="MsoNormal"> <o:p></o:p></p>
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<p class="xmsonormal">The key issue is probably the “EEPROM No Access” error from the slave.<o:p></o:p></p>
<p class="xmsonormal"> <o:p></o:p></p>
<p class="xmsonormal">Unless you passed --disable-sii-assign at configure time, Etherlab should be assigning EEPROM control to the slave as part of the configuration process, which should avoid that sort of error. Perhaps the timing of this isn’t what your
slave is expecting, or perhaps this error means something different – it’s possible it may be using it to indicate that there’s corrupt or otherwise unexpected data in the EEPROM, or for something entirely unrelated. You may need to ask the slave vendor for
more information.<o:p></o:p></p>
<p class="xmsonormal"> <o:p></o:p></p>
<p class="xmsonormal">Since you’re saying it works fine with TwinCAT, you could perhaps take Wireshark captures of the startup configuration sequences from both and see where they differ – there will likely be many entirely benign differences, but it may be
possible that there’s some additional SDO configuration (ecrt_slave_config_sdo*) required, or it may give you a hint to something else. Diagnosing this does require a fairly in-depth knowledge of EtherCAT registers and protocol, however, along with the slave-specific
implementation. (But again it’s possible the slave vendor may be able to help you with that.)<o:p></o:p></p>
<p class="xmsonormal"> <o:p></o:p></p>
<p class="xmsonormal">Some slaves rely on configuration information specified only in the SII XML file and not in the SII EEPROM; TwinCAT uses the former while Etherlab uses the latter.<o:p></o:p></p>
<p class="xmsonormal"> <o:p></o:p></p>
<p><strong><span style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span style="color:#595959"><br>
</span></b><span style="color:#595959">Senior Software Developer<o:p></o:p></span></p>
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<p class="xmsonormal"><b>From:</b> Joachim Sällvin <<a href="mailto:joachim.sallvin@corpowerocean.com">joachim.sallvin@corpowerocean.com</a>>
<br>
<b>Sent:</b> Thursday, 16 April 2020 21:09<br>
<b>To:</b> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Sv: reg_read ==> Failed to read register<o:p></o:p></p>
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<p class="xmsonormal"> <o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">Thank you, clearly I have misunderstood this.</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">ethercat -p1 upload -t uint32 0x6004 0x00 answers with</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">0x00000000 0 (encoder position value) which is not what I expect. It all works fine with TwinCAT and I get resonable values.</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">When I run my application I can not make any of my slaves go into OP state and I can not read the process data. This works fine with TwinCAT.
</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">Any suggestions where to start debugging this?</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">When I run my application:</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:12.0pt;color:black">$ ethercat slaves</span><o:p></o:p></p>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">0 701:0 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie</span><o:p></o:p></p>
</div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">1 601:0 PREOP+ERROR E LeineAndLinde Encoder</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">My dmesg printout (debug level 1 rather long I'm afraid):</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160715.196194] EtherCAT 0: 1 slave(s) responding on main device.</span><o:p></o:p></p>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160715.230681] EtherCAT 0: Scanning bus.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160731.152010] EtherCAT 0: Bus scanning completed in 15952 ms.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160731.152013] EtherCAT 0: Using slave main-0 as DC reference clock.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160731.172030] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160756.175539] e1000e: enp11s0 NIC Link is Down</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160756.180245] EtherCAT 0: Link state of ecm0 changed to DOWN.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160756.191321] EtherCAT WARNING 0: 2 datagrams TIMED OUT!</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160756.191333] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram error.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160756.207260] EtherCAT 0: 0 slave(s) responding on main device.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160758.383706] EtherCAT 0: Releasing master...</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160758.383740] EtherCAT 0: Master thread exited.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160758.383748] EtherCAT 0: Starting EtherCAT-IDLE thread.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160758.383788] EtherCAT 0: Released.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160758.415495] EtherCAT WARNING: Datagram ffff8da6d7024340 (master-fsm) was SKIPPED 1 time.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160778.270034] EtherCAT 0: Master thread exited.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160778.270049] EtherCAT 0: Releasing main device 2C:94:64:00:26:63.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160778.317206] ec_generic: Unloading.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160778.340876] EtherCAT: Master module cleaned up.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.777706] EtherCAT: Master driver 1.5.2 35e7f0841303</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.777955] EtherCAT: 1 master waiting for devices.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.786627] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 35e7f0841303</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.786651] EtherCAT: Accepting 2C:94:64:00:26:63 as main device for master 0.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.786661] ec_generic: Binding socket to interface 6 (enp11s0).</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160815.799994] EtherCAT 0: Starting EtherCAT-IDLE thread.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160823.431705] EtherCAT 0: Master thread exited.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160823.431709] EtherCAT 0: Releasing main device 2C:94:64:00:26:63.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160823.464663] ec_generic: Unloading.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160823.488998] EtherCAT: Master module cleaned up.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160858.720503] e1000e: enp11s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160858.720634] e1000e 0000:0b:00.0 enp11s0: 10/100 speed: disabling TSO</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160859.579559] e1000e: enp11s0 NIC Link is Down</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160861.261205] e1000e: enp11s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160861.261336] e1000e 0000:0b:00.0 enp11s0: 10/100 speed: disabling TSO</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.605681] EtherCAT: Master driver 1.5.2 35e7f0841303</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.605933] EtherCAT: 1 master waiting for devices.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.613974] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 35e7f0841303</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.613996] EtherCAT: Accepting 2C:94:64:00:26:63 as main device for master 0.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.614002] ec_generic: Binding socket to interface 6 (enp11s0).</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.644426] EtherCAT 0: Starting EtherCAT-IDLE thread.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.644577] EtherCAT 0: Link state of ecm0 changed to UP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.652413] EtherCAT 0: 1 slave(s) responding on main device.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.652420] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160872.653254] EtherCAT 0: Scanning bus.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160873.054044] EtherCAT 0: Bus scanning completed in 400 ms.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160873.054046] EtherCAT 0: Using slave main-0 as DC reference clock.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160873.092391] EtherCAT 0: Slave states on main device: INIT.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160873.140447] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160945.654077] EtherCAT 0: 3 slave(s) responding on main device.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160945.655528] EtherCAT 0: Scanning bus.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160947.943148] EtherCAT 0: Bus scanning completed in 2288 ms.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160947.943150] EtherCAT 0: Using slave main-0 as DC reference clock.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160947.982211] EtherCAT 0: Slave states on main device: INIT, PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160948.014240] EtherCAT 0: Slave states on main device: INIT.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160948.046242] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.085059] EtherCAT 0: 2 slave(s) responding on main device.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.086367] EtherCAT 0: Scanning bus.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.487953] EtherCAT 0: Bus scanning completed in 400 ms.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.487955] EtherCAT 0: Using slave main-0 as DC reference clock.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.517021] EtherCAT 0: Slave states on main device: INIT, PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.541063] EtherCAT 0: Slave states on main device: INIT.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.565093] EtherCAT 0: Slave states on main device: INIT, PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[160984.589103] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597419] EtherCAT: Requesting master 0...</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597424] EtherCAT: Successfully requested master 0.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597587] EtherCAT 0: Domain0: Logical address 0x00000000, 36 byte, expected working counter 2.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597589] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 36 byte, type LRD at ffff8da6f70ecc18.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597601] EtherCAT 0: Master thread exited.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.597603] EtherCAT 0: Starting EtherCAT-OP thread.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161157.802764] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161158.602536] EtherCAT 0: Slave states on main device: INIT, PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161159.706658] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161168.507348] EtherCAT ERROR 0-main-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161168.707340] EtherCAT 0: Slave states on main device: PREOP + ERROR.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161168.707362] EtherCAT ERROR 0-main-1: AL status message 0x0050: "EEPROM No Access".</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161169.107372] EtherCAT 0-main-1: Acknowledged state PREOP.</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">[161169.307400] EtherCAT 0: Slave states on main device: PREOP.</span><o:p></o:p></p>
</div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">Regards,</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black">Joachim</span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div class="MsoNormal" align="center" style="text-align:center">
<hr size="2" width="98%" align="center">
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<div id="x_divRplyFwdMsg">
<p class="xmsonormal"><b><span style="color:black">Från:</span></b><span style="color:black"> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>><br>
<b>Skickat:</b> den 15 april 2020 01:49<br>
<b>Till:</b> Joachim Sällvin <<a href="mailto:joachim.sallvin@corpowerocean.com">joachim.sallvin@corpowerocean.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a> <<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>><br>
<b>Ämne:</b> RE: reg_read ==> Failed to read register</span> <o:p></o:p></p>
<div>
<p class="xmsonormal"> <o:p></o:p></p>
</div>
</div>
<div>
<div>
<p class="xxmsonormal">Err, “upload”, I mean. Uploading is reading from the device. I always get those ones mixed up.<o:p></o:p></p>
<p class="xxmsonormal"> <o:p></o:p></p>
<p><strong><span style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span style="color:#595959"><br>
</span></b><span style="color:#595959">Senior Software Developer</span><o:p></o:p></p>
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<p><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><img border="0" width="360" height="102" style="width:3.75in;height:1.0625in" id="x_Picture_x0020_2" src="cid:image001.png@01D61A1D.D1D836B0"></span><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><br>
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<p class="xxmsonormal"><b>From:</b> Gavin Lambert<br>
<b>Sent:</b> Wednesday, 15 April 2020 10:19<br>
<b>To:</b> Joachim Sällvin <<a href="mailto:joachim.sallvin@corpowerocean.com">joachim.sallvin@corpowerocean.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Re: [etherlab-users] reg_read ==> Failed to read register<o:p></o:p></p>
</div>
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<p class="xxmsonormal"> <o:p></o:p></p>
<p class="xxmsonormal">Register 0x6004 doesn’t exist. All registers have addresses < 0x1000. Perhaps you meant to use “download” instead of “reg_read”?<o:p></o:p></p>
<p class="xxmsonormal"> <o:p></o:p></p>
<p><strong><span style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span style="color:#595959"><br>
</span></b><span style="color:#595959">Senior Software Developer</span><o:p></o:p></p>
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<p class="xxmsonormal"><b>From:</b> Joachim Sällvin<br>
<b>Sent:</b> Tuesday, 14 April 2020 21:55<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] reg_read ==> Failed to read register<o:p></o:p></p>
</div>
</div>
<p class="xxmsonormal"> <o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">Hi, what could cause this? What should I try to do next, ideas?</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><b><span style="font-size:12.0pt;color:black">$ ethercat -p1 reg_read 0x6004 4</span></b><o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">Failed to read register: Input/output error</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><b><span style="font-size:12.0pt;color:black">dmesg </span>
</b><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">[417280.571018] Datagram received.<br>
[417280.571024] EtherCAT ERROR 0-main-1: Register request failed (working counter is 0).</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">My application fails to exchange process data so I figured I'd try the command line tool. What could cause this kind of problem?
</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">Some info about my system:</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><b><span style="font-size:12.0pt;color:black">$ ethercat version</span></b><o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">IgH EtherCAT master 1.5.2 35e7f0841303</span><o:p></o:p></p>
</div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">$ ethercat slaves</span><o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">0 701:0 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">1 601:0 PREOP + LeineAndLinde Encoder</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">$ ethercat -p1 cstruct</span><o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">/* Master 0, Slave 1, "LeineAndLinde Encoder"</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> * Vendor ID: 0x00000194</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> * Product code: 0x00000600</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> * Revision number: 0x00000001</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> */</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">ec_pdo_entry_info_t slave_1_pdo_entries[] = {</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x6004, 0x00, 32},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x1001, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x6503, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x6505, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x2060, 0x00, 32},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x6030, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x6040, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x2100, 0x00, 16},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">};</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">ec_pdo_info_t slave_1_pdos[] = {</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0x1a00, 8, slave_1_pdo_entries + 0}, /* Configurable TxPDO map with max 8 PDO */</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">};</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
</div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">ec_sync_info_t slave_1_syncs[] = {</span><o:p></o:p></p>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},</span><o:p></o:p></p>
</div>
<div>
<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},</span><o:p></o:p></p>
</div>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {3, EC_DIR_INPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> {0xff}</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">};</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> Thanks in advance,</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black">Joachim Sällvin</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-size:12.0pt;color:black"> </span><o:p></o:p></p>
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