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<p class="MsoNormal">Hi Martin,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I found a workaround last night. I have split the read and write PDO’s into separate read and write domains. I had not tried this earlier as the flag requiring this is not set in the slave and TwinCAT is working from one domain. However
TwinCAT is using overlapped PDO’s which I did not try as that does not suit our application.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Re: the dc sync settings in the ESI file, I tried enabling SM-Synchron cyclic operation mode under TwinCAT and the slave exhibited similar problems. After talking to the supplier they recommended not using DC or SM-Synchron mode at all.
So I tried hardcoding removing the DC supported flag from the slave but it made no difference.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">So it is now working, but still with a manually loaded SII file via the loading firmware from file mechanism.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Thanks,<o:p></o:p></p>
<p class="MsoNormal">Graeme.<o:p></o:p></p>
<p class="MsoNormal"><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"> Steih, Martin <Martin.Steih@lachmann-rink.de>
<br>
<b>Sent:</b> Tuesday, 22 November 2022 20:39<br>
<b>To:</b> Graeme Foot <Graeme.Foot@touchcut.com><br>
<b>Subject:</b> AW: Kjellberg Q3000 slave problems<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="DE" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="DE" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Are you sure it does not support dc sync?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><Dc></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><OpMode></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><Name></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">Synchron</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></Name></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><Desc></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">FreeRun/SM-Synchron</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></Desc></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><AssignActivate></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">#x0</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></AssignActivate></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><CycleTimeSync0</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:#E50000;mso-fareast-language:DE">Factor</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">=</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:blue;mso-fareast-language:DE">"1"</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE">></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">0</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></CycleTimeSync0></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><ShiftTimeSync0></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">0</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></ShiftTimeSync0></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"><CycleTimeSync1</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:#E50000;mso-fareast-language:DE">Factor</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">=</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:blue;mso-fareast-language:DE">"1"</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE">></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">0</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></CycleTimeSync1></span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="DE" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></OpMode></span><span lang="DE" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal" style="line-height:14.25pt;background:white"><span lang="DE" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE">
</span><span lang="DE" style="font-size:10.5pt;font-family:Consolas;color:maroon;mso-fareast-language:DE"></Dc></span><span lang="DE" style="font-size:10.5pt;font-family:Consolas;color:black;mso-fareast-language:DE"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">I found this in your ESI file under Q3000, and the problem description you just sent is precisely the same one we face when dc sync settings are not
correct or fitting.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></p>
<div>
<p class="MsoNormal"><span lang="DE" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:DE">i. A. Martin Steih</span><span lang="DE" style="font-size:12.0pt;font-family:"Times New Roman",serif;color:black;mso-fareast-language:DE"> </span><span lang="DE" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:DE"><br>
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Entwicklung</span><span lang="DE" style="font-size:12.0pt;font-family:"Times New Roman",serif;color:black;mso-fareast-language:DE"><br>
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<p class="MsoNormal"><span lang="DE" style="font-size:8.0pt;font-family:"Arial",sans-serif;color:#42454A;mso-fareast-language:DE"><a href="mailto:Martin.Steih@lachmann-rink.de" title="Click to send email to Steih, Martin"><span style="color:blue">Martin.Steih@lachmann-rink.de</span></a>
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<p class="MsoNormal"><b><span lang="DE" style="mso-fareast-language:DE">Von:</span></b><span lang="DE" style="mso-fareast-language:DE"> Etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>>
<b>Im Auftrag von </b>Graeme Foot<br>
<b>Gesendet:</b> Dienstag, 15. November 2022 08:02<br>
<b>An:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Betreff:</b> [Etherlab-users] Kjellberg Q3000 slave problems<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="DE"><o:p> </o:p></span></p>
<p class="MsoNormal">Hi,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">We are trying to get a Kjellberg Q3000 plasma slave up and running in our system. Unfortunately it is getting to SAFEOP and going to SAFEOP + Error. Also while in SAFEOP it drops 1 or two packets out of three, causing the master to enter
an endless rescan loop. The Q3000 gets to OP successfully under TwinCAT. I have wireshark logs of both startup sequences and can’t find anything obvious that is causing the issue.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoNormal" style="mso-list:l0 level1 lfo3">I’m using the 1.5.2 master with the GavinL patchset.<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">I have enabled the --enable-regalias option as this slave uses the 0x0012 register to specify the slave alias.<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">There are errors in the slaves SII. I have generated an SII using TwinCAT and I’m loading it via the firmware loading patch (using EC_SII_OVERRIDE). As far as I can tell it is correct. (I needed to increase
the esi files Eeprom ByteSize to 4096 so that it would include the categories information, as per:
<a href="https://etherlab.org/en/ethercat/faq.php">https://etherlab.org/en/ethercat/faq.php</a>). I’ve attached the SII bin file in case anyone is interested.<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">I gather the slave firmware uses the ET9300 slave stack code version 5.10.<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">The slave allows LWR (i.e. both read and write data in the same domain)<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">It supports distributed clocks, but not DC Sync.<o:p></o:p></li><li class="MsoNormal" style="mso-list:l0 level1 lfo3">It looks like TwinCAT configures the read and write domain data to overlap. Our master does not.<o:p></o:p></li></ul>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The Sync manager config is the same between TwinCAT and EtherLab<o:p></o:p></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">SM0: 0010800026000100<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">SM1: 0014800022000100<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">SM2: 0018250064000100<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">SM3: 001c410020000100<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The FMMU config is mostly the same, the only difference I can see is the virtual start address and that they overlap<o:p></o:p></p>
<p class="MsoNormal">TwinCAT:<o:p></o:p></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">FMMU0: <span style="background:yellow;mso-highlight:yellow">
00000001</span>250000070018000201000000<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">FMMU1: <span style="background:yellow;mso-highlight:yellow">
00000001</span>41000007001c000101000000<o:p></o:p></span></p>
<p class="MsoNormal">EtherLab:<o:p></o:p></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">FMMU0: <span style="background:yellow;mso-highlight:yellow">
0f000000</span>250000070018000201000000<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">FMMU1: <span style="background:yellow;mso-highlight:yellow">
34000000</span>41000007001c000101000000<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">TwinCAT also sets up a third FMMU for what I assume is a slave working counter status domain.<o:p></o:p></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">FMMU2: 00000009010000000d08000101000000<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">One thing that the TwinCAT master does that EtherLab does not is set the “Error Ack” flag to true when requesting a slave state change. E.g.:<o:p></o:p></p>
<p class="MsoNormal"><span style="font-family:"Courier New"">EtherCAT datagram: Cmd: 'APWR' (2), Len: 2, Adp 0x1, Ado 0x120, Cnt 1<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> Header<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> AL Ctrl (0x120): 0x0011, Al Ctrl: INIT, Error Ack<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> .... .... .... 0001 = Al Ctrl: INIT (0x1)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> <span style="background:yellow;mso-highlight:yellow">
.... .... ...1 .... = Error Ack: True</span><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> .... .... ..0. .... = Id: False<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-family:"Courier New""> Working Cnt: 1<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I’ve attached the esi file. As far as I can tell there’s nothing particularly special about the slave. We are using the Q3000 (460-480V) slave (ProductCode="#x00003023"), but they are all the same configuration.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Tomorrow I’ll try patching the master to set the Error Ack flag in the INIT state change datagram, but apart from that I’m currently out of ideas for things to try. Does anyone have any other ideas from problem slaves you’ve encountered?<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Regards,<o:p></o:p></p>
<p class="MsoNormal">Graeme Foot<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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