[etherlab-dev] "Failed to read number of assigned PDOs for SM2" error occurs.

Thu Jun 1 09:09:34 CEST 2017

Hello.

I solved the problem that did not change to OP state!!. :)

I set the defaultsize of SM2 and SM3 in the xml file.(attachments:kty_success.xml)

Because if defaultsize is not defined, size of SM2, SM3 is 0 in SAFEOP operation as below.

           root at odroid:~# ethercat states OP

           root at odroid:~# [   51.376661 at 0] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.

           [   51.378857 at 0] EtherCAT DEBUG 0-0: Configuring...

           [   51.385170 at 0] EtherCAT DEBUG 0-0: Now in INIT.

           [   51.388296 at 0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...

           [   51.394066 at 0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...

           [   51.401123 at 0] EtherCAT DEBUG 0-0: Clearing DC assignment...

           [   51.406349 at 0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...

           [   51.413099 at 0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1

           [   51.420182 at 0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1

           [   51.431622 at 0] EtherCAT DEBUG 0-0: Now in PREOP.

           [   51.431655 at 0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   0, Ctrl 0x24, En 0

           [   51.438992 at 0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size   0, Ctrl 0x20, En 0

           [   51.451201 at 0] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).

           [   51.455414 at 0] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".

           [   51.465214 at 0] EtherCAT 0-0: Acknowledged state PREOP.

           root at odroid:~#

So I have specified defaultsize for SM2 and SM3 in the xml file.

The status changed to OP like the attachment success.txt afterwards.

The "Sync manager watchdog" error is still happening, but the OP is the first to change!

Your help has been very helpful to me.

Thank you.

Best regards,
Kwon

From: etherlab-dev [mailto:etherlab-dev-bounces at etherlab.org] On Behalf Of Christoph Schroeder
Sent: Wednesday, May 31, 2017 6:44 PM
To: etherlab-dev at etherlab.org
Subject: Re: [etherlab-dev] "Failed to read number of assigned PDOs for SM2" error occurs.

Hello,

I am not 100% sure but I will write down some conjectures what could cause the problem. I think the critical part is this: 

        <Mailbox DataLinkLayer="true">
          <CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
          <FoE/>
        </Mailbox>

This is the description of PdoUpload:
Device has dynamic process data, i.e. PDO configuration
and PDO assignment is uploaded from the device and
SyncManager lengths are set according to the calculated
PDO length.
0: PDO description taken from ESI and SyncManager
length calculated based on the same
1: PDO description uploaded from the slave’s object
dictionary and SyncManager length calculated based on the
same

>From what I understand there is a static and a dynamic way to manage process data. The static way means the PDO informations resp. the SyncManager length are stored in the EEPROM which is retrieved by the EtherCAT master during initialization. The PDO informations are not mandatory but the SyncManager length is.

Complex slaves, resp. slaves with attached microcontroller / FPGA etc. that support mailbox communication, support a dynamic way where the PDO informations are retrieved via the mailbox CoE protocol. The SyncManager length is then calculated based on these informations. This of course has to be supported by the microcontroller / FPGA or in your case the OMRON-NJ501 PLC or rather by it's software / configuration. Unfortunately I can't tell you how to exactly do this as we never used CoE. We also use the LAN9252 as complex slave with a FPGA but with a custom configuration and only VoE mailbox protocoll.

One other guess: the ESI file tells me that CoE is not completely supported but some features that use CoE are. Maybe this confuses the EtherCAT master? This would also explain why "EtherCAT ERROR 0-0: Received mailbox protocol 0x08 as response." occurs which means only FoE is set as supported mailbox protocol. Setting the bit in the EEPROM might be of help here, but could lead to other errors.

Best regards,
Christoph

On 05/31/2017 10:09 AM, 권태영 wrote:

Hello.

I am testing the EtherLab with the MicroChip EVB-LAN9252-ADD-ON board.

The EVB-LAN9252-ADD-ON board is connected to ODROID-C1 and is used as an EtherCAT slave as SOES(SPI communication).

Kernel version is using version 3.10.

I tested the ported SOES with OMRON-NJ501-1500 PLC and Sysmac Studio. (Attached file: 1.png)

I have compiled EtherLab to do the same EtherCAT Master operation.(etherlab-bundle-2.1)

I tried to control it with the ethercat command.

However, the following error message appears.

===================================================================

EtherCAT WARNING 0-0: Received mailbox protocol 0x08 as response.

EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.

EtherCAT WARNING 0-0: Received mailbox protocol 0x08 as response.

EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3.

EtherCAT 0: Bus scanning completed in 90 ms.

EtherCAT 0: Using slave 0 as DC reference clock.

EtherCAT 0: Slave states on main device: PREOP.

EtherCAT ERROR 0-0: Received mailbox protocol 0x08 as response.

===================================================================

On the EVB-LAN9252-ADD-ON board, only the Run LED is blinking.(PEROP)

How can I tell if I can solve this problem?

Why does this error occur?

I am EtherCAT Newbi.... :(

The attached log.txt is all the commands and logs I have run.

The attached kty.xml file is the ESI file currently being used by the EtherCAT Slave.

The attached 2.jpg is the current status of my board.

Regards 

Kwon

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