[etherlab-users] Failed to read reg alias of slave (plain text)

[Ian Norton]

Hi Florian,

We're stumped! And no-one from Kollmorgen seems able to help.

The motor drive will not go into OP mode.

Is there anything you can see obvious from the following...

This is "pdos" o/pgcs at gcs-laptop:~/gseat/ethercat-default/include$ sudo /opt/etherlab/bin/ethercat pdos
SM0: PhysAddr 0x1800, DefaultSize  512, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1c00, DefaultSize  512, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x24, Enable 1
  RxPDO 0x1702 "Outputs"
    PDO entry 0x606b:00, 32 bit, "Velocity demand value"
    PDO entry 0x6040:00, 16 bit, "Control word"
SM3: PhysAddr 0x1140, DefaultSize    0, ControlRegister 0x20, Enable 1
  TxPDO 0x1b03 "Inputs"
    PDO entry 0x6064:00, 32 bit, "Position actual value"
    PDO entry 0x6077:00, 16 bit, "Torque actual value"
    PDO entry 0x6041:00, 16 bit, "Status word"

This is "dmesg"

[100416.500888] EtherCAT: Accepting device 00:08:0D:EF:34:53 for master 0.
[100416.501500] EtherCAT: Starting EtherCAT-IDLE thread.
[100416.501562] ec_e1000: ec0: e1000_probe: Intel(R) PRO/1000 Network Connection
[100418.504416] ec_e1000: ec0: e1000_watchdog: NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX
[100418.504431] EtherCAT: Link state changed to UP.
[100418.508939] EtherCAT: 1 slave(s) responding.
[100418.508948] EtherCAT: Slave states: INIT.
[100418.509004] EtherCAT: Scanning bus.
[100418.714178] EtherCAT ERROR: SDO upload 0x1702:00 aborted on slave 0.
[100418.714186] EtherCAT ERROR: SDO abort message 0x06020000: "This object does not exist in the object directory".
[100418.714189] EtherCAT ERROR: Failed to read number of mapped PDO entries.
[100418.714193] EtherCAT ERROR: Failed to read mapped PDO entries for PDO 0x1702.
[100418.720396] EtherCAT ERROR: SDO upload 0x1B01:00 aborted on slave 0.
[100418.720399] EtherCAT ERROR: SDO abort message 0x06020000: "This object does not exist in the object directory".
[100418.720403] EtherCAT ERROR: Failed to read number of mapped PDO entries.
[100418.720406] EtherCAT ERROR: Failed to read mapped PDO entries for PDO 0x1B01.
[100418.720409] EtherCAT: Bus scanning completed in 212 ms.
[100418.724784] EtherCAT: Slave states: PREOP.
[100424.937855] EtherCAT: Requesting master 0...
[100424.937869] EtherCAT: Successfully requested master 0.
[100424.938047] EtherCAT: Domain0: Logical address 0x00000000, 14 byte, expected working counter 3.
[100424.938058] EtherCAT:   Datagram domain0-0: Logical offset 0x00000000, 14 byte, type LRW.
[100424.938260] EtherCAT: Master thread exited.
[100424.938269] EtherCAT: Starting EtherCAT-OP thread.
[100425.229544] EtherCAT: Domain 0: Working counter changed to 2/3.
[100425.274840] EtherCAT ERROR: Failed to set SAFEOP state, slave 0 refused state change (PREOP + ERROR).
[100425.289547] EtherCAT ERROR: AL status message 0x0017: "Invalid sync manager configuration".
[100425.349544] EtherCAT: Acknowledged state PREOP on slave 0.

Attached is app code.

many thanks
Ian



-----Original Message-----
From: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org]On Behalf Of Florian Pose
Sent: 17 March 2010 14:37
To: etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Failed to read reg alias of slave (plain
text)


Hi,

On Tue, Mar 16, 2010 at 09:38:30AM +0100, Len Remmerswaal wrote:
> Hi all,

thanks for posting in plain text. ;-)

> I am trying the etherlab master, and I am getting the following message 
> when attaching a small ethercat segment and starting the Etherlab master 
> (v. 651e9cfb244b).
>
> EtherCAT DEBUG: Reading alias from register 0x0012 of slave 5.
> EtherCAT WARNING: Failed to read reg alias of slave 5.

This warning means, that the slave alias could not be read out of
register 0x0012 and is taken from the SII (EEPROM) instead. This is not
crucial. Maybe we can output it in debug mode only.

> Revision number: 0x00000000 ???
> Serial number: 0x00000000 ??? All 0?

This is read from the SII (EEPROM). These two are vendor specific. If
the vendor of your slave decides not to maintain them, that's the way it
is.

> Distributed clocks: no ??? Beckhoff's docs say yes

This is read out of the appropriate slave register, usually slaves do
not lie at this place. Maybe you got a very /old/ slave? I don't think
that Beckhof EL3162 in revision 0 supports DC. Cou can read out the
software/hardware version from the SDOs 0x1009 and 0x100a (see
dictionary). Maybe you can ask Beckhoff, if this version has to support
it...

> 0 N/A down open yes 4 ??? All ports N/A ?
> 1 N/A down open yes 6
> 2 N/A down closed no -
> 3 N/A down closed no -

This is also read from register 0x0110. You can check it again with the
following command: 'ethercat reg_r -pX -tuint16 0x0110.
The N/A means the port physics.

> When running a few reg_read commands I get this:
>
> # reg_read -p5 0x0012 2
> Failed to read register: Input/output error

see above.

-- 
Best regards,
Florian Pose

http://etherlab.org
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