[etherlab-users] Yaskawa Sigma-5 no Vendor ID or Product Code Failed to read SII size of slave 0.

[Henry Bausley]

1.) The  Yaskawa drive with older firmware does now display the Vendor
ID and Product Code despite the SII error.  Thanks to your code
modification.

EtherCAT 0: 1 slave(s) responding.
EtherCAT 0: Slave states: INIT.
EtherCAT DEBUG 0-0: Init FSM.
EtherCAT DEBUG 0: Sending broadcast-write to measure transmission
delays.
EtherCAT DEBUG 0: 1 slaves responded to delay measuring.
EtherCAT 0: Scanning bus.
EtherCAT DEBUG 0-0: Slave has the System Time register.
EtherCAT ERROR 0-0: Error on last command while reading from SII word
0x0080.
EtherCAT ERROR 0-0: Failed to determine SII content size: Reading word
offset 0x
0080 failed. Assuming 64 words.
EtherCAT 0: Bus scanning completed in 22 ms.
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0: No app_time received up to now.
EtherCAT DEBUG 0-0: Ready for requests.



2.) In addition, I just received another drive from Yaskawa and they
have updated their firmware(3.01 now) and the SII content size error no
longer occurs. This one is visible without the latest version.
Hopefully now I can get this drive to servo motors with the etherlab
master.  I will keep you posted.

EtherCAT 0: Link state changed to UP.
EtherCAT 0: 1 slave(s) responding.
EtherCAT 0: Slave states: INIT.
EtherCAT DEBUG 0-0: Init FSM.
EtherCAT DEBUG 0: Sending broadcast-write to measure transmission
delays.
EtherCAT DEBUG 0: 1 slaves responded to delay measuring.
EtherCAT 0: Scanning bus.
EtherCAT DEBUG 0-0: Slave has the System Time register.
EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT),
setting 
to PREOP.
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Clearing FMMU configurations...
EtherCAT DEBUG 0-0: Clearing sync manager configurations...
EtherCAT DEBUG 0-0: Clearing DC assignment...
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: Finished configuration.
EtherCAT DEBUG 0-0: Scanning PDO assignment and mapping.
EtherCAT DEBUG 0-0: Reading PDO assignment of SM2.
EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:00.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: 1 PDOs assigned.
EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:01.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4B 12 1C 01 01 16 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 01 16 
EtherCAT DEBUG 0-0: PDO 0x1601.
EtherCAT DEBUG 0-0: Uploading SDO 0x1601:00.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4F 01 16 00 02 00 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: 2 PDO entries mapped.
EtherCAT DEBUG 0-0: Uploading SDO 0x1601:01.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 16 01 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 43 01 16 01 10 00 40 60 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 10 00 40 60 
EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
EtherCAT DEBUG 0-0: Uploading SDO 0x1601:02.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 16 02 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 43 01 16 02 20 00 7A 60 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 20 00 7A 60 
EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".
EtherCAT DEBUG 0-0: Reading PDO assignment of SM3.
EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:00.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: 1 PDOs assigned.
EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:01.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4B 13 1C 01 01 1A 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 01 1A 
EtherCAT DEBUG 0-0: PDO 0x1A01.
EtherCAT DEBUG 0-0: Uploading SDO 0x1A01:00.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 1A 00 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 4F 01 1A 00 02 00 00 00 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: 2 PDO entries mapped.
EtherCAT DEBUG 0-0: Uploading SDO 0x1A01:01.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 1A 01 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 43 01 1A 01 10 00 41 60 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 10 00 41 60 
EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
EtherCAT DEBUG 0-0: Uploading SDO 0x1A01:02.
EtherCAT DEBUG 0-0: Upload request:
EtherCAT DEBUG: 00 20 40 01 1A 02 00 00 00 00 
EtherCAT DEBUG 0-0: Upload response:
EtherCAT DEBUG: 00 30 43 01 1A 02 20 00 64 60 
EtherCAT DEBUG 0-0: Uploaded data:
EtherCAT DEBUG: 20 00 64 60 
EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
EtherCAT DEBUG 0-0: Reading of PDO configuration finished.
EtherCAT 0: Bus scanning completed in 11 ms.
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0: No app_time received up to now.
EtherCAT 0: Slave states: PREOP.
EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced).
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Clearing FMMU configurations...
EtherCAT DEBUG 0-0: Clearing sync manager configurations...
EtherCAT DEBUG 0-0: Clearing DC assignment...
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: Finished configuration.
EtherCAT DEBUG 0-0: Ready for requests.
EtherCAT DEBUG 0-0: Fetching SDO dictionary.
EtherCAT DEBUG 0-0: SDO list fragments left: 1
EtherCAT ERROR 0-0: Corrupt mailbox response received!
EtherCAT DEBUG: 84 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00 
EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72 
EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60 
EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60 
EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60 
EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60 
EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60 
EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60 




On Fri, 2010-09-24 at 17:06 +0200, Florian Pose wrote:

> Hello Henry,
> 
> On Tue, Aug 24, 2010 at 02:52:23PM -0700, Henry Bausley wrote:
> > Do the details from setting debug to 2 help anyone see why a Yaskawa
> > Sigma 5 Drive comes up with a Vendor ID and Product code of 0 
> 
> We had similar problems with a slave from another vendor, so I improved
> the SII error messages a little bit and made the master read out the
> first 64 words, even if the rest of the data seem to be inconsistent.
> 
> Please try the newest version from SourceForge and post the logs.
> 

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