[etherlab-users] Emerson Control Techniques Drvive, No PDO exchange, WC=0

Wed Oct 20 10:33:59 CEST 2010

Do you call 
	ecrt_domain_process(...);
	...
	ecrt_domain_queue (...);
for BOTH domains CYCLIC in your RT-task?

See also
http://www.mail-archive.com/etherlab-users@etherlab.org/msg00496.html

-----Ursprüngliche Nachricht-----
Von: etherlab-users-bounces at etherlab.org
[mailto:etherlab-users-bounces at etherlab.org] Im Auftrag von Henry Bausley
Gesendet: Mittwoch, 20. Oktober 2010 00:47
An: etherlab-users at etherlab.org
Betreff: [etherlab-users] Emerson Control Techniques Drvive, No PDO
exchange,WC=0

I am trying to use an Emerson Control Techniques Digitax ST Servo Drive
via their SM-EtherCAT module but no PDO information is ever exchanged.
The Working Counter and Working State are always 0.  I verified all the
PDO mappings and Sync Manager configurations.  The Drive goes to OP mode
but no data is ever exchanged. I am using the basic mini.c example to
check the drive.  I have a Copley drive that works perfectly with the
same mini.c example (the only difference being the PDO indexes , the
vendor/product code are different)

I believe the SM-EtherCAT module uses the Hilscher chip.  The domain
working counter and working state are always 0.  

Does anyone have any suggestions?

Below are the debug messages. Everything seems to be setup correct.
----------------------------------------------------------------------------
--------------

root at 10.34.9.212:/opt/ppmac/mini# insmod miniEmerson.ko
root at 10.34.9.212:/opt/ppmac/mini# dmesg
ec_mini: Starting...
EtherCAT: Requesting master 0...
EtherCAT DEBUG 0: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xafbd7000, send_cb =
0xb91c404c, receive_cb = 0xb91c4000, cb_data = 0xafbd7000)
ec_mini: Registering domain...
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbd7000)
EtherCAT DEBUG 0: Created domain 0.
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbd7000)
EtherCAT DEBUG 0: Created domain 1.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
EtherCAT DEBUG 0: Creating slave configuration for 0:0,
0x000000F9/0x00040203.
EtherCAT DEBUG 0 0:0: Attached slave 0.
ec_mini: Configuring PDOs...
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdos(sc = 0xaed9b800, n_syncs =
4294967295, syncs = 0xb91c53e4)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
sync_index = 0, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
sync_index = 1, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc =
0xaed9b800, sync_index = 2)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xaed9b800,
sync_index = 2, pdo_index = 0x1605)
EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1605.
EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
EtherCAT DEBUG 0 0:0: Entry 0x6042:00.
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xaed9b800, pdo_index = 0x1605)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
pdo_index = 0x1605, entry_index = 0x6040, entry_subindex = 0x00,
entry_bit_length = 16)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
pdo_index = 0x1605, entry_index = 0x6042, entry_subindex = 0x00,
entry_bit_length = 16)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xaed9b800,
sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc =
0xaed9b800, sync_index = 3)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xaed9b800,
sync_index = 3, pdo_index = 0x1A05)
EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A05.
EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
EtherCAT DEBUG 0 0:0: Entry 0x6044:00.
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xaed9b800, pdo_index = 0x1A05)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
pdo_index = 0x1A05, entry_index = 0x6041, entry_subindex = 0x00,
entry_bit_length = 16)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaed9b800,
pdo_index = 0x1A05, entry_index = 0x6044, entry_subindex = 0x00,
entry_bit_length = 16)
ec_mini: Registering PDO entries...
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaee11d00,
regs = 0xb91c4650)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
index = 0x6041, subindex = 0x00, domain = 0xaee11d00, bit_position =
0x(null))
EtherCAT DEBUG 0: Domain 0: Added 4 bytes, total 4.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
index = 0x6044, subindex = 0x00, domain = 0xaee11d00, bit_position =
0x(null))
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaee11100,
regs = 0xb91c4698)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
index = 0x6040, subindex = 0x00, domain = 0xaee11100, bit_position =
0x(null))
EtherCAT DEBUG 0: Domain 1: Added 4 bytes, total 4.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbd7000, alias =
0, position = 0, vendor_id = 0x000000f9, product_code = 0x00040203)
EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaed9b800,
index = 0x6042, subindex = 0x00, domain = 0xaee11100, bit_position =
0x(null))
ec_mini: Activating master...
EtherCAT DEBUG 0: ecrt_master_activate(master = 0xafbd7000)
EtherCAT 0: Domain0: Logical address 0x00000000, 4 byte, expected
working counter 1.
EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 4 byte,
type LRD.
EtherCAT 0: Domain1: Logical address 0x00000004, 4 byte, expected
working counter 1.
EtherCAT 0:   Datagram domain1-4: Logical offset 0x00000004, 4 byte,
type LWR.
EtherCAT DEBUG 0: Stopping master thread.
EtherCAT DEBUG 0: Master IDLE thread exiting...
EtherCAT 0: Master thread exited.
EtherCAT DEBUG 0: FSM datagram is afbd73e4.
EtherCAT 0: Starting EtherCAT-OP thread.
ec_mini: Starting cyclic sample thread.
ec_mini: Started.
EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us,
max data size=11250
EtherCAT WARNING 0: 2 datagrams UNMATCHED!
ec_mini: 1 slave(s).
ec_mini: AL states: 0x02.
ec_mini: Link is up.
ec_mini: DigIn: State 0x02.
ec_mini: DigIn: online.
inputdata = 00000000
inputdata = 00000000
EtherCAT DEBUG 0: Configuration changed.
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0: No app_time received up to now.
EtherCAT DEBUG 0: Requesting OP...
EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
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 0x26, En 1
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1605.
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16
0x6042:00/16. Entries to map: 0x6040:00/16 0x6042:00/16
EtherCAT DEBUG 0-0: Setting entry count to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1605:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 05 16 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 16 00 00 00 00 00 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1605:01.
EtherCAT DEBUG: 10 00 40 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 05 16 01 10 00 40 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 16 01 10 00 40 60 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6042:00 (16 bit) at position 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1605:02.
EtherCAT DEBUG: 10 00 42 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 05 16 02 10 00 42 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 16 02 10 00 42 60 
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1605:00.
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 05 16 00 02 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 16 00 02 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1605.
EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1605. PDOs to assign:
0x1605
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Assigning PDO 0x1605 at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
EtherCAT DEBUG: 05 16 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2B 12 1C 01 05 16 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 01 05 16 00 00 
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A05.
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16
0x6044:00/16. Entries to map: 0x6041:00/16 0x6044:00/16
EtherCAT DEBUG 0-0: Setting entry count to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 05 1A 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 1A 00 00 00 00 00 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:01.
EtherCAT DEBUG: 10 00 41 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 05 1A 01 10 00 41 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 1A 01 10 00 41 60 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6044:00 (16 bit) at position 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:02.
EtherCAT DEBUG: 10 00 44 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 05 1A 02 10 00 44 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 1A 02 10 00 44 60 
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A05:00.
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 05 1A 00 02 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 05 1A 00 02 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A05.
EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A05. PDOs to assign:
0x1A05
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Assigning PDO 0x1A05 at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
EtherCAT DEBUG: 05 1A 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2B 13 1C 01 05 1A 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 01 05 1A 00 00 
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   4, Ctrl 0x24, En 1
EtherCAT DEBUG 0-0: SM3: Addr 0x1280, Size   4, Ctrl 0x20, En 1
EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size   4, PhysAddr
0x1280, SM3, Dir in
EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000004, Size   4, PhysAddr
0x1100, SM2, Dir out
EtherCAT DEBUG 0-0: Now in SAFEOP.
EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
EtherCAT 0: Slave states: OP.
ec_mini: AL states: 0x08.
ec_mini: DigIn: State 0x08.
ec_mini: DigIn: operational.
inputdata = 00000000
inputdata = 00000000
inputdata = 00000000
inputdata = 00000000

root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8  upload
0x1c12 0
0x01 1
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int16 upload
0x1c12 1
0x1605 5637
root at 10.34.9.212:/opt/ppmac/mini# 
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8  upload
0x1c13 0
0x01 1
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int16 upload
0x1c13 1
0x1a05 6661
root at 10.34.9.212:/opt/ppmac/mini# 
root at 10.34.9.212:/opt/ppmac/mini# 
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8 upload 0x1605
0
0x02 2
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
0x1605 1
0x60400010 1614807056
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
0x1605 2
0x60420010 1614938128
root at 10.34.9.212:/opt/ppmac/mini# 
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t int8 upload 0x1a05
0
0x02 2
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
0x1a05 1
0x60410010 1614872592
root at 10.34.9.212:/opt/ppmac/mini# ethercat -m0 -p0 -t uint32 upload
0x1a05 2
`

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