[etherlab-users] Beckoff EL9800 EvaBoard - Slave is not in the state to do mailbox com (INIT), setting to PREOP.

[Donggu Kang]

Hi

I'm EtherCAT starter and I have basic problem.
I try to test EtherCAT communication with the Beckhoff EL9800 evaluation
hardware.

I have already done communication test using the Beckhoff TwinCAT system
manager( all on windows ).
The EtherCAT bus information has been detected by autoscan box function of
TwinCAT system manager
and state machine transferred to OP state. It's success

But, EtherLab Master( 1.5 ) failed autoscan.
Is there any master configuration or programming for Beckhoff EL9800
eveluation board?
Could you give me your any tips/suggestions/experiences/manual ?


   - System Information
      - Intel i7 860
      - Debian lenny 5.0.7
      - Kernel 2.6.34.5 with Xenomai 2.5.5.2
      - EtherCAT-capable Device driver 8139too
      - EtherLab Master 1.5


Below text is master debug message.
-------------------------------------------------------------------------------------------------------------------------------
[ 7311.084742] EtherCAT 0: 0 slave(s) responding.
[ 7311.084744] EtherCAT DEBUG 0: Master state machine detected link down.
Clearing slave list.
[ 7314.829235] EtherCAT 0: Link state changed to UP.
[ 7314.830270] EtherCAT 0: 1 slave(s) responding.
[ 7314.830274] EtherCAT 0: Slave states: INIT.
[ 7314.830282] EtherCAT DEBUG 0-0: Init FSM.
[ 7314.830306] EtherCAT DEBUG 0: Sending broadcast-write to measure
transmission delays.
[ 7314.830324] EtherCAT DEBUG 0: 1 slaves responded to delay measuring.
[ 7314.830326] EtherCAT 0: Scanning bus.
[ 7314.830395] EtherCAT DEBUG 0-0: Slave has the System Time register.
[ 7314.880972] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox
com (INIT), setting to PREOP.
[ 7314.880974] EtherCAT DEBUG 0-0: Configuring...
[ 7314.881010] EtherCAT DEBUG 0-0: Now in INIT.
[ 7314.881012] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 7314.881034] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 7314.881053] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 7314.881071] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 7314.881074] EtherCAT DEBUG 0-0: SM0: Addr 0x0F00, Size   0, Ctrl 0x46, En
0
[ 7314.881076] EtherCAT DEBUG 0-0: SM1: Addr 0x1000, Size   0, Ctrl 0x00, En
0
[ 7314.881730] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused
state change (INIT + ERROR).
[ 7314.881750] EtherCAT ERROR 0-0: AL status message 0x0000: "No error".
[ 7314.881752] EtherCAT ERROR 0-0: Unknown AL status code 0x0000.
[ 7314.881921] EtherCAT 0-0: Acknowledged state INIT.
[ 7314.881923] EtherCAT 0: Bus scanning completed in 51 ms.
[ 7314.881925] EtherCAT DEBUG 0: Writing system time offsets...
[ 7314.881927] EtherCAT DEBUG 0: No app_time received up to now.
[ 7314.883145] EtherCAT DEBUG 0-0: Ready for requests.

Slave infomation
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
toybox:/opt/etherlab# bin/ethercat slaves -v
=== Master 0, Slave 0 ===
State: INIT
Flag: E
Identity:
  Vendor Id:       0x00000002
  Product code:    0x26483052
  Revision number: 0x03100001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 32 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc
[ns]
   0  N/A   up    open    yes             -   1635389460
0           0
   1  N/A   down  closed  no              -            -
-           -
   2  N/A   down  closed  no              -            -
-           -
   3  N/A   down  closed  no              -            -
-           -
Mailboxes:
  Bootstrap RX: 0x1000/532, TX: 0x1800/532
  Standard  RX: 0x1800/192, TX: 0x1c00/192
  Supported protocols: CoE, FoE
General:
  Group: EvaBoard
  Image name: DEVICE
  Order number: EL9800
  Device name: EL9800 16 Ch. Dig. In-/Output (Build >= 21)
  CoE details:
    Enable SDO: no
    Enable SDO Info: no
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA

Thank you for your greate application.
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