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

[Mladen Knezic]

Hello Donggu Kang,

In order to bring the slave in OP state, you have to do the implementation 
work at the application level of the EtherLab Master either by coding it in 
C++ directly (you can consult the coding examples in the "examples" directory 
of EtherLab Master source available on 
http://etherlabmaster.hg.sourceforge.net/hgweb/etherlabmaster/etherlabmaster/f
ile/ce2fae4d3c4f/examples), or on high level by using Matlab/Simulink blocks. 
If you are interested, I can e-mail you some of the examples I have done with 
the EL9800 evaluation board in Matlab/Simulink environment. Maybe it can be of 
some help to you.

Regards,

--
Mladen Knezic
Teaching Assistant
Faculty of Electrical Engineering
Banja Luka, Bosnia and Herzegovina
Web: www.etfbl.net
 
> 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.