[etherlab-users] Slaves in PREOP state

Jordi Blanch Carles jordi_blanch at encopim.com
Wed Oct 5 13:26:34 CEST 2011 

Hello everybody,

as nobody is answering to my colleague's question, I've thought that  
maybe his explanation is difficult to understand, so I'll try to  
explain it in a clearer way.

Our problem is that we have modified the mini.c example module to fit  
our modules: EK1101, EL4132, EL3102, EL2004. After compiling the  
module without errors, when we insmod it, we find that sometimes some  
modules get to the OP state and some others remain at the PREOP state  
or continuously changing among INIT, SAFEOP, PREOP, ... states.  
Everytime we insmod the mini module, the ethercat modules that really  
get the OP state are different, so it seems a random behavior.

We have tried restarting the ethercat devices, restarting the ethercat  
master module, and all different kind of starting combinations, but no  
one is resulting in a good device initialization and/or a defined  
reproducible behavior, so we are completely lost with this problem.

Does anybody know which can be the problem with that? How can we make  
sure that all modules enter the OP state after insmoding the module?

Thank you in advance.

Quoting carlos_jimenez at encopim.com:

> Hello,
>
> I'm still doing tests but with all the examples the same thing happens
> to me, I tried with the example of 'user', 'mini' and 'rtai', and all
> appear to move modules OP mode or so 'random'.
>
> Once I managed to run all 4 modules (EL4132, EL3102, EL1004, EL2004) at
> a time, but to stop the instance and then on and did not work, just put
> me in the first module OP way connected.
>
> Anyone have any idea what could be the problem?
>
> Thank you in advance
>
> Quoting carlos_jimenez at encopim.com:
>
>> Dear Richard, thanks for your answer.
>>
>> I've tried with 'mini.c' example, I've changed the Beckhoff modules
>> from the example by my modules configuration.
>> I'm still having the same problem, although digital output works
>> properly, analog input/output modules are not in 'OP' mode.
>> At the output of 'dmesg' shows an error message that I don't understand.
>>
>> root at rtai:~/etherlabmaster/examples/mini# ethercat slaves
>> 0  0:0  OP     +  EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)
>> 1  0:1  INIT   +  EL2004 4K. Dig. Ausgang 24V, 0.5A
>> 2  0:2  PREOP  +  EL4132 2Ch. Ana. Ausgang +/-10V, 16bit
>> 3  0:3  PREOP  +  EL3102 2K. Ana. Eingang +/-10V, Diff.
>>
>> root at rtai:~/etherlabmaster/examples/mini# dmesg
>> ....
>> EtherCAT 0: Domain 0: 10 working counter changes - now 2/5.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> EtherCAT 0: Domain 0: 8 working counter changes - now 2/5.
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ec_mini: Domain1: WC 0.
>> ec_mini: Domain1: State 0.
>> ec_mini: Domain1: WC 2.
>> ec_mini: Domain1: State 1.
>> EtherCAT ERROR 0: No app_time received up to now, but master   
>> already active).
>> ....
>> ec_mini: Stopping...
>> ec_mini: Releasing master...
>> EtherCAT 0: Releasing master...
>> EtherCAT 0: Master thread exited.
>> EtherCAT 0: Starting EtherCAT-IDLE thread.
>> EtherCAT 0: Released.
>> ec_mini: Unloading.
>>
>>
>>
>> Quoting Richard Hacker <ha at igh-essen.com>:
>>
>>> On Friday 23 September 2011 16:42:00 carlos_jimenez at encopim.com wrote:
>>>> Hello everybody,
>>>> I've just started now with EtherCAT stuff and I'm having several   
>>>>  problems.
>>>> I have some Beckhoff modules to make tests, but when I try  to run the
>>>> example program, included in its code, I can't make it work  all of them
>>>> correctly. I have a digital outputs module (EL2004), another one of
>>>> digital  inputs (EL1004). One module of analog outputs (EL41342) and an
>>>> other  of analog inputs (EL3102). I also have the bus coupler (EK1101).
>>>> I've modified rtai example to make them work, but I found problems in  OP
>>>> mode, not all of them get's slave status, and it doesn't work. Does
>>>> somebody knows what it happens? I can't find where is the error.  Thank
>>>> you in advance. Here there is my code and my modules configuration:
>>>
>>> Please take small steps.
>>>
>>> First of all, try the examples, such as mini.c and rtai_example.c.  
>>>    Get them to
>>> compile and load first. Change your hardware so that the examples   
>>> load. When
>>> that works, you may start modifying in _small_ steps until you are  
>>>  confident
>>> enough to start your own projects.
>>>
>>> Apart from attaching the output of
>>> ethercat slaves
>>> also attach output
>>> dmesg
>>> (and please not everything, only the important parts!!)
>>>
>>> Mit freundlichem Gruß
>>>
>>> Richard Hacker
>>>
>>> --
>>> ------------------------------------------------------------------------
>>>
>>> Richard Hacker M.Sc.
>>> richard.hacker at igh-essen.com
>>> Tel.: +49 201 / 36014-16
>>>
>>> Ingenieurgemeinschaft IgH
>>> Gesellschaft für Ingenieurleistungen mbH
>>> Heinz-Bäcker-Str. 34
>>> D-45356 Essen
>>> Amtsgericht Essen HRB 11500
>>> USt-Id.-Nr.: DE 174 626 722
>>> Geschäftsführung:
>>> - Dr.-Ing. S. Rotthäuser,
>>> - Dr.-Ing. T. Finke,
>>> - Dr.-Ing. W. Hagemeister
>>> Tel.: +49 201 / 360-14-0
>>> http://www.igh-essen.com
>>>
>>> ------------------------------------------------------------------------
>>>
>>
>>
>>
>> -- 
>> Carlos Jiménez
>>
>> ENCOPIM S.L.
>> C/. del Parc 5 (nau 13), P.I. Els Pinetons
>> E-08291 RIPOLLET (Barcelona)
>> Tel: (+34) 935 94 23 47
>> Fax: (+34) 935 94 64 15
>>
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>
>
>
> -- 
> Carlos Jiménez
>
> ENCOPIM S.L.
> C/. del Parc 5 (nau 13), P.I. Els Pinetons
> E-08291 RIPOLLET (Barcelona)
> Tel: (+34) 935 94 23 47
> Fax: (+34) 935 94 64 15
>
> ==========================================================
> La información contenida en la presente transmisión es confidencial y su
> uso únicamente está permitido a su(s) destinatario(s). Si Ud. no es la
> persona destinataria de la presente transmisión, rogamos nos lo
> comunique de manera inmediata por teléfono (+34 935 942 347) y destruya
> cualquier copia de la misma (tanto digitales como en papel).
>
> The information contained in this transmission is confidential and is
> intended only for the use of the addressee(s). If you are not the
> designated recipient of this transmission, please advise us immediately
> by telephone (+34 935 942 347) and destroy any copies (digital and
> paper).
> ==========================================================
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Jordi Blanch Carles
Unidad de Ensayo y Control

ENCOPIM S.L.
C/. del Parc, 5 (nave 13)
P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

==========================================================
La información contenida en la presente transmisión es confidencial y su
uso únicamente está permitido a su(s) destinatario(s). Si Ud. no es la
persona destinataria de la presente transmisión, rogamos nos lo
comunique de manera inmediata por teléfono (+34 935 942 347) y destruya
cualquier copia de la misma (tanto digitales como en papel).

The information contained in this transmission is confidential and is
intended only for the use of the addressee(s). If you are not the
designated recipient of this transmission, please advise us immediately
by telephone (+34 935 942 347) and destroy any copies (digital and
paper).
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