[etherlab-users] Beckhoff EL3104 - Problem while setting OP state

[hamelin.philippe at ireq.ca]

Hello,

First thank you for your help. I also tried to use this syntax:

ecrt_slave_config_dc (..., PERIOD_NS, 0, 0, 0);

but then I got the following error:

Dec 13 07:55:50 scompi-linux-rt kernel: [64311.091685] EtherCAT DEBUG 0-1: Setting DC cyclic operation start time to 1355403350975738395.
Dec 13 07:55:50 scompi-linux-rt kernel: [64311.093924] EtherCAT DEBUG 0-1: Setting DC AssignActivate to 0x0700.
Dec 13 07:55:50 scompi-linux-rt kernel: [64311.100405] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
Dec 13 07:55:50 scompi-linux-rt kernel: [64311.102454] EtherCAT ERROR 0-1: AL status message 0x0037: "DC Sync1 Cycle Time".

and the slave doesn't even go in SAFEOP.

I may have to look deeply in the ethercat specifications to find out what could be the problem. What is odd is that when I use the previous syntax, the slave accepts to go in SAFEOP but timeout when going to OP. It looks like the slave is waiting for something that just doesn't come. 

Philippe

> -----Message d'origine-----
> De : Matthieu Bec [mailto:mbec at gmto.org] 
> Envoyé : 12 décembre 2012 15:51
> À : Hamelin, Philippe
> Cc : etherlab-users at etherlab.org
> Objet : Re: [etherlab-users] Beckhoff EL3104 - Problem while 
> setting OP state
> 
> Hello Philippe,
> 
> One odd thing is you're giving PERIOD_NS to sync0 and sync1.
> I'm not sure what's the effect of that, could be your issue.
> The vanilla dc_user example does:
>    ecrt_slave_config_dc (..., period0_val, shift0_val, 0,0);
> 
> Matthieu
> 
> 
> On 12/12/12 11:48 AM, hamelin.philippe at ireq.ca wrote:
> > Hi again,
> >  
> > I have to specify one important thing: the final state of 
> the EL3104 
> > isn't SAFEOP + ERROR, but only SAFEOP. However, the master 
> reports an 
> > error during configuration, i.e.:
> >  
> > $ sudo ethercat slaves
> > 0  0:0  OP      +  EK1100 EtherCAT-Koppler (2A E-Bus)
> > 1  0:1  SAFEOP  E  EL3104 4K. Ana. Eingang  +/-10V Diff.
> >  
> > Thank you,
> >  
> > Philippe
> >  
> > 
> ----------------------------------------------------------------------
> > -- *De :* etherlab-users-bounces at etherlab.org
> > [mailto:etherlab-users-bounces at etherlab.org] *De la part de* 
> > hamelin.philippe at ireq.ca *Envoyé :* 12 décembre 2012 14:42 *À :* 
> > etherlab-users at etherlab.org *Objet :* [etherlab-users] 
> Beckhoff EL3104 
> > - Problem while setting OP state
> > 
> > Hello,
> >  
> > I'm trying to setup DC synchronization with the EL3104 
> ethercat module.
> > For testing purpose, I just slightly modified the "dc_user" 
> in order 
> > to support only the bus coupler and the EL3104. The problem 
> is that I 
> > have a timeout while setting OP state, and thus it goes to SAFEOP + 
> > ERROR state. I tested both the official 1.5.1 release and 
> the current 
> > tip version (c0b4c64fcebd). I'm using Linux kernel 3.4.4 with 
> > RT-PREEMPT patches and the generic driver. I attached the 
> dmesg output 
> > and the test program.
> >  
> > What could be the reason why the EL3104 can't do the 
> transition from 
> > SAFEOP to OP?
> >  
> > Thank you for your help,
> >  
> > ------------------------------------
> > Philippe Hamelin, ing., M. Ing
> > Chercheur / Researcher
> > 
> > T: 450-652-8499 x2198
> > F: 450-652-1316
> > 
> > Expertise robotique et civil
> > Institut de recherche d'Hydro-Québec (IREQ) 1740, boul. 
> Lionel-Boulet 
> > Varennes (QC) J3X 1S1, Canada
> >  
> > 
> > 
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>