[etherlab-users] Pinpointing a CoE error

[Josh Rosenbaum]

Hello,

I'm new to using EtherLab's EtherCAT Master, and I'm currently using
Version 1.5.1 on Ubuntu 10.4 (Kernel 2.6.32).  I have several identical
EtherCAT enabled Elmo Motion Control Whistle drives that use CANopen to
communicate with the master.  I recently updated the Whistle drives'
firmware, and an error has popped up that I'm unsure how to handle.
Elmo claims this is not a problem on their side but is a problem with
EtherLab. I'm struggling to pin down the problem's root and I am looking
to the EtherLab user base for guidance.

When the EtherLab Master attempts to load the object dictionary, I get a
timeout error while the master tries loading a non-existent SDO.   I have
confirmed with Elmo that SDO entry 0x2206:1 does not exist.  This is the
log's output when I have two slave's attached; slave zero has the firmware
update and slave 1 does not.

[30791.825201] EtherCAT DEBUG 0-1: Finished configuration.
[30791.825204] EtherCAT DEBUG 0-0: Ready for requests.
[30791.825207] EtherCAT DEBUG 0-1: Ready for requests.
[30794.817007] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[30794.819587] EtherCAT DEBUG 0-0: SDO list fragments left: 2
[30794.820576] EtherCAT DEBUG 0-0: SDO list fragments left: 1
[30796.204805] EtherCAT ERROR 0-0: Timeout while waiting for SDO entry 0x2206:1 description response.
[30796.220971] EtherCAT DEBUG 0-1: Fetching SDO dictionary.
[30796.223436] EtherCAT DEBUG 0-1: SDO list fragments left: 2
[30796.224438] EtherCAT DEBUG 0-1: SDO list fragments left: 1
[30796.988003] EtherCAT DEBUG 0-1: Fetched 171 SDOs and 460 entries.

I get this error every time I give power to my servo drives.   Additionally,
if I try and upload an SDO using the command line tool, I get no response
from the slave.  EtherLab returns the error "Failed to determine SDO entry
data type.  Please specify -type" or "Data type mismatch.  Expected XXX with
YY bytes, but got 0 bytes" .  I have never gotten an error with the older
version of the firmware.


If this is an EtherLab bug, does anyone have suggestions to help me isolate
the bug or to circumvent the problem?  If this is a bug in the firmware and
beyond my scope, any suggestions to prove that EtherLab is working correctly
and that the bug is with Elmo?


Also, I am entertaining the idea of upgrading to the EtherLab development
version, but I am awaiting the procurement of a new NIC with the necessary
supported chipset.


Thanks in advance,
Josh

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