[etherlab-users] Ethercat Sdo upload error

[paluan.luca at tiscali.it]

I need some advices about how to proceed to manage upload SDO error.

I've a 3 Kollmorgen AKD ethercat net, which have to work in different 
modes changed at run time.
The ehercat a development etherlab master 
(fee219bb31a9) which is working on a preemptive kernel.
The error 
sometimes raises after Servos Pdo initialization: even if everything 
seems to correctly work; the first command which tries to upload Sdo 
value causes an error.
Here il the log
Jan  1 00:00:36 ubuntu-desktop 
kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
Jan  1 00:00:36 
ubuntu-desktop kernel: EtherCAT 0: 3 slave(s) responding.
Jan  1 00:00:
36 ubuntu-desktop kernel: EtherCAT 0: Slave states: INIT, PREOP.
Jan  1 
00:00:36 ubuntu-desktop kernel: EtherCAT 0: Scanning bus.
Jan  1 00:01:
09 ubuntu-desktop kernel: EtherCAT 0: Bus scanning completed in 32380 
ms.
Jan  1 00:01:09 ubuntu-desktop kernel: EtherCAT 0: Slave states: 
PREOP.
Jan  1 00:01:09 ubuntu-desktop kernel: EtherCAT WARNING 0: 1 
datagram UNMATCHED!
Jan  1 00:01:10 ubuntu-desktop kernel: EtherCAT 
WARNING 0-0: Slave does not support changing the PDO mapping!
Jan  1 00:
01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO 
entries: 0x6040:00/16 0x6060:00/8. Entries to map: 0x607A:00/32 0x6081:
00/32
Jan  1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: 
Slave does not support changing the PDO mapping!
Jan  1 00:01:10 ubuntu-
desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 
0x6040:00/16 0x607A:00/32. Entries to map: 0x6083:00/32 0x6084:00/32

Jan  1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Slave does 
not support changing the PDO mapping!
Jan  1 00:01:10 ubuntu-desktop 
kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:
00/16. Entries to map: 0x6041:00/16 0x6064:00/32
Jan  1 00:01:10 ubuntu-
desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:10 ubuntu-desktop kernel: EtherCAT 
WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8. 
Entries to map: 0x606C:00/32 0x60FD:00/32
Jan  1 00:01:10 ubuntu-
desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:10 ubuntu-desktop kernel: EtherCAT 
WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. 
Entries to map: 0x1002:00/32
Jan  1 00:01:10 ubuntu-desktop kernel: 
EtherCAT 0: Domain 0: Working counter changed to 2/9.
Jan  1 00:01:11 
ubuntu-desktop kernel: EtherCAT WARNING 0-1: Slave does not support 
changing the PDO mapping!
Jan  1 00:01:11 ubuntu-desktop kernel: 
EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6040:00/16 0x6060:
00/8. Entries to map: 0x607A:00/32 0x6081:00/32
Jan  1 00:01:11 ubuntu-
desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:11 ubuntu-desktop kernel: EtherCAT 
WARNING 0-1: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. 
Entries to map: 0x6083:00/32 0x6084:00/32
Jan  1 00:01:11 ubuntu-
desktop kernel: EtherCAT 0: Domain 0: Working counter changed to 3/9.

Jan  1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Slave does 
not support changing the PDO mapping!
Jan  1 00:01:11 ubuntu-desktop 
kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:
00/16. Entries to map: 0x6041:00/16 0x6064:00/32
Jan  1 00:01:11 ubuntu-
desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:11 ubuntu-desktop kernel: EtherCAT 
WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8. 
Entries to map: 0x606C:00/32 0x60FD:00/32
Jan  1 00:01:11 ubuntu-
desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:11 ubuntu-desktop kernel: EtherCAT 
WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. 
Entries to map: 0x1002:00/32
Jan  1 00:01:12 ubuntu-desktop kernel: 
EtherCAT 0: Domain 0: 2 working counter changes - now 6/9.
Jan  1 00:01:
12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Slave does not support 
changing the PDO mapping!
Jan  1 00:01:12 ubuntu-desktop kernel: 
EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6040:00/16 0x6060:
00/8. Entries to map: 0x607A:00/32 0x6081:00/32
Jan  1 00:01:12 ubuntu-
desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:12 ubuntu-desktop kernel: EtherCAT 
WARNING 0-2: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. 
Entries to map: 0x6083:00/32 0x6084:00/32
Jan  1 00:01:12 ubuntu-
desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing 
the PDO mapping!
Jan  1 00:01:12 ubuntu-desktop kernel: EtherCAT 
WARNING 0-2: Currently mapped PDO entries: 0x6041:00/16. Entries to 
map: 0x6041:00/16 0x6064:00/32
Jan  1 00:01:12 ubuntu-desktop kernel: 
EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping!

Jan  1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently 
mapped PDO entries: 0x6041:00/16 0x6061:00/8. Entries to map: 0x606C:
00/32 0x60FD:00/32
Jan  1 00:01:12 ubuntu-desktop kernel: EtherCAT 
WARNING 0-2: Slave does not support changing the PDO mapping!
Jan  1 00:
01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO 
entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x1002:00/32
Jan  1 
00:01:13 ubuntu-desktop kernel: EtherCAT 0: Slave states: OP.
Jan  1 00:
01:13 ubuntu-desktop kernel: EtherCAT 0: Domain 0: 2 working counter 
changes - now 9/9.
Jan  1 00:02:54 ubuntu-desktop kernel: EtherCAT 
ERROR 0-2: Received upload response for wrong SDO (0x2028:02, 
requested: 0x6060:00).
Jan  1 00:02:54 ubuntu-desktop kernel: EtherCAT 
DEBUG: 00 30 41 28 20 02 04 00 00 00 00 00 00 00 
Jan  1 00:02:55 
ubuntu-desktop kernel: EtherCAT ERROR 0-2: Timeout after 1000 ms while 
waiting for SDO 0x6060:0 upload response.

I suppose I'll repeatdly get 
a EC_REQUEST_ERROR from ecrt_sdo_request_state, I'll have to check.
How 
can I verify such an error by code and recover from it?
The same 
command executed after the described error doesn't seem to give problem 
any more.
Thanks in advance for your advices and your help.
Best 
Regards, Luca Paluan


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