[etherlab-users] EtherCAT Master problems

Wed Oct 2 11:48:42 CEST 2013

Hello,

I have a problem with an EtherCAT Master installation.
I use the 2.6.37.6 kernel, patched with RTAI 3.9.1 and 1.5.2 EtherCAT 
with Debian 7 on an i7 computer (64 bits), and a network card Realtek 
8168B PCI Express Gigabit (kernel module r8169).

It seems that everything is installed correctly: I patch the kernel 
with RTAI, boot the new kernel, reboot, compile RTAI, install, compile 
EtherCAT with this configuration:

./configure --enable-8139too --enable-e100 --enable-e1000 
--enable-e1000e --enable-r8169 --enable-rtdm --enable-cycles 
--with-rtai-dir=/usr/realtime

make all modules
make modules_install install

And it does not give me any problem.

I have Beckhoff modules on the bus that work correctly (I can do the 
work correctly with another version of EtherCAT Master-RTAI-Linux(32 
bits)), but
when starting EtherCAT it is unable to communicate properly with them, 
I put the output of dmesg:

[  480.456307] EtherCAT: Master driver 1.5.2 2eff7c993a63
[  480.456596] EtherCAT 0: Registering RTDM device EtherCAT.
[  480.456736] EtherCAT: 1 master waiting for devices.
[  480.580229] r8169 0000:03:00.0: PCI INT A disabled
[  480.582316] ec_r8169 Gigabit Ethernet driver 2.3LK-NAPI loaded
[  480.582466] ec_r8169 0000:03:00.0: PCI INT A -> GSI 19 (level, low) 
-> IRQ 19
[  480.582606] ec_r8169 0000:03:00.0: enabling Mem-Wr-Inval
[  480.582650] ec_r8169 0000:03:00.0: enabling bus mastering
[  480.582656] ec_r8169 0000:03:00.0: setting latency timer to 64
[  480.582664] ec_r8169 0000:03:00.0: (unregistered net_device): 
unknown MAC, using family default
[  480.582945] ec_r8169 0000:03:00.0: irq 42 for MSI/MSI-X
[  480.582983] EtherCAT: Accepting 90:B1:1C:92:E2:93 as main device for 
master 0.
[  480.583193] ec_r8169 0000:03:00.0: (unregistered net_device): 
RTL8168b/8111b at 0xffffc9000004a000, 90:b1:1c:92:e2:93, XID 0c900800 
IRQ 42
[  480.588868] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  482.171529] EtherCAT 0: Link state of ecm0 changed to UP.
[  482.175519] EtherCAT 0: 8 slave(s) responding on main device.
[  482.175669] EtherCAT 0: Slave states on main device: INIT.
[  482.175854] EtherCAT 0: Scanning bus.
[  482.181924] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  482.184144] EtherCAT ERROR 0-0: Failed to receive SII read datagram: 
Datagram timed out.
[  482.184534] EtherCAT ERROR 0-0: Failed to fetch SII contents.
[  482.186718] EtherCAT ERROR 0-1: Failed to receive station address 
datagram: Datagram timed out.
[  482.189166] EtherCAT ERROR 0-2: Failed to receive station address 
datagram: Datagram timed out.
[  482.191604] EtherCAT ERROR 0-3: Failed to receive station address 
datagram: Datagram timed out.
[  482.194038] EtherCAT ERROR 0-4: Failed to receive station address 
datagram: Datagram timed out.
[  482.196482] EtherCAT ERROR 0-5: Failed to receive station address 
datagram: Datagram timed out.
[  482.198929] EtherCAT ERROR 0-6: Failed to receive station address 
datagram: Datagram timed out.
[  482.201366] EtherCAT ERROR 0-7: Failed to receive station address 
datagram: Datagram timed out.
[  482.201755] EtherCAT 0: Bus scanning completed in 24 ms.
[  482.201887] EtherCAT 0: Using slave 0 as DC reference clock.
[  482.202020] EtherCAT ERROR 0: Failed to calculate bus topology.
[  482.203452] EtherCAT 0: 0 slave(s) responding on main device.
[  483.096860] EtherCAT 0: 8 slave(s) responding on main device.
[  483.097006] EtherCAT 0: Slave states on main device: INIT.
[  483.097199] EtherCAT 0: Scanning bus.
[  483.106120] EtherCAT ERROR 0-0: Failed to receive SII read datagram: 
Datagram timed out.
[  483.106514] EtherCAT ERROR 0-0: Failed to fetch SII contents.
[  483.108692] EtherCAT ERROR 0-1: Failed to receive station address 
datagram: Datagram timed out.
[  483.111128] EtherCAT ERROR 0-2: Failed to receive station address 
datagram: Datagram timed out.
[  483.113568] EtherCAT ERROR 0-3: Failed to receive station address 
datagram: Datagram timed out.
[  483.116004] EtherCAT ERROR 0-4: Failed to receive station address 
datagram: Datagram timed out.
[  483.118452] EtherCAT ERROR 0-5: Failed to receive station address 
datagram: Datagram timed out.
[  483.120893] EtherCAT ERROR 0-6: Failed to receive station address 
datagram: Datagram timed out.
[  483.123327] EtherCAT ERROR 0-7: Failed to receive station address 
datagram: Datagram timed out.
[  483.123719] EtherCAT 0: Bus scanning completed in 24 ms.
[  483.123852] EtherCAT 0: Using slave 0 as DC reference clock.
[  483.123983] EtherCAT ERROR 0: Failed to calculate bus topology.
[  483.124780] EtherCAT 0: 0 slave(s) responding on main device.
[  483.176615] EtherCAT WARNING 0: 301 datagrams TIMED OUT!
[  483.176763] EtherCAT WARNING 0: 363043 datagrams UNMATCHED!
[  484.173721] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  484.173871] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  485.170829] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  485.170979] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  486.167938] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  486.168088] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  487.165046] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  487.165193] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  488.162153] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  488.162301] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  489.159262] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  489.159479] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  490.156370] EtherCAT WARNING 0: 250 datagrams TIMED OUT!
[  490.156518] EtherCAT WARNING 0: 25000 datagrams UNMATCHED!
[  490.351257] EtherCAT 0: Master thread exited.
[  490.360453] EtherCAT 0: Releasing main device 90:B1:1C:92:E2:93.
[  490.360631] ec_r8169 0000:03:00.0: PCI INT A disabled
[  490.361825] EtherCAT 0: Unregistering RTDM device EtherCAT.
[  490.362024] EtherCAT: Master module cleaned up.

Does anyone have any idea what could be the problem?

Thanks and regards

-- 

Carlos Jiménez

ENCOPIM S.L.
Ctra. de Ripollet a Santiga 104, P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

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