[etherlab-users] datagram skipped

Wed Dec 10 18:37:16 CET 2014

Hi everybody,

currently I can communicate with the slave (EPOS3) and change to it connected motors velocity. However, there is still the FSM datagram that is there and I get the in the end following warnings.
The rt works properly for about 5 sec and then it stops working. Currently my assumption would be that the FSM datagram was skipped too many times.
Does anybody has a similar problem or any idea how to further confine the problem?

Thank you!

Peter

[ 5378.549636]
EtherCAT: Requesting master 0...

[ 5378.549640] EtherCAT: Successfully requested master 0.

[ 5378.552516] EtherCAT 0: Domain0: Logical address 0x00000000, 52 byte,
expected working counter 3.

[ 5378.552518] EtherCAT 0:   Datagram
domain0-0-main: Logical offset 0x00000000, 52 byte, type LRW.

[ 5378.552529] EtherCAT 0: Master thread exited.

[ 5378.552531] EtherCAT 0: Starting EtherCAT-OP thread.

[ 5378.552564] EtherCAT WARNING 0: 1 datagram UNMATCHED!

[ 5380.343493] EtherCAT 0: Domain 0: Working counter changed to 3/3.

[ 5380.384006] EtherCAT 0: Slave states on main device: OP.

[ 5399.764421] EtherCAT WARNING: Datagram f3fb130c (domain0-0-main) was SKIPPED
13 times.

[ 5400.556006] EtherCAT WARNING 0: 184 datagrams UNMATCHED!

[ 5400.768415] EtherCAT WARNING: Datagram f3fb130c (domain0-0-main) was SKIPPED
100 times.

[ 5401.556005] EtherCAT WARNING 0: 200 datagrams UNMATCHED!

[ 5401.772412] EtherCAT WARNING: Datagram f3fb130c (domain0-0-main) was SKIPPED
100 times.

[ 5402.556008] EtherCAT WARNING 0: 200 datagrams UNMATCHED!

[ 5402.776408] EtherCAT WARNING: Datagram f3fb130c (domain0-0-main) was SKIPPED
101 times.

From: peter.ploetner at mytum.de
To: etherlab-users at etherlab.org
Date: Tue, 9 Dec 2014 16:34:02 +0000
Subject: [etherlab-users] datagrams timed out before slave goes to OP

Hi,
I can connect the slave (EPOS3) to the master and it shows the OP state and the PDO's seem to be properly assigned. However, before there are two datagrams that time out, one of which is the FSM
datagram. What does that mean? Where should I start searching for probable errors in the code?
Besides, if I try to start enabling the slave for RT mode these datagrams will time out the whole time.
Thank you very much for any advice.
Peter 

[  107.638189] EtherCAT DEBUG 0: Master IDLE
thread exiting...

[  107.638196] EtherCAT 0: Master thread
exited.

[  107.638198] EtherCAT DEBUG 0: FSM
datagram is f3aec428.

[  107.638199] EtherCAT 0: Starting
EtherCAT-OP thread.

[  107.638221] EtherCAT DEBUG 0: mmap()

[  107.638225] EtherCAT DEBUG 0: Vma
fault, virtual_address = b46f5000, offset = 0, page = f65e51a0

[  107.638233] EtherCAT DEBUG 0:
Operation thread running with fsm interval = 4000 us, max data size=45000

[  145.898500] e1000e: eth1 NIC Link is
Up 100 Mbps Full Duplex, Flow Control: None

[  145.898505] e1000e 0000:0d:00.0: eth1:
10/100 speed: disabling TSO

[  145.898698] IPv6:
ADDRCONF(NETDEV_CHANGE): eth1: link becomes ready

[  145.901112] EtherCAT 0: Link state of
ecm0 changed to UP.

[  145.911124] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 00 waited 1390 us.

[  145.911127] EtherCAT DEBUG 0: TIMED
OUT datagram f3aec428, index 01 waited 1390 us.

[  145.921133] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 02 waited 1380 us.

[  145.931135] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 03 waited 1380 us.

[  145.931138] EtherCAT DEBUG 0: TIMED
OUT datagram f3aec428, index 04 waited 1380 us.

[  145.941142] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 05 waited 1379 us.

[  145.951144] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 06 waited 1385 us.

[  145.951146] EtherCAT DEBUG 0: TIMED
OUT datagram f3aec428, index 07 waited 1385 us.

[  145.961148] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 08 waited 1388 us.

[  145.971153] EtherCAT DEBUG 0: TIMED
OUT datagram f3e3110c, index 09 waited 1393 us.

[  145.971155] EtherCAT DEBUG 0: TIMED
OUT datagram f3aec428, index 0A waited 1393 us.

[  145.992007] EtherCAT 0: 1 slave(s)
responding on main device.

[  145.992010] EtherCAT 0: Slave states
on main device: INIT.

[  146.000629] EtherCAT DEBUG 0: Sending
broadcast-write to measure transmission delays on main link.

[  146.016003] EtherCAT DEBUG 0: 1 slaves
responded to delay measuring on main link.

[  146.016003] EtherCAT 0: Scanning
bus.

[  146.016003] EtherCAT DEBUG 0: Scanning
slave 0 on main link.

[  146.088361] EtherCAT DEBUG 0-0: Slave
has the System Time register.

[  146.644561] EtherCAT WARNING 0: 11
datagrams TIMED OUT!
........................................................................................................................................................................................................

[  154.759426] EtherCAT 0: Domain 0: Working
counter changed to 3/3.

[  154.759426] EtherCAT DEBUG 0-0: Now in
SAFEOP.

[  154.816285] EtherCAT DEBUG 0-0: Now in
OP. Finished configuration.

[  154.816285] EtherCAT DEBUG 0-0: Ready
for requests.

[  154.816285] EtherCAT DEBUG 0-0:
Fetching SDO dictionary.

[  177.633348] EtherCAT DEBUG 0-0:
Fetched 161 SDOs and 522 entries.

[  177.752006] EtherCAT 0: Slave states
on main device: OP.

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