[etherlab-users] EPOS3, datagrams TIMED OUT!, SDO download aborted

Peter P peter.ploetner at mytum.de
Sun Oct 12 18:44:22 CEST 2014

Hi everybody,

I have a problem with my EPOS3 controller. It seems to initialize fine but when activationg "debug 1" a warning is already seen, regarding timed out and unmatched datagrams. Is this a problem for later communication or normal? Where could I further check? The results of dmesg are attached in the end of the mail.

The reason for my question is also the later communication. When trying to further communicate with the device I get more errors. Again timed out datagrams and SDO download is not possible.
I am also not quite sure what the error message means with "local control". Are there options on the slave that have to be changed or is that something regarding the master?

Thank you very much for any help! 
Peter Plötner

[11772.846496] e1000e: eth1 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[11772.846501] e1000e 0000:0d:00.0: eth1: 10/100 speed: disabling TSO
[11772.846796] EtherCAT 0: Link state of ecm0 changed to UP.
[11772.850868] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[11772.850868] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[11772.928009] EtherCAT 0: 1 slave(s) responding on main device.
[11772.928012] EtherCAT 0: Slave states on main device: INIT.
[11772.929729] EtherCAT 0: Scanning bus.
[11773.168081] EtherCAT 0: Bus scanning completed in 276 ms.
[11773.168081] EtherCAT 0: Using slave 0 as DC reference clock.
[11773.208006] EtherCAT 0: Slave states on main device: PREOP.

[11810.402803] EtherCAT: Requesting master 0...
[11810.402807] EtherCAT: Successfully requested master 0.
[11810.405810] EtherCAT 0: Domain0: Logical address 0x00000000, 52 byte, expected working counter 3.
[11810.405812] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 52 byte, type LRW.
[11810.405822] EtherCAT 0: Master thread exited.
[11810.405825] EtherCAT 0: Starting EtherCAT-OP thread.
[11810.405850] EtherCAT WARNING 0: 9 datagrams TIMED OUT!
[11811.434178] EtherCAT ERROR 0-0: SDO download 0x1603:01 (4 bytes) aborted.
 EtherCAT ERROR 0-0: SDO abort message 0x08000021: "Data cannot be 
transferred or stored to the application because of local control".
[11811.434178] EtherCAT WARNING 0-0: Failed to map PDO entry 0x6040:00 (16 bit) to position 1.
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