[etherlab-users] Yaskawa servo Sychronization Error
Ruika You
crazylinuxcnc at gmail.com
Mon Apr 6 02:35:59 CEST 2015
Thanks for your explain, Graeme.
I moved on a little bit, Dmesg as follow:
1489.381676] ec_mini: Starting...
[ 1489.381686] EtherCAT: Requesting master 0...
[ 1489.381692] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 1489.381695] EtherCAT: Successfully requested master 0.
[ 1489.381700] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xf59d2000,
send_cb = 0xf8138030, receive_cb = 0xf8138000, cb_data = 0xf59d2000)
[ 1489.381703] ec_mini: Registering domain...
[ 1489.381706] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xf59d2000)
[ 1489.381710] EtherCAT DEBUG 0: Created domain 0.
[ 1489.381713] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xf59d2000)
[ 1489.381716] EtherCAT DEBUG 0: Created domain 1.
[ 1489.381720] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381723] EtherCAT DEBUG 0: Creating slave configuration for 0:0,
0x00000539/0x02200001.
[ 1489.381729] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 1489.381735] ec_mini: Configuring PDOs...
[ 1489.381740] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdos(sc =
0xf1432000, n_syncs = 4294967295, syncs = 0xf813a000)
[ 1489.381745] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xf1432000, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 1489.381748] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xf1432000, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 1489.381752] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xf1432000, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 1489.381755] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc
= 0xf1432000, sync_index = 2)
[ 1489.381760] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc =
0xf1432000, sync_index = 2, pdo_index = 0x1602)
[ 1489.381763] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602.
[ 1489.381767] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[ 1489.381770] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00.
[ 1489.381772] EtherCAT DEBUG 0 0:0: Entry 0x6060:00.
[ 1489.381776] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc
= 0xf1432000, pdo_index = 0x1602)
[ 1489.381782] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex =
0x00, entry_bit_length = 16)
[ 1489.381787] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex =
0x00, entry_bit_length = 32)
[ 1489.381791] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1602, entry_index = 0x6060, entry_subindex =
0x00, entry_bit_length = 8)
[ 1489.381795] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xf1432000, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 1489.381799] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc
= 0xf1432000, sync_index = 3)
[ 1489.381802] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc =
0xf1432000, sync_index = 3, pdo_index = 0x1A02)
[ 1489.381805] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02.
[ 1489.381808] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[ 1489.381811] EtherCAT DEBUG 0 0:0: Entry 0x6061:00.
[ 1489.381814] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.
[ 1489.381817] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc
= 0xf1432000, pdo_index = 0x1A02)
[ 1489.381822] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex =
0x00, entry_bit_length = 16)
[ 1489.381827] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1A02, entry_index = 0x6061, entry_subindex =
0x00, entry_bit_length = 8)
[ 1489.381831] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf1432000, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex =
0x00, entry_bit_length = 32)
[ 1489.381834] ec_mini: Registering PDO entries...
[ 1489.381837] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xe55bbf40, regs = 0xf81390a0)
[ 1489.381841] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381846] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x6040, subindex = 0x00, domain = 0xe55bbf40,
bit_position = 0x (null))
[ 1489.381850] EtherCAT DEBUG 0: Domain 0: Added 7 bytes, total 7.
[ 1489.381853] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381857] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x60FF, subindex = 0x00, domain = 0xe55bbf40,
bit_position = 0x (null))
[ 1489.381861] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381865] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x6060, subindex = 0x00, domain = 0xe55bbf40,
bit_position = 0x (null))
[ 1489.381868] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xe55bbf80, regs = 0xf8139040)
[ 1489.381872] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381876] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x6041, subindex = 0x00, domain = 0xe55bbf80,
bit_position = 0x (null))
[ 1489.381879] EtherCAT DEBUG 0: Domain 1: Added 7 bytes, total 7.
[ 1489.381883] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381887] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x6064, subindex = 0x00, domain = 0xe55bbf80,
bit_position = 0x (null))
[ 1489.381890] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code =
0x02200001)
[ 1489.381894] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf1432000, index = 0x6061, subindex = 0x00, domain = 0xe55bbf80,
bit_position = 0x (null))
[ 1489.381897] ec_mini: Activating master...
[ 1489.381900] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf59d2000)
[ 1489.381906] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 1489.381909] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte,
expected working counter 1.
[ 1489.381913] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 7 byte, type LWR.
[ 1489.381916] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 1489.381920] EtherCAT 0: Domain1: Logical address 0x00000007, 7 byte,
expected working counter 1.
[ 1489.381923] EtherCAT 0: Datagram domain1-7-main: Logical offset
0x00000007, 7 byte, type LRD.
[ 1489.381925] EtherCAT DEBUG 0: Stopping master thread.
[ 1489.381941] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 1489.381999] EtherCAT 0: Master thread exited.
[ 1489.382005] EtherCAT DEBUG 0: FSM datagram is f59d2420.
[ 1489.382009] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1489.383753] ec_mini: Starting cyclic sample thread.
[ 1489.383761] ec_mini: Started.
[ 1489.387224] EtherCAT DEBUG 0: Operation thread running with fsm interval
= 4000 us, max data size=45000
[ 1489.387239] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 1489.420045] ec_mini: 1 slave(s).
[ 1489.420047] EtherCAT DEBUG 0: Configuration changed.
[ 1489.420052] EtherCAT WARNING 0: No app_time received up to now, but
master already active.
[ 1489.420054] EtherCAT DEBUG 0: Requesting OP...
[ 1489.420058] ec_mini: AL states: 0x02.
[ 1489.420060] ec_mini: Link is up.
[ 1489.420063] ec_mini: AnaIn: State 0x02.
[ 1489.420065] ec_mini: AnaIn: online.
[ 1489.420068] inputdata = 00000000
[ 1489.420072] inputdata = 00000000
[ 1489.448017] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 1489.448023] EtherCAT DEBUG 0-0: Configuring...
[ 1489.468033] EtherCAT DEBUG 0-0: Now in INIT.
[ 1489.468041] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1489.484110] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1489.500037] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1489.516020] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1489.516028] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36,
En 1
[ 1489.516032] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32,
En 1
[ 1489.560001] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1489.560001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602.
[ 1489.560001] EtherCAT DEBUG 0-0: Currently mapped PDO entries:
0x6040:00/16 0x60FF:00/32 0x6060:00/8. Entries to map: 0x6040:00/16
0x60FF:00/32 0x6060:00/8
[ 1489.560001] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1489.560001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 1489.560001] EtherCAT DEBUG: 00
[ 1489.560001] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.560001] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00
[ 1489.612014] EtherCAT DEBUG 0-0: Download response:
[ 1489.612019] EtherCAT DEBUG: 00 30 62 02 16 00 00 00 00 00
[ 1489.612035] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at
position 1.
[ 1489.612040] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01.
[ 1489.612042] EtherCAT DEBUG: 10 00 40 60
[ 1489.612050] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.612052] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60
[ 1489.660013] EtherCAT DEBUG 0-0: Download response:
[ 1489.660018] EtherCAT DEBUG: 00 30 62 02 16 01 10 00 40 60
[ 1489.660034] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at
position 2.
[ 1489.660038] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02.
[ 1489.660040] EtherCAT DEBUG: 20 00 FF 60
[ 1489.660047] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.660049] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60
[ 1489.708005] EtherCAT DEBUG 0-0: Download response:
[ 1489.708005] EtherCAT DEBUG: 00 30 62 02 16 02 20 00 FF 60
[ 1489.708005] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at
position 3.
[ 1489.708005] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:03.
[ 1489.708005] EtherCAT DEBUG: 08 00 60 60
[ 1489.708005] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.708005] EtherCAT DEBUG: 00 20 23 02 16 03 08 00 60 60
[ 1489.756001] EtherCAT DEBUG 0-0: Download response:
[ 1489.756001] EtherCAT DEBUG: 00 30 62 02 16 03 08 00 60 60
[ 1489.756001] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 1489.756001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 1489.756001] EtherCAT DEBUG: 03
[ 1489.756001] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.756001] EtherCAT DEBUG: 00 20 2F 02 16 00 03 00 00 00
[ 1489.804027] EtherCAT DEBUG 0-0: Download response:
[ 1489.804034] EtherCAT DEBUG: 00 30 62 02 16 00 03 00 00 00
[ 1489.804049] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO
0x1602.
[ 1489.804052] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 1489.804055] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1602. PDOs to
assign: 0x1602
[ 1489.804063] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1489.804067] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1489.804069] EtherCAT DEBUG: 00
[ 1489.804075] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.804077] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 1489.852015] EtherCAT DEBUG 0-0: Download response:
[ 1489.852020] EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00
[ 1489.852037] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1.
[ 1489.852041] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 1489.852043] EtherCAT DEBUG: 02 16
[ 1489.852048] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.852050] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00
[ 1489.900007] EtherCAT DEBUG 0-0: Download response:
[ 1489.900007] EtherCAT DEBUG: 00 30 62 12 1C 01 02 16 00 00
[ 1489.900007] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1489.900007] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1489.900007] EtherCAT DEBUG: 01
[ 1489.900007] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.900007] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 1489.948001] EtherCAT DEBUG 0-0: Download response:
[ 1489.948001] EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00
[ 1489.948001] EtherCAT DEBUG 0-0: Successfully configured PDO assignment
of SM2.
[ 1489.948001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02.
[ 1489.948001] EtherCAT DEBUG 0-0: Currently mapped PDO entries:
0x6041:00/16 0x6061:00/8 0x6064:00/32. Entries to map: 0x6041:00/16
0x6061:00/8 0x6064:00/32
[ 1489.948001] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1489.948001] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 1489.948001] EtherCAT DEBUG: 00
[ 1489.948001] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.948001] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00
[ 1489.996052] EtherCAT DEBUG 0-0: Download response:
[ 1489.996060] EtherCAT DEBUG: 00 30 62 02 1A 00 00 00 00 00
[ 1489.996077] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at
position 1.
[ 1489.996082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01.
[ 1489.996084] EtherCAT DEBUG: 10 00 41 60
[ 1489.996093] EtherCAT DEBUG 0-0: Expedited download request:
[ 1489.996095] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60
[ 1490.044002] EtherCAT DEBUG 0-0: Download response:
[ 1490.044002] EtherCAT DEBUG: 00 30 62 02 1A 01 10 00 41 60
[ 1490.044002] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at
position 2.
[ 1490.044002] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02.
[ 1490.044002] EtherCAT DEBUG: 08 00 61 60
[ 1490.044002] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.044002] EtherCAT DEBUG: 00 20 23 02 1A 02 08 00 61 60
[ 1490.092052] EtherCAT DEBUG 0-0: Download response:
[ 1490.092060] EtherCAT DEBUG: 00 30 62 02 1A 02 08 00 61 60
[ 1490.092076] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at
position 3.
[ 1490.092082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03.
[ 1490.092084] EtherCAT DEBUG: 20 00 64 60
[ 1490.092092] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.092094] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 64 60
[ 1490.140004] EtherCAT DEBUG 0-0: Download response:
[ 1490.140004] EtherCAT DEBUG: 00 30 62 02 1A 03 20 00 64 60
[ 1490.140004] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 1490.140004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 1490.140004] EtherCAT DEBUG: 03
[ 1490.140004] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.140004] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00
[ 1490.188056] EtherCAT DEBUG 0-0: Download response:
[ 1490.188064] EtherCAT DEBUG: 00 30 62 02 1A 00 03 00 00 00
[ 1490.188080] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO
0x1A02.
[ 1490.188084] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 1490.188087] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A02. PDOs to
assign: 0x1A02
[ 1490.188097] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1490.188101] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1490.188103] EtherCAT DEBUG: 00
[ 1490.188108] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.188110] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 1490.236016] EtherCAT DEBUG 0-0: Download response:
[ 1490.236022] EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00
[ 1490.236040] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1.
[ 1490.236044] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 1490.236046] EtherCAT DEBUG: 02 1A
[ 1490.236052] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.236054] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00
[ 1490.284068] EtherCAT DEBUG 0-0: Download response:
[ 1490.284076] EtherCAT DEBUG: 00 30 62 13 1C 01 02 1A 00 00
[ 1490.284092] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1490.284096] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1490.284098] EtherCAT DEBUG: 01
[ 1490.284104] EtherCAT DEBUG 0-0: Expedited download request:
[ 1490.284106] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[ 1490.332036] EtherCAT DEBUG 0-0: Download response:
[ 1490.332044] EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00
[ 1490.332063] EtherCAT DEBUG 0-0: Successfully configured PDO assignment
of SM3.
[ 1490.332071] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 7, Ctrl 0x74,
En 1
[ 1490.332075] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 7, Ctrl 0x30,
En 1
[ 1490.348024] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 7,
PhysAddr 0x1100, SM2, Dir out
[ 1490.348031] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000007, Size 7,
PhysAddr 0x1400, SM3, Dir in
[ 1490.388046] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[ 1490.388053] EtherCAT 0: Domain 1: Working counter changed to 1/1.
[ 1490.396063] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 1490.420053] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 1490.440036] EtherCAT 0: Slave states on main device: OP.
[ 1497.428021] ec_mini: Read Domain: WC 1.
[ 1497.428026] ec_mini: Read Domain: State 2.
[ 1497.428029] ec_mini: Write Domain: WC 1.
[ 1497.428031] ec_mini: Write Domain: State 2.
[ 1497.428034] ec_mini: AL states: 0x08.
[ 1497.428037] ec_mini: AnaIn: State 0x08.
[ 1497.428039] ec_mini: AnaIn: operational.
[ 1497.428042] inputdata = 00000650
[ 1497.428046] inputdata = 00000001
[ 1505.436014] inputdata = 00000650
[ 1505.436021] inputdata = 00000001
[ 1513.444059] inputdata = 00000650
[ 1513.444067] inputdata = 00000001
As Highlight shows, this mini example start to do pdo exchange. I refer *to
Henry Bausley's *post <
http://lists.etherlab.org/pipermail/etherlab-users/2010/000969.html> and
his code:
void cyclic_task(unsigned long data)
{
unsigned short inputdata;
static unsigned short ctrlword = 0;
// receive process data
down(&master_sem);
ecrt_master_receive(master);
#ifdef ENABLE_INPUTS
ecrt_domain_process(domainInput);
#endif
ecrt_domain_process(domainOutput);
up(&master_sem);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY*10;///10;
// calculate new process data
// blink ^= 0xFFFF;
blink *= 2;
// check process data state (optional)
check_domainInput_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
if (blink > 0x8000)
blink = 1;
}
// write process data
EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword);
#ifdef ENABLE_INPUTS
inputdata = EC_READ_U16(domainInput_pd + ofs_statusword_coe);
if(counter == FREQUENCY*10)
printk(KERN_ALERT "inputdata = %08X\n",inputdata);
inputdata = EC_READ_U16(domainInput_pd + ofs_feedbackword_coe);
if(counter == FREQUENCY*10)
printk(KERN_ALERT "inputdata = %08X\n",inputdata);
#endif
// send process data
down(&master_sem);
ecrt_domain_queue(domainInput);
ecrt_domain_queue(domainOutput);
ecrt_master_send(master);
up(&master_sem);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
if(ctrlword == 0)
ctrlword = 6;
else if(ctrlword == 6)
ctrlword = 7;
else if(ctrlword == 7)
ctrlword = 15;
}
The problem is control word 0x6040 never been updated .
EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword); it means write
failed.
So I am trying to figure it out as follow:
1. Should I configure DC and check DC sync?
most of time I refer to
http://thread.gmane.org/gmane.network.etherlab.user/1335/focus=1346 . and
when i start to configure DC as follow code before active master:
#if CONFIG_DC
printk(KERN_INFO PFX "Config DC...\n");
dc->assignActivate=0x300;
dc->sync0Cycle=1000000;
dc->sync0Shift=0;
dc->sync1Cycle=0;
dc->sync1Shift=0;
ecrt_slave_config_dc(sc_ana_in,dc->assignActivate,dc->sync0Cycle,dc->sync0Shift,dc->sync1Cycle,dc->sync1Shift);
#endif
Kernel Oops as George Broz mentioned in the thread.
2. Should I start a real time thread? Since I am using xenomai as a real
time kernel
I am trying to use example/xenomai , but it can not find
libethercat-rtdm.
I am appreciated if anyone have any suggestions.
Thanks!
On Tue, Mar 24, 2015 at 6:00 AM, Graeme Foot <Graeme.Foot at touchcut.com>
wrote:
> Hi,
>
>
>
> Firstly, error messages:
>
> a) see:
> http://stackoverflow.com/questions/24975377/kvm-module-verification-failed-signature-and-or-required-key-missing-taintin
> or similar
>
> b) don’t know
>
> c) Often get a datagram timeout when switching to cyclic operation
>
>
>
>
>
> 1) SDO_ACCESS à sorry, don’t know
>
>
>
> 2) Enabling servo motor:
>
> Unfortunately I don’t think you can just set the control word to 15. You
> need to go through a few stages.
>
>
>
> a) first if there are any faults make sure they are reset (by setting,
> waiting say 100ms, and resetting the faultReset control bit)
>
> b) set the enableVoltage and quickStop control bits
>
> c) wait for the readyToSwitchOn status bit
>
> d) set the switchOn control bit
>
> e) wait for the switchedOn status bit
>
> f) set the enableOperation control bit
>
> g) wait for the operationEnabled status bit
>
>
>
> See page 8-21 of the manual (Device Control, Details on Bits 0 to 3).
>
>
>
> Once the servo is fully enabled then you should be able to set the
> required velocity. One thing of note here is that you control the target
> velocity at every time period in cyclic velocity mode and the amp will try
> to ramp to that velocity in one time period. So if you want to accelerate
> / decelerate nicely you will need to ramp the velocity over time yourself.
>
>
>
>
>
> Graeme.
>
>
>
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