[etherlab-users] Problem of alarm on SANMOTION servo
tongliang.sun at robotphoenix.com
Fri Apr 24 10:46:52 CEST 2015
The log is as following:
[ 872.893162] EtherCAT 0: Link state of ecm0 changed to UP.
[ 872.896141] EtherCAT 0: 1 slave(s) responding on main device.
[ 872.896143] EtherCAT 0: Slave states on main device: INIT.
[ 872.896185] EtherCAT 0: Scanning bus.
[ 873.131298] EtherCAT 0: Bus scanning completed in 232 ms.
[ 873.131300] EtherCAT 0: Using slave 0 as DC reference clock.
[ 873.132083] EtherCAT 0: Slave states on main device: PREOP.
[ 878.406973] EtherCAT: Requesting master 0...
[ 878.406976] EtherCAT: Successfully requested master 0.
[ 878.407023] EtherCAT 0: Domain0: Logical address 0x00000000, 64 byte, expected working counter 3.
[ 878.407025] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 64 byte, type LRW.
[ 878.407036] EtherCAT 0: Master thread exited.
[ 878.407038] EtherCAT 0: Starting EtherCAT-OP thread.
[ 878.407052] EtherCAT WARNING 0: 243 datagrams UNMATCHED!
[ 878.410691] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ 878.646091] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 878.654605] EtherCAT 0: Slave states on main device: OP.
发件人: Jürgen Kunz [mailto:kunz at sim.tu-darmstadt.de]
发送时间: 2015年4月23日 12:05
收件人: tongliang.sun at robotphoenix.com
抄送: etherlab-users at etherlab.org
主题: Re: [etherlab-users] Problem of alarm on SANMOTION servo
Please rerun your test until the alarm happens again. Then mail the output of
The EtherCAT master prints log messages to kernel log, this helps to analyze the situation.
Am Do. Apr. 23 04:03:30 2015 GMT+0200 schrieb 孙同亮:
> Now I have set up a Ethercat Master on an Intel G3420 machine .
> Xenomai 2.6.4
> EtherCAT Master 1.5.2
> In order to have a realtime for network, I configure and build the
> master-1.5.2, withing enabling the enable-e1000e option.
> And now I can make a connect with the SANMOTION servo 、servo-on and
> make the servo running.
> But the servo always makes alarm after a several minutes.
> The manual of servo explains the alarm as following:
> Port 0/1 cable was disconnected or unplugged in servo-on state.
> I had test the servo with TwinCAT, there's no alarm.
> I have no idea about it. Has somebody experiences to do this?
Gesendet von meinem Jolla
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