[etherlab-users] Yaskawa servo Sychronization Error

[Ruika You]

Dear all,

When I am trying to using etherlab master with yaskawa servo,
sychronization error occur.
dmesg result as follow:
[705599.272444] EtherCAT 0: Link state of ecm0 changed to UP.
[705599.280070] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[705599.292077] EtherCAT 0: 1 slave(s) responding on main device.
[705599.292087] EtherCAT 0: Slave states on main device: INIT.
[705599.292581] EtherCAT 0: Scanning bus.
[705599.316499] EtherCAT 0: Bus scanning completed in 24 ms.
[705599.316509] EtherCAT 0: Using slave 0 as DC reference clock.
[705599.320410] EtherCAT 0: Slave states on main device: PREOP.
[705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received!
[705602.382945] EtherCAT DEBUG: 7E 00 01 00 00 63 00 80 04 00 00 00 01 10
05 00
[705602.382965] EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74
65 72
[705602.382983] EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60
BC 60
[705602.383001] EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60
FE 60
[705602.383019] EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60
40 60
[705602.383037] EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60
61 60
[705602.383055] EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60
6B 60
[705602.383073] EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60
77 60
[705670.466102] EtherCAT: Requesting master 0...
[705670.466114] EtherCAT: Successfully requested master 0.
[705670.466230] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte,
expected working counter 1.
[705670.466236] EtherCAT 0:   Datagram domain0-0-main: Logical offset
0x00000000, 6 byte, type LWR.
[705670.466290] EtherCAT 0: Master thread exited.
[705670.466297] EtherCAT 0: Starting EtherCAT-OP thread.
[705670.467927] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[705715.024606] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 1 time.
[705715.464737] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[705716.183720] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[705716.190654] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[705716.312261] EtherCAT 0: Slave states on main device: OP.
[705716.349656] EtherCAT ERROR 0-0: AL status message 0x001A:
"Synchronization error".
[705716.353660] EtherCAT 0-0: Acknowledged state SAFEOP.
[705716.464063] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[705717.032627] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 5 times.
[705717.192606] EtherCAT 0: Domain 0: 3 working counter changes - now 0/1.
[705717.464687] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
[705718.036643] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 3 times.
[705719.040649] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 1 time.
[705719.464082] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[705721.492751] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[705721.499648] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[705722.885394] EtherCAT 0: Domain 0: Working counter changed to 0/1.
[705723.056714] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 1 time.
[705723.464068] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[705723.888711] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[705726.893333] EtherCAT 0: Domain 0: Working counter changed to 0/1.
[705726.901697] EtherCAT ERROR 0-0: AL status message 0x001A:
"Synchronization error".
[705726.904702] EtherCAT 0-0: Acknowledged state SAFEOP.
[705727.072708] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 1 time.
[705727.464031] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[705727.896710] EtherCAT 0: Domain 0: 2 working counter changes - now 0/1.
[705731.088737] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was
SKIPPED 1 time.
[705731.464045] EtherCAT WARNING 0: 3 datagrams UNMATCHED!

It seems there are two issues. First of all, [705602.382934] EtherCAT ERROR
0-0: Corrupt mailbox response received!
secondly, sychronization error.

Any idea?
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