[etherlab-users] Yaskawa servo Sychronization Error

[Graeme Foot]

Hi,

Ignore the “Corrupt mailbox response received”.  Also have a quick read of:
http://lists.etherlab.org/pipermail/etherlab-users/2010/001071.html

The main problem looks to me like the network is not stable.  First of all make sure that all the network cables are plugged in correctly and of a high enough standard.  Try different cables.  Cheap cables can cause problems.

Also ensure the realtime loop is polling consistently, with little jitter.

I also notice that you only have one domain.  The yaskawa drives require the reads to be separated from the writes in two separate domains.

Are you setting up the drive for Distributed Clock?  If you use the default Etherlab master method where the PC clock is the master then the yaskawa drives aren’t generally happy.  There is too much jitter.  Search the forum history for more info on that one.


A few things for you to start checking.

Regards,
Graeme.


From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Ruika You
Sent: Wednesday, 28 January 2015 4:21 a.m.
To: etherlab-users at etherlab.org
Subject: [etherlab-users] Yaskawa servo Sychronization Error

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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