[etherlab-users] etherlab-users Digest, Vol 92, Issue 8
Ruika You
crazylinuxcnc at gmail.com
Mon Mar 23 16:52:51 CET 2015
Dear Graeme,
Thanks for your several times suggestions. I do start try my yaskawa servo
out by modificaton of example/mini.c as attached. I create two domains by
refer to http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html
<http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html> .
[ 4543.012637] ec_mini: module verification failed: signature and/or
required key missing - tainting kernel
[ 4543.013087] ec_mini: Starting...
[ 4543.013095] EtherCAT: Requesting master 0...
[ 4543.013100] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 4543.013104] EtherCAT: Successfully requested master 0.
[ 4543.013109] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xe195e000,
send_cb = 0xf8122030, receive_cb = 0xf8122000, cb_data = 0xe195e000)
[ 4543.013112] ec_mini: Registering domain...
[ 4543.013115] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xe195e000)
[ 4543.013119] EtherCAT DEBUG 0: Created domain 0.
[ 4543.013121] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0xe195e000)
[ 4543.013124] EtherCAT DEBUG 0: Created domain 1.
[ 4543.013128] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013131] EtherCAT DEBUG 0: Creating slave configuration for 0:1,
0x00000539/0x02200001.
[ 4543.013136] EtherCAT DEBUG 0 0:1: Failed to find slave for configuration.
[ 4543.013139] ec_mini: Configuring PDOs...
[ 4543.013143] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdos(sc =
0xc838fc00, n_syncs = 4294967295, syncs = 0xf8124000)
[ 4543.013147] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 4543.013151] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 4543.013154] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 4543.013157] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc
= 0xc838fc00, sync_index = 2)
[ 4543.013161] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 2, pdo_index = 0x1600)
[ 4543.013166] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1600)
[ 4543.013170] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013175] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013180] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60B1, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013184] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6072, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013189] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60FE, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x60B8, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013197] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex =
0x00, entry_bit_length = 8)
[ 4543.013201] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc =
0xc838fc00, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 4543.013205] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc
= 0xc838fc00, sync_index = 3)
[ 4543.013208] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 3, pdo_index = 0x1A00)
[ 4543.013212] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1A00)
[ 4543.013216] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013220] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013226] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013230] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013235] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60F4, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013239] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60FD, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013243] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60BA, entry_subindex =
0x00, entry_bit_length = 32)
[ 4543.013247] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A00, entry_index = 0x60B9, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013251] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc =
0xc838fc00, sync_index = 3, pdo_index = 0x1A01)
[ 4543.013255] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc
= 0xc838fc00, pdo_index = 0x1A01)
[ 4543.013259] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A01, entry_index = 0x6061, entry_subindex =
0x00, entry_bit_length = 8)
[ 4543.013263] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc =
0xc838fc00, pdo_index = 0x1A01, entry_index = 0x603F, entry_subindex =
0x00, entry_bit_length = 16)
[ 4543.013266] ec_mini: Registering PDO entries...
[ 4543.013269] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xef0a2bc0, regs = 0xf8123160)
[ 4543.013273] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013277] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6040, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013282] EtherCAT DEBUG 0: Domain 0: Added 19 bytes, total 19.
[ 4543.013285] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013289] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x607A, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013293] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013297] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B1, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013300] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013304] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6072, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013308] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013312] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60FE, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013315] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013319] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B8, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013323] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013327] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6060, subindex = 0x00, domain = 0xef0a2bc0,
bit_position = 0x (null))
[ 4543.013330] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xef0a25c0, regs = 0xf8123040)
[ 4543.013333] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013337] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6041, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013340] EtherCAT DEBUG 0: Domain 1: Added 29 bytes, total 29.
[ 4543.013343] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013348] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6064, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013351] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013355] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x606C, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013359] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013362] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6077, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013366] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013370] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60F4, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013373] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013377] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60FD, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013381] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013385] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60BA, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013388] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013392] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x60B9, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013396] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013400] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x6061, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013403] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xe195e000, alias = 0, position = 1, vendor_id = 0x00000539, product_code =
0x02200001)
[ 4543.013407] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc =
0xc838fc00, index = 0x603F, subindex = 0x00, domain = 0xef0a25c0,
bit_position = 0x (null))
[ 4543.013411] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xef0a2bc0, mem = 0xefdce880)
[ 4543.013414] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xef0a25c0, mem = 0xefdceb00)
[ 4543.013417] ec_mini: Activating master...
[ 4543.013419] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xe195e000)
[ 4543.013425] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 4543.013429] EtherCAT 0: Domain0: Logical address 0x00000000, 19 byte,
expected working counter 1.
[ 4543.013432] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 19 byte, type LWR.
[ 4543.013436] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 4543.013439] EtherCAT 0: Domain1: Logical address 0x00000013, 29 byte,
expected working counter 1.
[ 4543.013442] EtherCAT 0: Datagram domain1-19-main: Logical offset
0x00000013, 29 byte, type LRD.
[ 4543.013445] EtherCAT DEBUG 0: Stopping master thread.
[ 4543.013499] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 4543.013569] EtherCAT 0: Master thread exited.
[ 4543.013575] EtherCAT DEBUG 0: FSM datagram is e195e420.
[ 4543.013579] EtherCAT 0: Starting EtherCAT-OP thread.
[ 4543.020995] ec_mini: Starting cyclic sample thread.
[ 4543.021007] ec_mini: Started.
[ 4543.021017] EtherCAT DEBUG 0: Operation thread running with fsm interval
= 4000 us, max data size=45000
[ 4543.021023] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 4543.060061] ec_mini: 1 slave(s).
[ 4543.060068] ec_mini: AL states: 0x02.
[ 4543.060071] ec_mini: Link is up.
[ 4543.060075] inputdata = 00000000
[ 4543.060078] inputdata = 00000000
[ 4543.060086] EtherCAT DEBUG 0: Configuration changed (aborting state
check).
[ 4543.060090] EtherCAT WARNING 0: No app_time received up to now, but
master already active.
[ 4543.060094] EtherCAT DEBUG 0: Requesting OP...
[ 4543.092062] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 4543.092070] EtherCAT DEBUG 0-0: Configuring...
[ 4543.116045] EtherCAT DEBUG 0-0: Now in INIT.
[ 4543.116053] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 4543.132022] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 4543.148031] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 4543.164043] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 4543.164053] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36,
En 1
[ 4543.164057] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32,
En 1
[ 4543.196026] EtherCAT DEBUG 0-0: Now in PREOP.
[ 4543.196035] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x74,
En 1
[ 4543.196039] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 6, Ctrl 0x30,
En 1
[ 4543.244011] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 4543.268055] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 4543.284095] EtherCAT 0: Slave states on main device: OP.
It seems works well, there are no errors show on servo driver,except there
are three highlights above.
I have several questions as follows:
1. How to deal with Sdos, when I set #define SDO_ACCESS 1 , there always
show request ec_mini: still busy...
dmesg as follow:
/ethercat-master$ tool/ethercat sdos
SDO 0x1000, "Device
Type"
0x1000:00, r-r-r-,
uint32, 32 bit, "Device Type"
0x1000:01, r-r-r-,
uint32, 32 bit, "Device Type"
SDO 0x1001, ""
Failed to get SDO
entry: Invalid argument
2. How to make my servo on and motor start to rotate?
I have try follow steps by command lines:
Firstly Set operation mode 0x6060 as 9 which means cyclic velocity mode
Secondly, set control word 0x6040 as 15
Then set target speed 0x607a as 300
Seems there is no reaction, i check set status 0x6041, there is no change
even i change 0x6040
So I am wondering how can i make my motor rotate by modify mini.c?
Anyone can give me any hints will be appreciated!
-cheng xi
On Wed, Jan 28, 2015 at 5:18 AM, <etherlab-users-request at etherlab.org>
wrote:
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> Today's Topics:
>
> 1. Yaskawa servo Sychronization Error (Ruika You)
> 2. Re: Yaskawa servo Sychronization Error (Graeme Foot)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Tue, 27 Jan 2015 23:21:25 +0800
> From: Ruika You <crazylinuxcnc at gmail.com>
> To: etherlab-users at etherlab.org
> Subject: [etherlab-users] Yaskawa servo Sychronization Error
> Message-ID:
> <
> CABqyFP-LEx7ZKWT9gbjS36U2ZvsNW1xtBmiCOjT6ZO+9jUGuQA at mail.gmail.com>
> Content-Type: text/plain; charset="utf-8"
>
> 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?
> -------------- next part --------------
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>
> ------------------------------
>
> Message: 2
> Date: Tue, 27 Jan 2015 21:18:23 +0000
> From: Graeme Foot <Graeme.Foot at touchcut.com>
> To: Ruika You <crazylinuxcnc at gmail.com>, "etherlab-users at etherlab.org"
> <etherlab-users at etherlab.org>
> Subject: Re: [etherlab-users] Yaskawa servo Sychronization Error
> Message-ID:
> <8B370CF9AC667C4E8616D8DD2C3231D52BED8737 at Pluto.touchcut.local>
> Content-Type: text/plain; charset="utf-8"
>
> 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?
> -------------- next part --------------
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>
> Subject: Digest Footer
>
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