[etherlab-users] etherlab-users Digest, Vol 92, Issue 8

Graeme Foot Graeme.Foot at touchcut.com
Mon Mar 23 23:00:53 CET 2015 

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 --> 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.


From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Ruika You
Sent: Tuesday, 24 March 2015 4:53 a.m.
To: etherlab-users at etherlab.org
Subject: Re: [etherlab-users] etherlab-users Digest, Vol 92, Issue 8

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<mailto: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<mailto:crazylinuxcnc at gmail.com>>
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Yaskawa servo Sychronization Error
Message-ID:
        <CABqyFP-LEx7ZKWT9gbjS36U2ZvsNW1xtBmiCOjT6ZO+9jUGuQA at mail.gmail.com<mailto:CABqyFP-LEx7ZKWT9gbjS36U2ZvsNW1xtBmiCOjT6ZO%2B9jUGuQA 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?
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Message: 2
Date: Tue, 27 Jan 2015 21:18:23 +0000
From: Graeme Foot <Graeme.Foot at touchcut.com<mailto:Graeme.Foot at touchcut.com>>
To: Ruika You <crazylinuxcnc at gmail.com<mailto:crazylinuxcnc at gmail.com>>, "etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>"
        <etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>>
Subject: Re: [etherlab-users] Yaskawa servo Sychronization Error
Message-ID:
        <8B370CF9AC667C4E8616D8DD2C3231D52BED8737 at Pluto.touchcut.local<mailto: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<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<mailto: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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