[etherlab-users] EtherLab with Omron Accurax PREOP-> OP fail

[Fredriek Vanneste]

Thank you for the quick response Richard.

Something else I forgot to mention before is that the Omron Drive gives an
error message when I try to go to "OP" state, saying:
Communication Setting Error.

> What does dmesg say?

Dmesg output:
EtherCAT: Master driver 1.5.2 1a969896d52e
[  182.204143] EtherCAT 0: Registering RTDM device EtherCAT.
[  182.204151] EtherCAT: 1 master waiting for devices.
[  182.488370] ec_e1000e: EtherCAT-capable Intel(R) PRO/1000 Network Driver
- 2.3.2-k-EtherCAT
[  182.488374] ec_e1000e: Copyright(c) 1999 - 2013 Intel Corporation.
[  182.488412] ec_e1000e 0000:00:19.0: PCI->APIC IRQ transform: INT A ->
IRQ 20
[  182.488501] ec_e1000e 0000:00:19.0: Interrupt Throttling Rate (ints/sec)
set to dynamic conservative mode
[  182.488527] ec_e1000e 0000:00:19.0: irq 45 for MSI/MSI-X
[  182.774612] EtherCAT: Accepting 5C:26:0A:19:39:69 as main device for
master 0.
[  182.900107] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  182.900148] ec_e1000e 0000:00:19.0 (unregistered net_device): (PCI
Express:2.5GT/s:Width x1) 5c:26:0a:19:39:69
[  182.900151] ec_e1000e 0000:00:19.0 (unregistered net_device): Intel(R)
PRO/1000 Network Connection
[  182.900201] ec_e1000e 0000:00:19.0 (unregistered net_device): MAC: 9,
PHY: 10, PBA No: 3041FF-0FF
[  184.913888] ec_e1000e: ecm0 NIC Link is Up 100 Mbps Full Duplex, Flow
Control: None
[  184.913896] ec_e1000e 0000:00:19.0 (unregistered net_device): 10/100
speed: disabling TSO
[  184.913899] EtherCAT 0: Link state of ecm0 changed to UP.
[  184.916200] EtherCAT 0: 1 slave(s) responding on main device.
[  184.916203] EtherCAT 0: Slave states on main device: PREOP.
[  184.916274] EtherCAT 0: Scanning bus.
[  185.205685] EtherCAT 0: Bus scanning completed in 288 ms.
[  185.205688] EtherCAT 0: Using slave 0 as DC reference clock.
[  210.095697] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).
[  210.095742] EtherCAT ERROR 0-0: AL status message 0x0028:
"Synchronization not supported".
[  210.095889] EtherCAT 0-0: Acknowledged state PREOP.


> try:
> # ethercat debug 1

This command gives :
Failed to obtain number of masters: Failed to open master device
/dev/EtherCAT0: Permission denied

> to see more messages
> 
>   - Richard
> 
> On 07.05.2015 15:59, Fredriek Vanneste wrote:
> > Dear EtherLab users,
> >
> > Does anyone of you have experience with EtherLab and Omron Accurax
> G5
> > drive-motor combination?
> > (drive: R88D-KN20F-ECT, Motor: R88M-K2K030C-S2) I have some
> experience
> > with an EtherCat bus coupler and some modules, but not with this kind
> > of setup.
> > The EtherCAT master 1.5.2 is running on Linux 14.10 and Xenomai 2.6.1.
> > Using this EtherCAT-capable drive with Etherlab, I'm having trouble to
> > go from "PREOP" state to "OP" state.
> > The drive is directly connected to the pc with an Ethernet cable.
> > I have connection with the drive because I can read (e.g. encoder
> > position) and write using SDO messages from the command line.
> > I have also tried to run the drive with CX-drive software on Windows
> > and this is working fine.
> > The "sudo ethercat states OP"-command results in the slave going from
> > PREOP
> > + state to PREOP E state, meaning there is an error.
> > To run my program I need PDO communication, but I understand that it
> > is not possible in "PREOP" state.
> > Do I need extra software, hardware, or just a different approach?
> >
> > Thanks in advance for your help.
> >
> > Kind regards,
> > Fred
> >
> >
> > _______________________________________________
> > etherlab-users mailing list
> > etherlab-users at etherlab.org
> > http://lists.etherlab.org/mailman/listinfo/etherlab-users
> >