[etherlab-users] Technosoftmotion iPOS8020 BX-CAT drive, PDO setting

Mon Feb 8 16:51:04 CET 2016

Dear all, 
we are currently testing the iPOS820 BX-CAT drive. 
I have implemented the m-function(the slave I/O description) in Matlab/Simulink, which can do the PDO settings. I got the drive up and running. However, the drive doesnot always startup smoothly. 2 out of 3 times, it reports errors and does not accept the PDO mapping ("Invalid input configuration"). Does some of you have similar error? Can you point to some fix so that it always start nicely? thanks.
I copy the dmesg output of both good and bad start below:
dmesg output when PDO mapping is not accepted:

[ 530.561542] EtherCAT 0: Starting EoE thread.[ 530.562057] EtherCAT 0: Slave states on main device: PREOP.
[ 530.572859] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 530.573121] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 530.573878] EtherCAT 0-0: Acknowledged state PREOP.
[ 533.574281] EtherCAT WARNING 0-0: CoE Emergency Request received:
Error code 0xA000, Error register 0x02, data:
[ 533.574285] EtherCAT DEBUG: 0E 10 00 10 00
[ 540.490093] EtherCAT 0: Slave states on main device: INIT.
[ 551.569252] SFW2-INext-DROP-DEFLT IN=enp0s25 OUT= MAC= SRC=fe80:0000:0000:0000:baae:edff:fe79:8ad0 DST=ff02:0000:0000:0000:0000:0000:0000:00fb LEN=84 TC=0 HOPLIMIT=255 FLOWLBL=0
PROTO=UDP SPT=5353 DPT=5353 LEN=44
[ 573.063773] EtherCAT: Requesting master 0...
[ 573.063776] EtherCAT: Successfully requested master 0.
[ 573.063831] EtherCAT 0: Domain0: Logical address 0x00000000, 15 byte, expected working counter 1.
[ 573.063832] EtherCAT 0:
 Datagram domain0-0-main: Logical offset 0x00000000, 15 byte, type LWR.
[ 573.063834] EtherCAT 0: Domain1: Logical address 0x0000000f, 31 byte, expected working counter 2.
[ 573.063835] EtherCAT 0:
 Datagram domain1-15-main: Logical offset 0x0000000f, 31 byte, type LRD.
[ 573.063845] EtherCAT 0: Master thread exited.
[ 573.063847] EtherCAT 0: Stopping EoE thread.
[ 573.063855] EtherCAT 0: EoE thread exited.
[ 573.063857] EtherCAT 0: Starting EoE thread.
[ 573.063881] EtherCAT 0: Starting EtherCAT-OP thread.
[ 573.063898] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ 573.075622] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 573.075629] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 573.077614] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 573.077618] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 573.078126] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 573.080613] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 573.080615] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 573.082605] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 573.082859] EtherCAT ERROR 0-0: Reception of CoE upload response failed: No response.
[ 573.082862] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries.
[ 573.082864] EtherCAT WARNING 0-0: Failed to read PDO entries for PDO 0x1601.
[ 573.084620] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 573.084623] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 573.086620] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 573.086871] EtherCAT ERROR 0-0: Reception of CoE download response failed: No response.
[ 573.086874] EtherCAT WARNING 0-0: Failed to map PDO entry 0x607A:00 (32 bit) to position 2.
[ 573.086875] EtherCAT WARNING 0-0: Currently mapped PDO entries: (none). Entries to map: 0x6060:00/8 0x607A:00/32 0x2001:00/16
[ 573.086880] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1601.
[ 573.088622] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 573.088624] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 573.090610] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 573.090862] EtherCAT ERROR 0-0: Reception of CoE download response failed: No response.
[ 573.090865] EtherCAT WARNING 0-0: Failed to assign PDO 0x1601 at position 2 of SM2.
[ 573.090866] EtherCAT WARNING 0-0: Currently assigned PDOs: (none). PDOs to assign: 0x1600 0x1601
[ 573.090870] EtherCAT WARNING 0-0: PDO configuration failed.
[ 573.092940] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[ 573.093377] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 573.094379] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 573.094630] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 573.096377] EtherCAT 0-0: Acknowledged state PREOP.
[ 573.098447] EtherCAT 0: Slave states on main device: PREOP.
[ 577.071013] EtherCAT 0: Releasing master...
[ 577.071029] EtherCAT 0: Master thread exited.
[ 577.071031] EtherCAT 0: Stopping EoE thread.
[ 577.071044] EtherCAT 0: EoE thread exited.
[ 577.071053] EtherCAT 0: Starting EoE thread.
[ 577.071296] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 577.071357] EtherCAT 0: Released.
[ 577.075357] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 577.075612] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 577.076364] EtherCAT 0-0: Acknowledged state PREOP.

dmesg output when PDO mapping is successfully done:

[ 690.955873] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 690.956126] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 690.956636] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 690.956884] EtherCAT 0-0: Acknowledged state PREOP.
[ 693.577626] EtherCAT 0: Slave states on main device: INIT.
[ 696.529014] EtherCAT: Requesting master 0...
[ 696.529019] EtherCAT: Successfully requested master 0.
[ 696.529078] EtherCAT 0: Domain0: Logical address 0x00000000, 15 byte, expected working counter 1.
[ 696.529079] EtherCAT 0:
 Datagram domain0-0-main: Logical offset 0x00000000, 15 byte, type LWR.
[ 696.529081] EtherCAT 0: Domain1: Logical address 0x0000000f, 31 byte, expected working counter 2.
[ 696.529082] EtherCAT 0:
 Datagram domain1-15-main: Logical offset 0x0000000f, 31 byte, type LRD.
[ 696.529092] EtherCAT 0: Master thread exited.
[ 696.529105] EtherCAT 0: Stopping EoE thread.
[ 696.529118] EtherCAT 0: EoE thread exited.
[ 696.529120] EtherCAT 0: Starting EoE thread.
[ 696.529143] EtherCAT 0: Starting EtherCAT-OP thread.
[ 696.548281] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 696.548286] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 696.550276] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.552276] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.554278] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.556283] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.558293] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.560286] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.562284] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.566291] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 696.566295] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 696.568275] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.570301] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.572280] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.574276] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.576297] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.578285] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.580302] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.582304] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.584301] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.586302] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.588309] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.590322] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.592301] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.594322] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.596316] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.600319] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 696.600323] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[ 696.602302] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.604315] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.606304] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.608322] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.610309] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.612335] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.614324] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.616327] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.618330] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.620337] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.622343] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.624322] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.626336] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.628324] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.630340] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.632323] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.634347] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[ 696.636263] EtherCAT 0: Domain 0: Working counter changed to 1/1.
[ 696.638265] EtherCAT 0: Domain 1: Working counter changed to 1/2.
[ 696.642159] EtherCAT 0: Slave states on main device: OP.

regards,Shiqian Wang
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