[etherlab-users] CX CPU as Master Linux Slave

Fri May 13 13:12:03 CEST 2016

Hi Graeme,

thanks for your answer.
I'm trying to use a CX8010 as TwinCAT Master of its own net. Over it is a 
Linux PC running the Master Linux 1.5.2. We would like to have the CX8010 as 
slave from the Master Linux sharing In/Outs PDOs.

By the moment I keep running the CX8010 as normal, with the slave pdo 
configuration just done.

>From the Master Linux I see the slave at PREOP (with Error), with this dmesg 
outputs:

[2061710.482018] EtherCAT 0: 0 slave(s) responding on main device.
[2061710.482020] EtherCAT 0: Stopping EoE thread.
[2061710.482038] EtherCAT 0: EoE thread exited.
[2061710.499211] EtherCAT 0: 1 slave(s) responding on main device.
[2061710.499214] EtherCAT 0: Slave states on main device: PREOP.
[2061710.499718] EtherCAT 0: Scanning bus.
[2061710.640237] EtherCAT 0: Bus scanning completed in 141 ms.
[2061710.640240] EtherCAT 0: Using slave 0 as DC reference clock.
[2061710.640242] EtherCAT 0: Starting EoE thread.
[2061710.655820] IPv6: ADDRCONF(NETDEV_UP): eoe0s0: link is not ready
[2061710.666862] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave 
refused state change (PREOP + ERROR).
[2061710.667536] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid 
input configuration".
[2061710.670956] EtherCAT 0-0: Acknowledged state PREOP.
[2061713.541497] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[2061713.664881] EtherCAT WARNING 0-0: CoE Emergency Request received:
Error code 0xA000, Error register 0x02, data:
[2061713.664885] EtherCAT DEBUG: 0E 04 00 04 00
[2061713.848637] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:01!
[2061713.848641] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.852689] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:02!
[2061713.852693] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.856649] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:03!
[2061713.856653] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.860720] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:04!
[2061713.860724] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.864652] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:05!
[2061713.864655] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.868724] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:06!
[2061713.868728] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.872634] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:07!
[2061713.872645] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.876712] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:08!
[2061713.876716] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.880657] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:09!
[2061713.880660] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.884698] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0A!
[2061713.884701] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.888636] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0B!
[2061713.888640] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.892574] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0C!
[2061713.892577] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.896793] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0D!
[2061713.896797] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061713.900671] EtherCAT WARNING 0-0: SDO information error response while 
fetching SDO entry 0xF100:0E!
[2061713.900674] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex 
does not exist".
[2061716.623870] EtherCAT WARNING 0: 1 datagram TIMED OUT!

Some months a go I get to configure correctly typical cards with the EK1100 
bus coupler. But the way to proceed looks diferent.

About the CCAT driver ... i just compile all without this enable, it isn't 
on the pdf manual. Then could be help us recompiling with that flag on?

Thank you very much

King regards

David Jiménez Mejías

-----Original Message-----
From: Graeme Foot <Graeme.Foot at touchcut.com>
To: David Jiménez Mejías <david.jimenez at gtc.iac.es>, 
"etherlab-users at etherlab.org" <etherlab-users at etherlab.org>
Date: Tue, 10 May 2016 22:28:49 +0000
Subject: RE: [etherlab-users] CX CPU as Master Linux Slave

Hi,

We use a Beckhoff CX2020 with a CX2100-0004 power module with EBus.  What do 
you mean by slave CPU?  Are you referring to the CX2100 module?

What version of the master are you using?  There is a CCAT driver written by 
Patrick Bruenn in the “stable-1.5” branch, but it is not in the 
“default” branch.  Are you using this?  If not, to use it you will need 
to build it with the master with the ENABLE_CCAT config flag (I think).

I don’t use this driver as I wrote my own before it was available but I 
assume you use it in the same fashion as any of the other network card 
drivers, where you load the network driver modules you want to load (eg with 
modprobe).  If you load the CCAT module first then the master should use it 
by preference (when you use the generic MAC address of FF:FF:FF:FF:FF:FF) 
rather than needing to specify a fixed MAC address.

If you are not using the CCAT driver above, are you writing your own?

I have attached a patch for the driver I use.  It is written for EtherCat 
master revision 2526 (stable-1.5) and Linux Kernel 2.6.32.  It may be useful 
as a reference.

Regards,
Graeme.

From:etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf 
OfDavid Jiménez Mejías
Sent: Wednesday, 11 May 2016 1:24 a.m.
To: etherlab-users at etherlab.org
Subject: [etherlab-users] CX CPU as Master Linux Slave

Hi everyone!

I would like to share some data from a Beckhoff CPU, CX line, by the slave 
EtherCAT Port. Using a EtherLab Master Linux.
Is there someone with some experience on that issue?

I configure the TxPDO and RxPDO in the Slave CPU, and the only way that I 
get the Linux Master reads its PDOs is with the slave CPU on config mode. 
I'm studing this procedure from zero, then, if there is someone with some 
informatuion about it I will so grateful.

Thanks in advance

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
-

David Jiménez Mejías

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