[etherlab-users] No CoE communication

Wed Aug 23 19:25:48 CEST 2017

Hi Graeme,

Thanks for the application. I tried implementing your master without
the patches and with my application.

It does not reach the application stage and throws this error prior to login.
I get the following errors (PFA). It throws a reception of CoE
dictionary request failed'

Regards,
Rahul

On 8/23/17, Graeme Foot <Graeme.Foot at touchcut.com> wrote:
> Hi,
>
> I have attached a test app to have a look at.  It is a (very) cut down
> version of how my app works.  Of course I use RTAI, so it won't be
> compatible with your Xenomi environment.
>
>
> In main.c at the top of runECat() I have a list of EtherCAT devices and
> their addresses.  It is hard coded here but can of course be loaded from a
> config file.  The device names match devices in the etherCATSlaves.c file.
>
> etherCATMaster.c contains the code to configure and run the master.
> etherCATSlaves.c contains each slave's code.
>
> yaskawaSGDV_create()
> - configures the device and gets the PDO command offsets
>
> yaskawaSGDV_prepareToRun()
> - calculates each commands address (after the domains are populated and
> allocated)
> - sets cyclic synchronous position mode (optional, the mode can be set at
> any time while running)
> - sets the control word to zero, just in case
>
> yaskawaSGDV_run()
> - is called once each scan.  add code here to control the axis
>
> yaskawaSGDV_prepareToStop()
> - is called when the app is closing.  add any code here to clean up your
> axis
>
>
> Note: In this app the prepareToStop() functions are called once and then the
> app is shut down immediately.  In reality you should continue your realtime
> cycle until all of the devices are stopped, disabled and safe to turn off.
> The app also relies on some of my patches.
>
>
> I hope this helps
>
> Regards,
> Graeme.
>
>
>
> -----Original Message-----
> From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf
> Of Graeme Foot
> Sent: Wednesday, 16 August 2017 10:42 a.m.
> To: Rahul Deshpande <rahulgd92 at gmail.com>; etherlab-users at etherlab.org
> Subject: Re: [etherlab-users] No CoE communication
>
> Hi,
>
> I've been asked to let you know what master version and patches I'm using.
> I'm still running an old version (2526 from the stable-1.5 branch,
> 12/02/2013).  The script I use to download it is attached
> (004-etherlab_master).
>
> I use buildroot to create my linux system, so the script  tar's the master
> folder and puts it in the buildroot downloads folder.  Note: I also use a
> really old buildroot from 2012 with a few modifications, but I have attached
> the mk file that it uses.
>
> The patches that I apply are also attached.
>
> The build options I use are:
> --with-linux-dir="<linux dir>"
> --enable-cycles
> --enable-rtdm
> --enable-e100
> --enable-e1000
> --enable-e1000e
> --enable-cx2100
>
>
> I use RTAI, but that shouldn't make any difference.
>
>
> Regards,
> Graeme.
>
>
> -----Original Message-----
> From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf
> Of Graeme Foot
> Sent: Tuesday, 15 August 2017 12:39 p.m.
> To: Rahul Deshpande <rahulgd92 at gmail.com>; etherlab-users at etherlab.org
> Subject: Re: [etherlab-users] No CoE communication
>
> Remember to reply-all to mail the forum as well.
>
> Line 85 has: #define Yaskawa_Sigma7  0x00000539, 0x02200301 This is
> different to my drive, so it may still be the Sigma 7 id causing a mismatch,
> but it is the id being returned from the ethercat struct command.
>
> Other than that, I've got no idea.
>
> Graeme.
>
>
> -----Original Message-----
> From: Rahul Deshpande [mailto:rahulgd92 at gmail.com]
> Sent: Tuesday, 15 August 2017 3:57 a.m.
> To: Graeme Foot <Graeme.Foot at touchcut.com>
> Subject: No CoE communication
>
> Hi Graeme,
>
> I understand I have been mailing a lot, my questions may seem repetitive.
>
> The positive now is I was able to get to OP state by forcefully setting 1c12
> and 1c13 to 0 (PDO assignment fro SM2 and SM3).
>
> I am still not able to configure the PDOs though. What I have narrowed down
> to is, somehow CoE communication just does not happen. I was going through
> the etherlab forum and came across a post where they mentioned some sdo's
> had to be set prior to configuring the PDOs. Is it that ?
>
> Also, It would be great if I could just reach out to you on your phone if
> thats not an issue. Could sort out my problems faster and not disturb you
> with constant emails. Do let me know if thats an option.
> Thank you so much.
>
> Regards,
> Rahul
>
-------------- next part --------------
)

AT91 NAND: 8-bit, Software ECC

Scanning device for bad blocks

Creating 3 MTD partitions on "atmel_nand":

0x000000000000-0x000000400000 : "Bootstrap"

0x000000400000-0x000004000000 : "Partition 1"

0x000004000000-0x000010000000 : "Partition 2"

atmel_spi atmel_spi.0: Atmel SPI Controller at 0xfffc8000 (irq 12)

usbmon: debugfs is not available

ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver

at91_ohci at91_ohci: AT91 OHCI

at91_ohci at91_ohci: new USB bus registered, assigned bus number 1

at91_ohci at91_ohci: irq 20, io mem 0x00500000

hub 1-0:1.0: USB hub found

hub 1-0:1.0: 2 ports detected

Initializing USB Mass Storage driver...

usbcore: registered new interface driver usb-storage

USB Mass Storage support registered.

udc: at91_udc version 3 May 2006

mice: PS/2 mouse device common for all mice

input: gpio-keys as /devices/platform/gpio-keys/input/input0

rtc-at91sam9 at91_rtt.0: rtc core: registered at91_rtt as rtc0

IRQ 1/rtc0: IRQF_DISABLED is not guaranteed on shared IRQs

rtc-at91sam9 at91_rtt.0: rtc0: SET TIME!

Registered led device: ds5

Registered led device: ds1

usbcore: registered new interface driver usbhid

usbhid: USB HID core driver

ALSA device list:

  No soundcards found.

TCP cubic registered

NET: Registered protocol family 17

rtc-at91sam9 at91_rtt.0: hctosys: unable to read the hardware clock

VFS: Mounted root (jffs2 filesystem) on device 31:1.

devtmpfs: mounted

Freeing init memory: 128K

ec_rt_dpr: module license 'unspecified' taints kernel.

Disabling lock debugging due to kernel taint

EtherCAT: Master driver 1.5.2 2eff7c993a63

EtherCAT 0: Registering RTDM device EtherCAT.

EtherCAT: 1 master waiting for devices.

 (null): invalid hw address, using random

EtherCAT: Accepting 3E:A6:B9:2B:5D:3D as main device for master 0.

EtherCAT 0: Starting EtherCAT-IDLE thread.

ecdev_open was successful

EtherCAT 0: Link state of ecm0 changed to UP.

EtherCAT WARNING 0: 1 datagram TIMED OUT!

EtherCAT WARNING 0: 50 datagrams TIMED OUT!

EtherCAT 0: 1 slave(s) responding on main device.

EtherCAT 0: Slave states on main device: INIT.

EtherCAT 0: Scanning bus.

EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c12:0 failed with
 timeout after 1000 ms: No response.

EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.

EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c13:0 failed with
 timeout after 1010 ms: No response.

EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3.

EtherCAT 0: Bus scanning completed in 2050 ms.

EtherCAT 0: Using slave 0 as DC reference clock.

EtherCAT 0: Starting EoE thread.

EtherCAT 0: Slave states on main device: PREOP.

Welcome to Buildroot

buildroot login: EtherCAT ERROR 0-0: Reception of CoE dictionary request failed:
 No response.