[etherlab-users] No CoE communication

[Graeme Foot]

Hi,

I don't know for sure, but I suspect you are having issues with your network.  I don't know Xenomi so can't comment on what might be wrong, but I don't think you should be getting any datagram timeouts on startup while the EtherCAT system is idle (i.e. before you start your app).

For comparison I have attached my startup log.

You could also try monitoring your EtherCAT network with wireshark to see what packets are going through.

Graeme.


-----Original Message-----
From: Rahul Deshpande [mailto:rahulgd92 at gmail.com] 
Sent: Thursday, 24 August 2017 5:26 a.m.
To: Graeme Foot <Graeme.Foot at touchcut.com>
Cc: etherlab-users at etherlab.org
Subject: Re: No CoE communication

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
>
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