[etherlab-users] Trouble with SDB-40-100

Mon Dec 18 09:21:37 CET 2017

After working on my solution I got further errors:

At time [  109.005634] EtherCAT DEBUG 0: Requesting OP... the master tries to anabeld OP state. But at this point the slave will go to INIT. so something fails.

[   39.503955] EtherCAT: Master driver 1.5.2 2eff7c993a63
[   39.504022] EtherCAT: 1 master waiting for devices.
[   39.507112] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63
[   39.507119] EtherCAT: Accepting BC:AE:C5:71:2C:F7 as main device for master 0.
[   39.512962] EtherCAT 0: Starting EtherCAT-IDLE thread.
[   39.512978] EtherCAT 0: Link state of ecm0 changed to UP.
[   39.513993] EtherCAT 0: 1 slave(s) responding on main device.
[   39.513995] EtherCAT 0: Slave states on main device: INIT.
[   39.514057] EtherCAT 0: Scanning bus.
[   39.542006] EtherCAT 0: Bus scanning completed in 28 ms.
[   39.542008] EtherCAT 0: Using slave 0 as DC reference clock.
[   39.543016] EtherCAT 0: Slave states on main device: PREOP.
[   46.911269] EtherCAT 0: Master debug level set to 1.
[  109.002256] EtherCAT: Requesting master 0...
[  109.002259] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  109.002260] EtherCAT: Successfully requested master 0.
[  109.002263] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff8800d84f0000)
[  109.002264] EtherCAT DEBUG 0: Created domain 0.
[  109.002267] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002269] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000088F/0x4D490002.
[  109.002271] EtherCAT DEBUG 0 0:0: Attached slave 0.
[  109.002287] EtherCAT DEBUG 0 0:0: ecrt_slave_config_create_sdo_request_err(sc = 0xffff88011474a000, index = 0x1C12, subindex = 0x00, size = 1)
[  109.002298] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011474a000, sync_index = 0, dir = 1, watchdog_mode = 2)
[  109.002300] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011474a000, sync_index = 1, dir = 2, watchdog_mode = 2)
[  109.002303] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011474a000, sync_index = 2, dir = 1, watchdog_mode = 1)
[  109.002305] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88011474a000, sync_index = 2)
[  109.002309] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff88011474a000, sync_index = 2, pdo_index = 0x1601)
[  109.002311] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601.
[  109.002312] EtherCAT DEBUG 0 0:0: Found PDO name "RPDO mapping CSP".
[  109.002314] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[  109.002316] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.
[  109.002317] EtherCAT DEBUG 0 0:0: Entry 0x60B1:00.
[  109.002318] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002319] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002320] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002321] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002322] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002323] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88011474a000, pdo_index = 0x1601)
[  109.002327] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  109.002330] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  109.002332] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x60B1, entry_subindex = 0x00, entry_bit_length = 32)
[  109.002335] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002338] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002340] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002343] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002345] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1601, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002348] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011474a000, sync_index = 3, dir = 2, watchdog_mode = 2)
[  109.002350] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88011474a000, sync_index = 3)
[  109.002353] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff88011474a000, sync_index = 3, pdo_index = 0x1A01)
[  109.002354] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A01.
[  109.002355] EtherCAT DEBUG 0 0:0: Found PDO name "TPDO mapping CSX HM ST CAL IND".
[  109.002358] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[  109.002359] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.
[  109.002360] EtherCAT DEBUG 0 0:0: Entry 0x606C:00.
[  109.002361] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.
[  109.002362] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002363] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002364] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002365] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  109.002366] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88011474a000, pdo_index = 0x1A01)
[  109.002369] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  109.002372] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  109.002375] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  109.002377] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  109.002380] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002382] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002385] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002387] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011474a000, pdo_index = 0x1A01, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 0)
[  109.002390] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002393] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x6040, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002396] EtherCAT DEBUG 0: Domain 0: Added 10 bytes, total 10.
[  109.002398] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002400] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x607A, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002402] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002405] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x60B1, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002407] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002410] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x6041, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002412] EtherCAT DEBUG 0: Domain 0: Added 12 bytes, total 22.
[  109.002413] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002416] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x6064, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002418] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002420] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x606C, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002423] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d84f0000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  109.002425] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011474a000, index = 0x6077, subindex = 0x00, domain = 0xffff8800d7f61bc0, bit_position = 0xffff88010e4c5e24)
[  109.002429] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0xffff88011474a000, assign_activate = 0x0300, sync0_cycle = 500000, sync0_shift = 4400000, sync1_cycle = 0, sync1_shift = 0
[  109.002441] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8800d7f61bc0, mem = 0xffffc90005756000)
[  109.002443] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff8800d84f0000, send_cb = 0xffffffffa04668b0, receive_cb = 0xffffffffa0464e00, cb_data = 0xffff8800d84f0000)
[  109.002445] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff8800d84f0000)
[  109.002447] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[  109.002449] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
[  109.002450] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.
[  109.002452] EtherCAT DEBUG 0: Stopping master thread.
[  109.002587] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  109.002592] EtherCAT 0: Master thread exited.
[  109.002594] EtherCAT DEBUG 0: FSM datagram is ffff8800d84f0750.
[  109.002596] EtherCAT 0: Starting EtherCAT-OP thread.
[  109.002613] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[  109.002615] EtherCAT DEBUG 0: mmap()
[  109.002618] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007f18b58a9000, offset = 0, page = ffffea0002e7d9d0
[  109.003621] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[  109.003623] EtherCAT DEBUG 0-0: Checking system time offset.
[  109.004628] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=2849429826806 (corrected with 1000000), app_time=109006615820, diff=-2740423210986
[  109.004630] EtherCAT DEBUG 0-0: Setting time offset to 18446739363700310251 (was 18446742104123521237)

[  109.005634] EtherCAT DEBUG 0: Requesting OP...
[  109.007647] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  109.007648] EtherCAT DEBUG 0-0: Configuring...
[  109.009655] EtherCAT DEBUG 0-0: Now in INIT.
[  109.009656] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  109.010659] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  109.011663] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  109.012667] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[  109.012670] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[  109.012671] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
[  109.015684] EtherCAT DEBUG 0-0: Now in PREOP.
[  109.015698] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1601.
[  109.015699] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B1:00/32 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0. Entries to map: 0x6040:00/16 0x607A:00/32 0x60B1:00/32 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0
[  109.015711] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  109.015713] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
[  109.015713] EtherCAT DEBUG: 00
[  109.015715] EtherCAT DEBUG 0-0: Expedited download request:
[  109.015716] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00
[  109.018736] EtherCAT DEBUG 0-0: Download response:
[  109.018738] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00
[  109.018743] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[  109.018746] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:01.
[  109.018746] EtherCAT DEBUG: 10 00 40 60
[  109.018749] EtherCAT DEBUG 0-0: Expedited download request:
[  109.018750] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60
[  109.021763] EtherCAT DEBUG 0-0: Download response:
[  109.021764] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60
[  109.021769] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2.
[  109.021770] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:02.
[  109.021771] EtherCAT DEBUG: 20 00 7A 60
[  109.021773] EtherCAT DEBUG 0-0: Expedited download request:
[  109.021774] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60
[  109.024796] EtherCAT DEBUG 0-0: Download response:
[  109.024798] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60
[  109.024804] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60B1:00 (32 bit) at position 3.
[  109.024806] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:03.
[  109.024807] EtherCAT DEBUG: 20 00 B1 60
[  109.024810] EtherCAT DEBUG 0-0: Expedited download request:
[  109.024811] EtherCAT DEBUG: 00 20 23 01 16 03 20 00 B1 60
[  109.027846] EtherCAT DEBUG 0-0: Download response:
[  109.027848] EtherCAT DEBUG: 00 30 60 01 16 03 20 00 B1 60
[  109.027853] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 4.
[  109.027855] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:04.
[  109.027856] EtherCAT DEBUG: 00 00 00 00
[  109.027858] EtherCAT DEBUG 0-0: Expedited download request:
[  109.027859] EtherCAT DEBUG: 00 20 23 01 16 04 00 00 00 00
[  109.030873] EtherCAT DEBUG 0-0: Download response:
[  109.030875] EtherCAT DEBUG: 00 30 60 01 16 04 00 00 00 00
[  109.030879] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 5.
[  109.030880] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:05.
[  109.030881] EtherCAT DEBUG: 00 00 00 00
[  109.030883] EtherCAT DEBUG 0-0: Expedited download request:
[  109.030884] EtherCAT DEBUG: 00 20 23 01 16 05 00 00 00 00
[  109.033895] EtherCAT DEBUG 0-0: Download response:
[  109.033896] EtherCAT DEBUG: 00 30 60 01 16 05 00 00 00 00
[  109.033900] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 6.
[  109.033902] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:06.
[  109.033903] EtherCAT DEBUG: 00 00 00 00
[  109.033905] EtherCAT DEBUG 0-0: Expedited download request:
[  109.033906] EtherCAT DEBUG: 00 20 23 01 16 06 00 00 00 00
[  109.036917] EtherCAT DEBUG 0-0: Download response:
[  109.036918] EtherCAT DEBUG: 00 30 60 01 16 06 00 00 00 00
[  109.036922] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 7.
[  109.036923] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:07.
[  109.036924] EtherCAT DEBUG: 00 00 00 00
[  109.036926] EtherCAT DEBUG 0-0: Expedited download request:
[  109.036927] EtherCAT DEBUG: 00 20 23 01 16 07 00 00 00 00
[  109.039938] EtherCAT DEBUG 0-0: Download response:
[  109.039939] EtherCAT DEBUG: 00 30 60 01 16 07 00 00 00 00
[  109.039943] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 8.
[  109.039945] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:08.
[  109.039945] EtherCAT DEBUG: 00 00 00 00
[  109.039947] EtherCAT DEBUG 0-0: Expedited download request:
[  109.039948] EtherCAT DEBUG: 00 20 23 01 16 08 00 00 00 00
[  109.042959] EtherCAT DEBUG 0-0: Download response:
[  109.042960] EtherCAT DEBUG: 00 30 60 01 16 08 00 00 00 00
[  109.042964] EtherCAT DEBUG 0-0: Setting number of PDO entries to 8.
[  109.042965] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
[  109.042966] EtherCAT DEBUG: 08
[  109.042967] EtherCAT DEBUG 0-0: Expedited download request:
[  109.042968] EtherCAT DEBUG: 00 20 2F 01 16 00 08 00 00 00
[  109.045990] EtherCAT DEBUG 0-0: Download response:
[  109.045991] EtherCAT DEBUG: 00 30 60 01 16 00 08 00 00 00
[  109.045994] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1601.
[  109.045996] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[  109.045997] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601
[  109.046000] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  109.046001] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  109.046002] EtherCAT DEBUG: 00
[  109.046003] EtherCAT DEBUG 0-0: Expedited download request:
[  109.046004] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[  109.049016] EtherCAT DEBUG 0-0: Download response:
[  109.049017] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[  109.049023] EtherCAT DEBUG 0-0: Assigning PDO 0x1601 at position 1.
[  109.049024] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[  109.049025] EtherCAT DEBUG: 01 16
[  109.049026] EtherCAT DEBUG 0-0: Expedited download request:
[  109.049027] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00
[  109.052039] EtherCAT DEBUG 0-0: Download response:
[  109.052040] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00
[  109.052044] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  109.052045] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  109.052046] EtherCAT DEBUG: 01
[  109.052047] EtherCAT DEBUG 0-0: Expedited download request:
[  109.052048] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[  109.055060] EtherCAT DEBUG 0-0: Download response:
[  109.055061] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[  109.055067] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[  109.055074] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A01.
[  109.055075] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0
[  109.055087] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  109.055088] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
[  109.055089] EtherCAT DEBUG: 00
[  109.055090] EtherCAT DEBUG 0-0: Expedited download request:
[  109.055091] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00
[  109.058109] EtherCAT DEBUG 0-0: Download response:
[  109.058110] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00
[  109.058114] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[  109.058115] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:01.
[  109.058116] EtherCAT DEBUG: 10 00 41 60
[  109.058118] EtherCAT DEBUG 0-0: Expedited download request:
[  109.058119] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60
[  109.061130] EtherCAT DEBUG 0-0: Download response:
[  109.061131] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60
[  109.061135] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[  109.061136] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:02.
[  109.061137] EtherCAT DEBUG: 20 00 64 60
[  109.061139] EtherCAT DEBUG 0-0: Expedited download request:
[  109.061140] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60
[  109.064151] EtherCAT DEBUG 0-0: Download response:
[  109.064152] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60
[  109.064155] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[  109.064157] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:03.
[  109.064158] EtherCAT DEBUG: 20 00 6C 60
[  109.064160] EtherCAT DEBUG 0-0: Expedited download request:
[  109.064161] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60
[  109.067172] EtherCAT DEBUG 0-0: Download response:
[  109.067173] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60
[  109.067177] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6077:00 (16 bit) at position 4.
[  109.067178] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:04.
[  109.067179] EtherCAT DEBUG: 10 00 77 60
[  109.067181] EtherCAT DEBUG 0-0: Expedited download request:
[  109.067182] EtherCAT DEBUG: 00 20 23 01 1A 04 10 00 77 60
[  109.070192] EtherCAT DEBUG 0-0: Download response:
[  109.070194] EtherCAT DEBUG: 00 30 60 01 1A 04 10 00 77 60
[  109.070197] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 5.
[  109.070199] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:05.
[  109.070200] EtherCAT DEBUG: 00 00 00 00
[  109.070202] EtherCAT DEBUG 0-0: Expedited download request:
[  109.070202] EtherCAT DEBUG: 00 20 23 01 1A 05 00 00 00 00
[  109.073213] EtherCAT DEBUG 0-0: Download response:
[  109.073214] EtherCAT DEBUG: 00 30 60 01 1A 05 00 00 00 00
[  109.073218] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 6.
[  109.073219] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:06.
[  109.073220] EtherCAT DEBUG: 00 00 00 00
[  109.073222] EtherCAT DEBUG 0-0: Expedited download request:
[  109.073223] EtherCAT DEBUG: 00 20 23 01 1A 06 00 00 00 00
[  109.076234] EtherCAT DEBUG 0-0: Download response:
[  109.076235] EtherCAT DEBUG: 00 30 60 01 1A 06 00 00 00 00
[  109.076239] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 7.
[  109.076240] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:07.
[  109.076241] EtherCAT DEBUG: 00 00 00 00
[  109.076243] EtherCAT DEBUG 0-0: Expedited download request:
[  109.076244] EtherCAT DEBUG: 00 20 23 01 1A 07 00 00 00 00
[  109.079254] EtherCAT DEBUG 0-0: Download response:
[  109.079255] EtherCAT DEBUG: 00 30 60 01 1A 07 00 00 00 00
[  109.079259] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (0 bit) at position 8.
[  109.079261] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:08.
[  109.079262] EtherCAT DEBUG: 00 00 00 00
[  109.079264] EtherCAT DEBUG 0-0: Expedited download request:
[  109.079264] EtherCAT DEBUG: 00 20 23 01 1A 08 00 00 00 00
[  109.082275] EtherCAT DEBUG 0-0: Download response:
[  109.082276] EtherCAT DEBUG: 00 30 60 01 1A 08 00 00 00 00
[  109.082280] EtherCAT DEBUG 0-0: Setting number of PDO entries to 8.
[  109.082281] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
[  109.082282] EtherCAT DEBUG: 08
[  109.082283] EtherCAT DEBUG 0-0: Expedited download request:
[  109.082284] EtherCAT DEBUG: 00 20 2F 01 1A 00 08 00 00 00
[  109.085296] EtherCAT DEBUG 0-0: Download response:
[  109.085297] EtherCAT DEBUG: 00 30 60 01 1A 00 08 00 00 00
[  109.085300] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A01.
[  109.085301] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[  109.085302] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01
[  109.085305] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  109.085306] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  109.085307] EtherCAT DEBUG: 00
[  109.085309] EtherCAT DEBUG 0-0: Expedited download request:
[  109.085309] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[  109.088320] EtherCAT DEBUG 0-0: Download response:
[  109.088321] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[  109.088326] EtherCAT DEBUG 0-0: Assigning PDO 0x1A01 at position 1.
[  109.088328] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[  109.088329] EtherCAT DEBUG: 01 1A
[  109.088330] EtherCAT DEBUG 0-0: Expedited download request:
[  109.088331] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
[  109.091342] EtherCAT DEBUG 0-0: Download response:
[  109.091343] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
[  109.091346] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  109.091348] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  109.091348] EtherCAT DEBUG: 01
[  109.091350] EtherCAT DEBUG 0-0: Expedited download request:
[  109.091351] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[  109.094361] EtherCAT DEBUG 0-0: Download response:
[  109.094362] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[  109.094367] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[  109.094371] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size  10, Ctrl 0x64, En 1
[  109.094373] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size  12, Ctrl 0x20, En 1
[  109.095378] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size  10, PhysAddr 0x1800, SM2, Dir out
[  109.095380] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000A, Size  12, PhysAddr 0x1C00, SM3, Dir in
[  109.096384] EtherCAT DEBUG 0-0: Setting DC cycle times to 500000 / 0.
[  109.096536] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[  109.097036] EtherCAT DEBUG 0: Datagram ffff8800d84f0850 already queued (skipping).
[  109.097038] EtherCAT DEBUG 0: Datagram ffff8800d84f08f0 already queued (skipping).
[  109.097039] EtherCAT DEBUG 0: Datagram ffff8800d8538218 already queued (skipping).
[  109.097534] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d84f0750, index F1 waited 994 us.
[  109.098035] EtherCAT DEBUG 0: Datagram ffff8800d84f0850 already queued (skipping).

Von: Gavin Lambert [mailto:gavinl at compacsort.com]
Gesendet: Mittwoch, 13. Dezember 2017 23:02
An: Frank, Matthias <Matthias.Frank at tq-group.com>; etherlab-users at etherlab.org
Betreff: RE: Trouble with SDB-40-100

Don't write to those objects.  Not even with ecrt_slave_config_sdoXX.  Read the documentation.

From: Frank, Matthias [mailto:Matthias.Frank at tq-group.com]
Sent: Wednesday, 13 December 2017 20:26
To: Gavin Lambert <gavin.lambert at compacsort.com<mailto:gavin.lambert at compacsort.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: AW: Trouble with SDB-40-100

Hi Gavin,

thanks for your answer.
I'am using ecrt_slave_config_sdoXX to write to 0x1c1x. I did not write it directly. But when a trace the ethercat communication with wireshark during program start, writing to  0x1c12, 0x1c13, 0x1a01,.. occurs like in a loop, see ethercat.7z (there is a wireshark  dump file inside)

matthias

Von: Gavin Lambert [mailto:gavinl@<mailto:gavinl at compacsort.com>   ]
Gesendet: Mittwoch, 13. Dezember 2017 08:09
An: Frank, Matthias <Matthias.Frank at tq-group.com<mailto:Matthias.Frank at tq-group.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Betreff: RE: Trouble with SDB-40-100

Don't try to write to 0x16xx, 0x1Axx, or 0x1C1x.  This is what ecrt_slave_config_pdos and ecrt_domain_reg_pdos do for you internally (among other things).  See the examples.

From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Frank, Matthias
Sent: Wednesday, 13 December 2017 19:32
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Trouble with SDB-40-100

Hi all,

I'm trying to use a SDB-40-100 servo drive with CoE.

I can read and write Cia402 and EtherCAT registers manually using the ethercat cli program. But when I start the program position.c the master don't switch the slave device to SAFEOP/OP. The slave is still in PREOP.

By tracing the EtherCAT communication, writing to CiA registers (e.g. 0x1c12, 0x1c13, 0x1a01, 0x6060 ) is repeated.

After changing the slave's state manually to SAFEOP a lot of errors occur in the kernel log.

What is going wrong? The device will work with other masters like Twincat.

System configuration

Linux 3.4.69-rt85

EtherCAT 1.5.2 with generic Ethernet (tg3)

Thanks for your advice,

Matthias

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