[etherlab-users] Loss of access to slave after upgrading Ubuntu to 16.04

[Klaas Jelmer Boskma]

Hi all,

I have been using the EtherCAT master 1.5.2 for a while on Ubuntu 14.04
with kernel 3.13.0-96-generic. This was working fine until I upgraded
Ubuntu to 16.04, after which I was not able to access the slave anymore.
When I start the master now, I see the following output and errors in the
kernel message buffer:

[   66.670838] EtherCAT: Master driver 1.5.2 2eff7c993a63
[   66.671013] EtherCAT: 1 master waiting for devices.
[   66.675056] ec_generic: EtherCAT master generic Ethernet device module
1.5.2 2eff7c993a63
[   66.675073] EtherCAT: Accepting 00:26:55:E0:23:C8 as main device for
master 0.
[   66.675078] ec_generic: Binding socket to interface 5 (eth3).
[   66.696808] EtherCAT 0: Starting EtherCAT-IDLE thread.
[   66.696916] EtherCAT 0: Link state of ecm0 changed to UP.
[   66.700973] EtherCAT 0: 1 slave(s) responding on main device.
[   66.700975] EtherCAT 0: Slave states on main device: PREOP.
[   66.701299] EtherCAT 0: Scanning bus.
[   67.032970] EtherCAT 0: Bus scanning completed in 328 ms.
[   67.032976] EtherCAT 0: Using slave 0 as DC reference clock.
[   67.032978] EtherCAT ERROR 0: Failed to calculate bus topology.
[   67.032981] EtherCAT 0: Starting EoE thread.
[   67.050878] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).
[   67.051543] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input
configuration".
[   67.052126] EtherCAT 0-0: Acknowledged state PREOP.
[   70.059310] EtherCAT WARNING 0-0: CoE Emergency Request received:
               Error code 0xA000, Error register 0x02, data:
[   70.059315] EtherCAT DEBUG: 0E 10 00 10 00

So far I have tried to rebuild and reinstall the EtherCAT driver. I am
still using the same 3.13 kernel driver as before the upgrade. Also, the
hardware configuration has not changed.

I am still able to see the slave:

ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
  Vendor Id:       0x000001a3
  Product code:    0x019f418d
  Revision number: 0x35313544
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]
NextDc [ns]
   0  MII   down  closed  no              -            -           -
    -
   1  MII   up    open    yes             -   1723160450  4216451648
    0
   2  N/A   down  closed  no              -            -           -
    -
   3  N/A   down  closed  no              -            -           -
    -
Mailboxes:
  Bootstrap RX: 0x0000/0, TX: 0x0000/0
  Standard  RX: 0x1000/128, TX: 0x1400/128
  Supported protocols: EoE, CoE, FoE
General:
  Group: Servo Drive
  Image name: DRIVE
  Order number: iPOS4808 BX-CAT v10
  Device name: iPOS4808 BX-CAT v10
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA

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

This is the output of the ethercat master command:
ethercat master -v
Master0
  Phase: Idle
  Active: no
  Slaves: 1
  Ethernet devices:
    Main: 00:26:55:e0:23:c8 (attached)
      Link: UP
      Tx frames:   9117
      Tx bytes:    628652
      Rx frames:   9116
      Rx bytes:    628592
      Tx errors:   0
      Tx frame rate [1/s]:    249    255    118
      Tx rate [KByte/s]:     14.6   15.7    7.8
      Rx frame rate [1/s]:    249    255    118
      Rx rate [KByte/s]:     14.6   15.7    7.8
    Common:
      Tx frames:   9117
      Tx bytes:    628652
      Rx frames:   9116
      Rx bytes:    628592
      Lost frames: 0
      Tx frame rate [1/s]:    249    255    118
      Tx rate [KByte/s]:     14.6   15.7    7.8
      Rx frame rate [1/s]:    249    255    118
      Rx rate [KByte/s]:     14.6   15.7    7.9
      Loss rate [1/s]:          0     -0      0
      Frame loss [%]:         0.0   -0.0    0.0
  Distributed clocks:
    Reference clock: Slave 0
    Application time: 0
                      2000-01-01 00:00:00.000000000

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

I do not understand what is causing the errors and loss of control of the
slave. Any help and hints to solve this are greatly appreciated!

Regards,
Klaas Jelmer
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