[etherlab-users] Slave goes to OP mode after Master starts

Thu Jul 12 06:13:30 CEST 2018

In the current stable branch, the slave selected as the reference clock (which is the first slave that has a DC clock, by default) and also any EoE slaves, are forced to OP mode even when the application is not active.  I assume that this is a misunderstanding about their requirements to provide a clock.

The quick fix is to ensure that the first slave on your network is something that won't care about being in OP, such as an infrastructure component like an EK1100.

Another fix is to use the default code branch, which includes a change to stop that behaviour by default (though you can re-enable it if you wish).  (Although if you do switch to the default branch then I recommend using the non-official patchset at https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/#readme as well, as this contains other improvements and fixes.)

From: Giel Hermans
Sent: Wednesday, 11 July 2018 22:24
To: 'etherlab-users at etherlab.org' <etherlab-users at etherlab.org>
Subject: [etherlab-users] Slave goes to OP mode after Master starts

Hi,

We have a Elmo Solo Twitter drive connected to the Ethercat master on 3 different systems (Ubuntu machine with RT kernel, OpenSuse machine with RT kernel and Beaglebone Black with RT kernel) and see different behaviour between the systems as soon as the master is started. An application is not running .
On one of the 3 systems the drive communication goes well and we can access and control (with a Simulink model application) the drive (and connected motor) over Ethercat.
When the drive is connected to either of the other systems the drive won't stay in the PREOP mode but goes to SAFEOP and then OP. Controlling the drive is blocked.

All 3 systems work perfect with Beckhoff modules and a Maxon Epos3 drive. So it looks like it has to do something with combination drive - system.
We've teste multiple Elmo Solo Twitter drives.

We can't figure out what causes this problem and hope one of you can give us a hint.

As you can see in the in the logs from the systems, system 2 and 3 start loading SM2 and SM3 immediately after entering PREOP as if there is an application active.

Giel Hermans
Delft University of Technology.

System details:
Drive: ELMO Solo Twitter Gold with Ethercat option

Ethercat 1.5.2 on all 3 systems (same sourcecode)

System 1 (this one works good)

  *   PC with Ubuntu 14.04LTS
  *   Kernel version: 3.8.13.14-rt31
  *   Realtek RLT-8139 ethernet controller
  *   8139too ethernet driver
  *   Generic ethercat driver

System 2:

  *   PC with OpenSuse LEAP
  *   Kernel 3.14.79-rt85-1-preempt-rt
  *   Intel 82578DM Ethernet controller
  *   E1000e Ethernet driver
  *   E1000e Ethercat driver (also tested generic driver)

System 3:

  *   Beaglebone Black with linux verion from machinekit
  *   Kernel version: 3.8.13-xenomai-r83
  *   Ethernet controller on chip (couldn't find info)
  *   Generic ethercat driver

The ethercat logs from the systems are:
System 1:
[20396.352242] EtherCAT DEBUG 0-0: Configuring...
[20396.354785] EtherCAT DEBUG 0-0: Now in INIT.
[20396.354787] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[20396.354832] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[20396.354872] EtherCAT DEBUG 0-0: Clearing DC assignment...
[20396.354911] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[20396.354913] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1
[20396.354914] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1
[20396.357809] EtherCAT DEBUG 0-0: Now in PREOP.
[20396.357810] EtherCAT DEBUG 0-0: Finished configuration.
[20396.357812] EtherCAT DEBUG 0-0: Ready for requests.
[20396.360231] EtherCAT 0: Slave states on main device: PREOP.
[20399.351568] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[20399.353147] EtherCAT DEBUG 0-0: SDO list fragments left: 3
[20399.353923] EtherCAT DEBUG 0-0: SDO list fragments left: 2
[20399.354402] EtherCAT DEBUG 0-0: SDO list fragments left: 1
[20400.348642] EtherCAT ERROR 0-0: Timeout while waiting for SDO 0x1000 object description response.
[20573.274616] EtherCAT 0: Link state of ecm0 changed to DOWN.
[20573.278577] EtherCAT 0: 0 slave(s) responding on main device.
[20573.278579] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.
[20573.278580] EtherCAT 0: Stopping EoE thread.
[20573.278601] EtherCAT DEBUG 0: EoE thread exiting...
[20573.278619] EtherCAT 0: EoE thread exited.

System 2:
[20942.362944] EtherCAT DEBUG 0-0: Configuring...
[20942.365724] EtherCAT DEBUG 0-0: Now in INIT.
[20942.365728] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[20942.365979] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[20942.366240] EtherCAT DEBUG 0-0: Clearing DC assignment...
[20942.366906] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[20942.366910] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1
[20942.366912] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1
[20942.370558] EtherCAT DEBUG 0-0: Now in PREOP.
[20942.370564] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size  32, Ctrl 0x64, En 1
[20942.370566] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size  32, Ctrl 0x20, En 1
[20942.373598] EtherCAT DEBUG 0-0: Now in SAFEOP.
[20942.375686] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[20942.375690] EtherCAT DEBUG 0-0: Ready for requests.
[20945.370543] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[20945.372873] EtherCAT DEBUG 0-0: SDO list fragments left: 3
[20945.373857] EtherCAT DEBUG 0-0: SDO list fragments left: 2
[20945.374326] EtherCAT DEBUG 0-0: SDO list fragments left: 1
[20945.384666] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[20945.384673] EtherCAT DEBUG:
[20945.384676] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[20945.385181] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[20945.385183] EtherCAT ERROR 0-0: Reception of CoE SDO description response failed: No response.
[21860.106944] EtherCAT 0: Link state of ecm0 changed to DOWN.
[21860.106953] EtherCAT WARNING 0: 141 datagrams TIMED OUT!
[21860.106962] EtherCAT DEBUG 0: TIMED OUT datagram ffff880059743818, index DB waited 2000 us.
[21860.106967] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800cfcf6678, index DC waited 2000 us.
[21860.106976] EtherCAT WARNING 0-0: Failed to receive mbox check datagram for eoe0s0.
[21860.106986] EtherCAT 0: 0 slave(s) responding on main device.
[21860.106991] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.
[21860.106995] EtherCAT 0: Stopping EoE thread.
[21860.107005] EtherCAT DEBUG 0: EoE thread exiting...
[21860.107023] EtherCAT 0: EoE thread exited.

System 3:
[23171.575127] EtherCAT DEBUG 0-0: Configuring...
[23171.576810] EtherCAT DEBUG 0-0: Now in INIT.
[23171.576821] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[23171.576880] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[23171.576930] EtherCAT DEBUG 0-0: Clearing DC assignment...
[23171.577522] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[23171.577539] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 140, Ctrl 0x26, En 1
[23171.577549] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 140, Ctrl 0x22, En 1
[23171.581895] EtherCAT DEBUG 0-0: Now in PREOP.
[23171.581932] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size  32, Ctrl 0x64, En 1
[23171.581942] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size  32, Ctrl 0x20, En 1
[23171.586921] EtherCAT DEBUG 0-0: Now in SAFEOP.
[23171.589485] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[23171.589500] EtherCAT DEBUG 0-0: Ready for requests.
[23174.582896] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[23174.584545] EtherCAT DEBUG 0-0: SDO list fragments left: 3
[23174.586076] EtherCAT DEBUG 0-0: SDO list fragments left: 2
[23174.586511] EtherCAT DEBUG 0-0: SDO list fragments left: 1
[23174.588807] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[23174.598212] EtherCAT DEBUG:
[23174.598224] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[23175.586793] EtherCAT ERROR 0-0: Timeout while waiting for SDO 0x1000 object description response.

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