[etherlab-users] AL status message 0x0036: "DC Sync0 Cycle Time"

Jürgen Walter • DATATRONiQ jw at datatroniq.com
Thu Mar 8 15:21:56 CET 2018 

Hi Mike,

I was in a similar boat like you just not too long ago. So, first thing, 
you need to get your Linux system "real-time" --> best to use PREMPT_RT 
in the vanilla Kernel.

That said, for using DC and > 1kHz I never got the "generic" driver to 
work. How about you downgrade to a 3.x kernel, e.g. 3.18 and use one of 
the supported drivers w/ patches for RT operation. That is what I did - 
I also bought a network interface card with a supported chipset and 
installed that into a PCIe slot.

Since then, I am pretty much a happy camper.

I hope this helps. Jürgen

On 8 Mar 2018, at 14:23, Mike Karam wrote:

> Hi,
>
> I'm trying to create an EtherCAT communication with an XMC4800, using 
> IgH EtherCAT. I'm using 16.04 Ubuntu with 4.8.0-58 kernel. I 
> downloaded the code from sourceforge and run the code (a bit modified, 
> see attachment) found in examples/dc_user. If I use a loop frequency 
> of 1 KHz all things go well (despite some datagrams UNMATCHED 
> warnings). But if I increase the loop rate to 5 or 10 KHz I'm seeing 
> the error in the subject. My goal is at least 10Khz succesful (withoul 
> losses) communication. Below is the output I'm getting in the kernel 
> log:
>
>
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296909] EtherCAT: Requesting master 0...
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296912] EtherCAT: Successfully requested master 0.
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296961] EtherCAT 0: Domain0: Logical address 0x00000000, 18 
> byte, expected working counter 3.
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296962] EtherCAT 0:   Datagram domain0-0-main: Logical offset 
> 0x00000000, 18 byte, type LRW at ffff91a5b5c9d858.
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296981] EtherCAT 0: Master thread exited.
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.296983] EtherCAT 0: Starting EtherCAT-OP thread.
> Mar  8 14:42:31 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13658.297040] EtherCAT WARNING 0: 15 datagrams UNMATCHED!
> Mar  8 14:42:32 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13659.296406] EtherCAT WARNING 0: 13437 datagrams UNMATCHED!
> Mar  8 14:42:32 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13659.297430] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 6725 times.
> Mar  8 14:42:33 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13660.296475] EtherCAT WARNING 0: 13455 datagrams UNMATCHED!
> Mar  8 14:42:33 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13660.298486] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 6734 times.
> Mar  8 14:42:34 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13661.296543] EtherCAT WARNING 0: 13442 datagrams UNMATCHED!
> Mar  8 14:42:34 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13661.299562] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 6726 times.
> Mar  8 14:42:35 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13662.296611] EtherCAT WARNING 0: 13388 datagrams UNMATCHED!
> Mar  8 14:42:35 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13662.300630] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 6700 times.
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.296679] EtherCAT WARNING 0: 13414 datagrams UNMATCHED!
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.301699] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 6715 times.
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.310699] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.312411] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave 
> refused state change (PREOP + ERROR).
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.312949] EtherCAT ERROR 0-0: AL status message 0x0036: "DC Sync0 
> Cycle Time".
> Mar  8 14:42:36 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13663.313501] EtherCAT 0-0: Acknowledged state PREOP.
> Mar  8 14:42:37 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13664.296893] EtherCAT WARNING 0: 14550 datagrams UNMATCHED!
> Mar  8 14:42:37 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13664.302791] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7285 times.
> Mar  8 14:42:38 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13665.296872] EtherCAT WARNING 0: 14323 datagrams UNMATCHED!
> Mar  8 14:42:38 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13665.303849] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7165 times.
> Mar  8 14:42:39 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13666.296910] EtherCAT WARNING 0: 14357 datagrams UNMATCHED!
> Mar  8 14:42:39 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13666.304931] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7184 times.
> Mar  8 14:42:40 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13667.296989] EtherCAT WARNING 0: 14185 datagrams UNMATCHED!
> Mar  8 14:42:40 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13667.305995] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7104 times.
> Mar  8 14:42:41 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13668.297188] EtherCAT WARNING 0: 14166 datagrams UNMATCHED!
> Mar  8 14:42:41 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13668.307062] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7085 times.
> Mar  8 14:42:42 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13669.297098] EtherCAT WARNING 0: 14209 datagrams UNMATCHED!
> Mar  8 14:42:42 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13669.308106] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7112 times.
> Mar  8 14:42:43 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13670.297189] EtherCAT WARNING 0: 13986 datagrams UNMATCHED!
> Mar  8 14:42:43 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13670.309191] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7005 times.
> Mar  8 14:42:44 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13671.297272] EtherCAT WARNING 0: 14235 datagrams UNMATCHED!
> Mar  8 14:42:44 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13671.310255] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7122 times.
> Mar  8 14:42:45 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13672.297425] EtherCAT WARNING 0: 14340 datagrams UNMATCHED!
> Mar  8 14:42:45 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13672.311322] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7185 times.
> Mar  8 14:42:46 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13673.297404] EtherCAT WARNING 0: 14455 datagrams UNMATCHED!
> Mar  8 14:42:46 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13673.312406] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7227 times.
> Mar  8 14:42:47 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13674.297464] EtherCAT WARNING 0: 14545 datagrams UNMATCHED!
> Mar  8 14:42:47 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13674.313523] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7281 times.
> Mar  8 14:42:48 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13675.297525] EtherCAT WARNING 0: 14760 datagrams UNMATCHED!
> Mar  8 14:42:48 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13675.314541] EtherCAT WARNING: Datagram ffff91a5b5c9d858 
> (domain0-0-main) was SKIPPED 7384 times.
> Mar  8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13676.202128] EtherCAT 0: Releasing master...
> Mar  8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13676.202166] EtherCAT 0: Master thread exited.
> Mar  8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13676.202179] EtherCAT 0: Starting EtherCAT-IDLE thread.
> Mar  8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13676.202260] EtherCAT 0: Released.
> Mar  8 14:42:49 mikekaram-HP-EliteBook-Folio-9470m kernel: 
> [13676.202274] EtherCAT ERROR 0-0: Failed to receive AL state 
> datagram: Datagram initialized.
>
>
> What am I doing wrong? Could you please offer me some advice, to 
> achieve my goal?
>
> Regards,
>
> Mike Karamousadakis
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