[etherlab-users] Diagnostics, crc and phy errors

[Ignacio Rosales Gonzalez]

Hello everybody,

I've suffering some errors in two machines.
In both of them the dmesg shows the same

 [ 2093.602142] EtherCAT 0: Domain 0: Working counter changed to 18/111.
 [ 2093.608661] EtherCAT 0: 6 slave(s) responding on main device.
 [ 2093.640855] EtherCAT 0: Scanning bus.
 [ 2094.939242] EtherCAT 0: Bus scanning completed in 1332 ms.
 [ 2094.939248] EtherCAT 0: Using slave main-0 as DC reference clock.
 [ 2097.856277] EtherCAT 0: Domain 0: Working counter changed to 0/111.
 [ 2097.876311] EtherCAT 0: 37 slave(s) responding on main device.
 [ 2097.876312] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
 [ 2098.032585] EtherCAT 0: Scanning bus.

But logging the output of the new command ethercat crc I obtain
different behaviours,

In one of them the crc counter and phy counter of one of servos
practically go up at same time.

In the other only the phy counter in one servo is increased:


2019-10-31 16:24:08.476




P0

P1


crc phy fwd crc phy fwd
0:D2 CoE Driv 0 0 0 0 0 25
1:D2 CoE Driv 0 0 25 0 0 25
2:D2 CoE Driv 0 0 25 0 0 25
3:D2 CoE Driv 0 0 25 0 0 25
4:D2 CoE Driv 0 0 25 0 0 25
5:D2 CoE Driv 0 0 25 0 93 25
6:D2 CoE Driv 0 98 25 0 0 25
7:D2 CoE Driv 0 0 25 0 0 25
8:D2 CoE Driv 0 0 25 0 0 25
9:D2 CoE Driv 0 0 25 0 0 25



The easy solution obviously is try to reconnect all wires and change
servos, but could anyone explain whats the difference between the two
cases and give me some ligth in order to solve this kind of problems?
For example in the the second case the phy counter is incremented in
P0 of servodrive 6 and in P1 of servodrive 5. Is this a symphtom of an
error in connection between 5 and 6 or an error of the servodrive 5?

Kind regards

Ignacio Rosales
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