[etherlab-users] reg_read ==> Failed to read register
Joachim Sällvin
joachim.sallvin at corpowerocean.com
Thu Apr 16 11:08:47 CEST 2020
Thank you, clearly I have misunderstood this.
ethercat -p1 upload -t uint32 0x6004 0x00 answers with
0x00000000 0 (encoder position value) which is not what I expect. It all works fine with TwinCAT and I get resonable values.
When I run my application I can not make any of my slaves go into OP state and I can not read the process data. This works fine with TwinCAT.
Any suggestions where to start debugging this?
When I run my application:
$ ethercat slaves
0 701:0 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
1 601:0 PREOP+ERROR E LeineAndLinde Encoder
My dmesg printout (debug level 1 rather long I'm afraid):
[160715.196194] EtherCAT 0: 1 slave(s) responding on main device.
[160715.230681] EtherCAT 0: Scanning bus.
[160731.152010] EtherCAT 0: Bus scanning completed in 15952 ms.
[160731.152013] EtherCAT 0: Using slave main-0 as DC reference clock.
[160731.172030] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[160756.175539] e1000e: enp11s0 NIC Link is Down
[160756.180245] EtherCAT 0: Link state of ecm0 changed to DOWN.
[160756.191321] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[160756.191333] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram error.
[160756.207260] EtherCAT 0: 0 slave(s) responding on main device.
[160758.383706] EtherCAT 0: Releasing master...
[160758.383740] EtherCAT 0: Master thread exited.
[160758.383748] EtherCAT 0: Starting EtherCAT-IDLE thread.
[160758.383788] EtherCAT 0: Released.
[160758.415495] EtherCAT WARNING: Datagram ffff8da6d7024340 (master-fsm) was SKIPPED 1 time.
[160778.270034] EtherCAT 0: Master thread exited.
[160778.270049] EtherCAT 0: Releasing main device 2C:94:64:00:26:63.
[160778.317206] ec_generic: Unloading.
[160778.340876] EtherCAT: Master module cleaned up.
[160815.777706] EtherCAT: Master driver 1.5.2 35e7f0841303
[160815.777955] EtherCAT: 1 master waiting for devices.
[160815.786627] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 35e7f0841303
[160815.786651] EtherCAT: Accepting 2C:94:64:00:26:63 as main device for master 0.
[160815.786661] ec_generic: Binding socket to interface 6 (enp11s0).
[160815.799994] EtherCAT 0: Starting EtherCAT-IDLE thread.
[160823.431705] EtherCAT 0: Master thread exited.
[160823.431709] EtherCAT 0: Releasing main device 2C:94:64:00:26:63.
[160823.464663] ec_generic: Unloading.
[160823.488998] EtherCAT: Master module cleaned up.
[160858.720503] e1000e: enp11s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[160858.720634] e1000e 0000:0b:00.0 enp11s0: 10/100 speed: disabling TSO
[160859.579559] e1000e: enp11s0 NIC Link is Down
[160861.261205] e1000e: enp11s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[160861.261336] e1000e 0000:0b:00.0 enp11s0: 10/100 speed: disabling TSO
[160872.605681] EtherCAT: Master driver 1.5.2 35e7f0841303
[160872.605933] EtherCAT: 1 master waiting for devices.
[160872.613974] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 35e7f0841303
[160872.613996] EtherCAT: Accepting 2C:94:64:00:26:63 as main device for master 0.
[160872.614002] ec_generic: Binding socket to interface 6 (enp11s0).
[160872.644426] EtherCAT 0: Starting EtherCAT-IDLE thread.
[160872.644577] EtherCAT 0: Link state of ecm0 changed to UP.
[160872.652413] EtherCAT 0: 1 slave(s) responding on main device.
[160872.652420] EtherCAT 0: Slave states on main device: PREOP.
[160872.653254] EtherCAT 0: Scanning bus.
[160873.054044] EtherCAT 0: Bus scanning completed in 400 ms.
[160873.054046] EtherCAT 0: Using slave main-0 as DC reference clock.
[160873.092391] EtherCAT 0: Slave states on main device: INIT.
[160873.140447] EtherCAT 0: Slave states on main device: PREOP.
[160945.654077] EtherCAT 0: 3 slave(s) responding on main device.
[160945.655528] EtherCAT 0: Scanning bus.
[160947.943148] EtherCAT 0: Bus scanning completed in 2288 ms.
[160947.943150] EtherCAT 0: Using slave main-0 as DC reference clock.
[160947.982211] EtherCAT 0: Slave states on main device: INIT, PREOP.
[160948.014240] EtherCAT 0: Slave states on main device: INIT.
[160948.046242] EtherCAT 0: Slave states on main device: PREOP.
[160984.085059] EtherCAT 0: 2 slave(s) responding on main device.
[160984.086367] EtherCAT 0: Scanning bus.
[160984.487953] EtherCAT 0: Bus scanning completed in 400 ms.
[160984.487955] EtherCAT 0: Using slave main-0 as DC reference clock.
[160984.517021] EtherCAT 0: Slave states on main device: INIT, PREOP.
[160984.541063] EtherCAT 0: Slave states on main device: INIT.
[160984.565093] EtherCAT 0: Slave states on main device: INIT, PREOP.
[160984.589103] EtherCAT 0: Slave states on main device: PREOP.
[161157.597419] EtherCAT: Requesting master 0...
[161157.597424] EtherCAT: Successfully requested master 0.
[161157.597587] EtherCAT 0: Domain0: Logical address 0x00000000, 36 byte, expected working counter 2.
[161157.597589] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 36 byte, type LRD at ffff8da6f70ecc18.
[161157.597601] EtherCAT 0: Master thread exited.
[161157.597603] EtherCAT 0: Starting EtherCAT-OP thread.
[161157.802764] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[161158.602536] EtherCAT 0: Slave states on main device: INIT, PREOP.
[161159.706658] EtherCAT 0: Slave states on main device: PREOP.
[161168.507348] EtherCAT ERROR 0-main-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[161168.707340] EtherCAT 0: Slave states on main device: PREOP + ERROR.
[161168.707362] EtherCAT ERROR 0-main-1: AL status message 0x0050: "EEPROM No Access".
[161169.107372] EtherCAT 0-main-1: Acknowledged state PREOP.
[161169.307400] EtherCAT 0: Slave states on main device: PREOP.
Regards,
Joachim
________________________________
Från: Gavin Lambert <gavin.lambert at tomra.com>
Skickat: den 15 april 2020 01:49
Till: Joachim Sällvin <joachim.sallvin at corpowerocean.com>; etherlab-users at etherlab.org <etherlab-users at etherlab.org>
Ämne: RE: reg_read ==> Failed to read register
Err, “upload”, I mean. Uploading is reading from the device. I always get those ones mixed up.
Gavin Lambert
Senior Software Developer
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From: Gavin Lambert
Sent: Wednesday, 15 April 2020 10:19
To: Joachim Sällvin <joachim.sallvin at corpowerocean.com>; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] reg_read ==> Failed to read register
Register 0x6004 doesn’t exist. All registers have addresses < 0x1000. Perhaps you meant to use “download” instead of “reg_read”?
Gavin Lambert
Senior Software Developer
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From: Joachim Sällvin
Sent: Tuesday, 14 April 2020 21:55
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] reg_read ==> Failed to read register
Hi, what could cause this? What should I try to do next, ideas?
$ ethercat -p1 reg_read 0x6004 4
Failed to read register: Input/output error
dmesg
[417280.571018] Datagram received.
[417280.571024] EtherCAT ERROR 0-main-1: Register request failed (working counter is 0).
My application fails to exchange process data so I figured I'd try the command line tool. What could cause this kind of problem?
Some info about my system:
$ ethercat version
IgH EtherCAT master 1.5.2 35e7f0841303
$ ethercat slaves
0 701:0 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
1 601:0 PREOP + LeineAndLinde Encoder
$ ethercat -p1 cstruct
/* Master 0, Slave 1, "LeineAndLinde Encoder"
* Vendor ID: 0x00000194
* Product code: 0x00000600
* Revision number: 0x00000001
*/
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
{0x6004, 0x00, 32},
{0x1001, 0x00, 16},
{0x6503, 0x00, 16},
{0x6505, 0x00, 16},
{0x2060, 0x00, 32},
{0x6030, 0x00, 16},
{0x6040, 0x00, 16},
{0x2100, 0x00, 16},
};
ec_pdo_info_t slave_1_pdos[] = {
{0x1a00, 8, slave_1_pdo_entries + 0}, /* Configurable TxPDO map with max 8 PDO */
};
ec_sync_info_t slave_1_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 0, NULL, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
{0xff}
};
Thanks in advance,
Joachim Sällvin
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