[etherlab-users] reg_read ==> Failed to read register

Joachim Sällvin joachim.sallvin at corpowerocean.com
Thu Apr 23 16:37:31 CEST 2020


I think you're right Gavin:


"The key issue is probably the “EEPROM No Access” error from the slave".


I found the link below and entered:


$ ethercat -p1 reg_write 0x500 -tbool 1

and now I the slave goes to OP and I can read the encoder position value. After power cycling I have to do it again.  I'm wondering if it is correct/possible to let my application do this or if there is a way to set this bit persitently? How do I get information/documentation regarding register 0x500?


http://lists.etherlab.org/pipermail/etherlab-dev/2009/000132.html


Many thanks,

Joachim Sällvin
Corpower Ocean

________________________________
Från: Gavin Lambert <gavin.lambert at tomra.com>
Skickat: den 17 april 2020 01:28
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


The key issue is probably the “EEPROM No Access” error from the slave.



Unless you passed --disable-sii-assign at configure time, Etherlab should be assigning EEPROM control to the slave as part of the configuration process, which should avoid that sort of error.  Perhaps the timing of this isn’t what your slave is expecting, or perhaps this error means something different – it’s possible it may be using it to indicate that there’s corrupt or otherwise unexpected data in the EEPROM, or for something entirely unrelated.  You may need to ask the slave vendor for more information.



Since you’re saying it works fine with TwinCAT, you could perhaps take Wireshark captures of the startup configuration sequences from both and see where they differ – there will likely be many entirely benign differences, but it may be possible that there’s some additional SDO configuration (ecrt_slave_config_sdo*) required, or it may give you a hint to something else.  Diagnosing this does require a fairly in-depth knowledge of EtherCAT registers and protocol, however, along with the slave-specific implementation.  (But again it’s possible the slave vendor may be able to help you with that.)



Some slaves rely on configuration information specified only in the SII XML file and not in the SII EEPROM; TwinCAT uses the former while Etherlab uses the latter.



Gavin Lambert
Senior Software Developer

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From: Joachim Sällvin <joachim.sallvin at corpowerocean.com>
Sent: Thursday, 16 April 2020 21:09
To: Gavin Lambert <gavin.lambert at tomra.com>; etherlab-users at etherlab.org
Subject: Sv: reg_read ==> Failed to read register



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<mailto:gavin.lambert at tomra.com>>
Skickat: den 15 april 2020 01:49
Till: Joachim Sällvin <joachim.sallvin at corpowerocean.com<mailto:joachim.sallvin at corpowerocean.com>>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org> <etherlab-users at etherlab.org<mailto: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<mailto:joachim.sallvin at corpowerocean.com>>; etherlab-users at etherlab.org<mailto: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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