[Etherlab-users] AKD drive Failed to set SAFEOP state, slave refused state change

[Diego Ramon]

Hi all

Maybe change slave sync info like that :

{ 2, EC_DIR_OUTPUT, 2, slave_pdos + 0, EC_WD_DISABLE}
{ 3, EC_DIR_INPUT, 1, slave_pdos + 2, EC_WD_DISABLE}

Best Regards


On Fri, Sep 18, 2020, 03:29 Richard Hacker <ha at igh.de> wrote:

> Hi Joachim
>
> Please send the output of the following commands:
> # ethercat rescan
> # ethercat sl -v
> # ethercat pdos
> # (start your application and keep it running for the next command)
> # ethercat config -v
>
> Maybe you can try to enable watchdog (although it is reported
> differently in the SII):
>
>      {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
>
> You could also have a look at the documentation to see whether there are
> any output PDOs (RxPDO) that are mandatory.
>
> Richard
>
> ------------------------------------------------------------------------
>
> On 9/18/20 7:20 AM, Joachim Sällvin wrote:
> > Hi,
> >
> > My AKD drive slave refuses to go to operational. Any suggestions why?
> >
> > This is what dmesg tells me when trying:
> > [53271.293863] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> > [53271.294126] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid
> output configuration".
> >
> > The AKD drive is the only slave on the bus
> > $ sudo ethercat slaves
> > 0  901:0  PREOP  E  AKD EtherCAT Drive (CoE)
> >
> > and I've configured it so that I get
> >
> > $ sudo ethercat cstruct -p0
> > /* Master 0, Slave 0, "AKD"
> >   * Vendor ID:       0x0000006a
> >   * Product code:    0x00414b44
> >   * Revision number: 0x00000002
> >   */
> >
> > ec_pdo_entry_info_t slave_0_pdo_entries[] = {
> >      {0x6040, 0x00, 16},
> >      {0x60c1, 0x01, 32},
> >      {0x6041, 0x00, 16},
> >      {0x3470, 0x04, 16},
> >      {0x60fd, 0x00, 32},
> >      {0x606c, 0x00, 32},
> >      {0x6063, 0x00, 32},
> > };
> >
> > ec_pdo_info_t slave_0_pdos[] = {
> >      {0x1600, 2, slave_0_pdo_entries + 0},
> >      {0x1a00, 3, slave_0_pdo_entries + 2},
> >      {0x1a01, 2, slave_0_pdo_entries + 5},
> > };
> >
> > ec_sync_info_t slave_0_syncs[] = {
> >      {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> >      {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> >      {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
> >      {3, EC_DIR_INPUT, 2, slave_0_pdos + 1, EC_WD_DISABLE},
> >      {0xff}
> > };
> >
> >
> >
> > I've tried with the command line tool...
> > $ sudo ethercat states OP
> >
> > ..and with my c-application. But the result is the same.
> >
> > One thing that puzzles me is the size of the synch managers SM2 and SM3:
> >
> > $ sudo ethercat pdos
> > SM0: PhysAddr 0x1800, DefaultSize 1024, ControlRegister 0x26, Enable 1
> > SM1: PhysAddr 0x1c00, DefaultSize 1024, ControlRegister 0x22, Enable 1
> > SM2: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x24, Enable 1
> >    RxPDO 0x1600 ""
> >      PDO entry 0x6040:00, 16 bit, ""
> >      PDO entry 0x60c1:01, 32 bit, ""
> > SM3: PhysAddr 0x1140, DefaultSize    0, ControlRegister 0x20, Enable 1
> >    TxPDO 0x1a00 ""
> >      PDO entry 0x6041:00, 16 bit, ""
> >      PDO entry 0x3470:04, 16 bit, ""
> >      PDO entry 0x60fd:00, 32 bit, ""
> >    TxPDO 0x1a01 ""
> >      PDO entry 0x606c:00, 32 bit, ""
> >      PDO entry 0x6063:00, 32 bit, ""
> >
> > Should they really have DefaultSize 0?
> >
> > $ sudo ethercat versionIgH EtherCAT master 1.5.2 53ce5e56d511
> > $ uname -a Linux ctrlPC1 5.4.54-rt32 #1 SMP PREEMPT_RT Wed Aug 12
> 12:59:33 CEST 2020 x86_64 x86_64 x86_64 GNU/Linux
> >
> >
> >
> > Detailed dmesg printout:
> >
> >
> > [54154.149923] EtherCAT: Master driver 1.5.2 53ce5e56d511
> > [54154.149991] EtherCAT: 1 master waiting for devices.
> > [54154.154118] ec_generic: EtherCAT master generic Ethernet device
> module 1.5.2 53ce5e56d511
> > [54154.154127] EtherCAT: Accepting 78:D0:04:27:52:E4 as main device for
> master 0.
> > [54154.154131] ec_generic: Binding socket to interface 4 (enp0s31f6).
> > [54154.189154] EtherCAT 0: Starting EtherCAT-IDLE thread.
> > [54154.189384] EtherCAT 0: Link state of ecm0 changed to UP.
> > [54154.197141] EtherCAT 0: 1 slave(s) responding on main device.
> > [54154.197149] EtherCAT 0: Slave states on main device: PREOP.
> > [54154.197613] EtherCAT 0: Scanning bus.
> > [54154.489005] EtherCAT 0: Bus scanning completed in 292 ms.
> > [54154.489006] EtherCAT 0: Using slave 0 as DC reference clock.
> > [54154.489007] EtherCAT 0: Starting EoE thread.
> > [54154.521934] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> > [54154.522227] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid
> output configuration".
> > [54154.525166] EtherCAT 0-0: Acknowledged state PREOP.
> >
> >
> > Any ideas?
> >
> > Best Regards,
> >
> > Joachim Sällvin
> >
> > Software Developer
> > CorpowerOcean
> >
> >
> >
> >
> >
> >
> >
> >
> >
> --
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