[Etherlab-users] "Master0 dead" and unable to check fro masters/slaves

[Henrik Barie]

Dear Etherlab-Users and -Developers,

I am currently running Etherlab + Ethercat Master on an Ubuntu 22.04
Realtime Kernel and I am trying to make a Simulink-Model with Etherlab.
I have connected my Ethernet-Cable to the Input-Slot of a Beckhoff 
EK1100 Module (which is connected to a 24V-Supply), which is connected 
to a EL1104, a EL2004 and a EL3062 in this order. The Modules are all 
functioning.

Ethercat-Master starts normally with "done", but when I check with the 
status-command, it reads:

"Checking for EtherCAT master 1.6.0-rc1
Master0  dead"

when I "sudo dmesg", it reads:

  6328.324520] EtherCAT 0: Master thread exited.
[ 6328.324567] EtherCAT 0: Releasing main device 88:A4:C2:BF:73:10.
[ 6328.330301] ec_generic: Unloading.
[ 6328.344142] EtherCAT: Master module cleaned up.
[ 6330.384486] EtherCAT: Master driver 1.6.0-rc1 unknown
[ 6330.384592] EtherCAT: 1 master waiting for devices.
[ 6330.388784] ec_generic: EtherCAT master generic Ethernet device 
module 1.6.0-rc1 unknown
[ 6330.388795] EtherCAT: Accepting 88:A4:C2:BF:73:10 as main device for 
master 0.
[ 6330.388803] ec_generic: Binding socket to interface 2 (enp2s0).
[ 6330.394232] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6330.394258] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6330.396174] EtherCAT 0: 4 slave(s) responding on main device.
[ 6330.396176] EtherCAT 0: Slave states on main device: PREOP.
[ 6330.396577] EtherCAT 0: Scanning bus.
[ 6330.418169] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 6330.749639] EtherCAT 0: Bus scanning completed in 353 ms.
[ 6330.749643] EtherCAT 0: Using slave 0 as DC reference clock.
[ 6330.749644] EtherCAT ERROR 0: Failed to calculate bus topology.
[ 6333.807667] EtherCAT WARNING 0-3: SDO information error response 
while fetching SDO entry 0x1801:07!
[ 6333.807670] EtherCAT ERROR 0-3: SDO abort message 0x06090011: 
"Subindex does not exist".
[ 6333.809834] EtherCAT WARNING 0-3: SDO information error response 
while fetching SDO entry 0x1801:09!
[ 6333.809836] EtherCAT ERROR 0-3: SDO abort message 0x06090011: 
"Subindex does not exist".
[ 6333.832147] EtherCAT WARNING 0-3: SDO information error response 
while fetching SDO entry 0x1803:07!
[ 6333.832151] EtherCAT ERROR 0-3: SDO abort message 0x06090011: 
"Subindex does not exist".
[ 6333.834317] EtherCAT WARNING 0-3: SDO information error response 
while fetching SDO entry 0x1803:09!
[ 6333.834320] EtherCAT ERROR 0-3: SDO abort message 0x06090011: 
"Subindex does not exist".
[ 6334.104025] EtherCAT ERROR 0-3: SDO information error response while 
fetching SDO 0x0002!
[ 6334.104029] EtherCAT ERROR 0-3: SDO abort message 0x06020000: "This 
object does not exist in the object directory".
[ 6385.210007] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 6385.210015] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 6386.259975] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 6386.259983] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[ 6389.903925] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 6389.903931] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 6389.910837] EtherCAT ERROR 0-0: Failed to receive AL state datagram: 
Datagram timed out.
[ 6389.919832] EtherCAT 0: 0 slave(s) responding on main device.
[ 6389.987629] r8169 0000:02:00.0 enp2s0: Link is Down
[ 6389.987878] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 6391.798889] r8169 0000:02:00.0 enp2s0: Link is Up - 100Mbps/Full - 
flow control off
[ 6391.801768] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6391.804756] EtherCAT 0: 4 slave(s) responding on main device.
[ 6391.804760] EtherCAT 0: Slave states on main device: PREOP.
[ 6391.805393] EtherCAT 0: Scanning bus.
[ 6391.870721] EtherCAT WARNING 0: 39 datagrams TIMED OUT!
[ 6392.161527] EtherCAT 0: Bus scanning completed in 356 ms.
[ 6392.161530] EtherCAT 0: Using slave 0 as DC reference clock.
[ 6393.323800] EtherCAT WARNING 0: 2 datagrams TIMED OUT!

....

I dont know what these messages mean, and why Master0 is dead,
maybe you can help me with this problem.

The connection-slot of the ethercat-cable-Input of the EK1100 is 
constantly blinking so some data transfer must be happening I guess.

Also I would like to know how to check the connected slaves with a 
command, In the guide I followed it said I could use the commands

/opt/etherlab/bin/ethercat master
/opt/etherlab/bin/ethercat slaves ### IF CONNECTED

but the bin directory doesnt exist there.

I previously made these changes:

cd /lib/udev/rules.d/
sudo nano 99-EtherCAT.rules

wrote this line in this new file:

KERNEL=="EtherCAT[0-9]*", MODE="0660", GROUP="users"

and checked with

ls -l /dev/EtherCAT0

it read:

crw-rw---- 1 root users 507, 0 Sep 15 16:27 /dev/EtherCAT0

but I cant find a script to run where commands like "slaves" or "master" 
are.

My Etherlab-Simulation is running, but it doesnt show any number of 
corresponding slaves when I use the Master State-Block connected to a 
display.

Greetings
Henrik