[Etherlab-users] DMS72E4331 slave refuses to go OP
Fontana Nicola
ntd at entidi.it
Thu Sep 14 22:31:54 CEST 2023
Hi all,
I've an EtherCAT chain of 8 slaves, the last one being a driver I never
used before.
After the ecrt_master_activate() call, everything goes OP but that
driver: it keeps giving me a "Sync manager watchdog" error (AL status
0x001B). Attached the kernel log (debug level 1) of that run.
Has anyone experienced this kind of issue? Is there some workaround I
can try? I disabled the watchdog (EC_WD_DISABLE to all SMs [1]) and
wrote 0 to the ESC register 0x410 but the error simply changed to
"Invalid watchdog configuration" (AL status 0x001F).
According to the FAQ in the old website [2], configuration failures are
most likely caused by wrong SII implementation: is this the case?
[1] https://gitlab.com/entidi/libmachinery/-/blob/master/src/ethercat-slaves.c?ref_type=heads#L773
[2] https://web.archive.org/web/20210922180832/https://www.etherlab.org/en/ethercat/faq.php
Thank you in advance.
--
Nicola
-------------- next part --------------
[ 517.625201] EtherCAT DEBUG 0-7: Changing state from PREOP to OP.
[ 517.625213] EtherCAT DEBUG 0-7: Configuring...
[ 517.631024] EtherCAT DEBUG 0-7: Now in INIT.
[ 517.631032] EtherCAT DEBUG 0-7: Clearing FMMU configurations...
[ 517.631034] EtherCAT DEBUG 0-7: Clearing mailbox check flag...
[ 517.632195] EtherCAT DEBUG 0-7: Clearing sync manager configurations...
[ 517.633369] EtherCAT DEBUG 0-7: Clearing DC assignment...
[ 517.634548] EtherCAT DEBUG 0-7: Configuring mailbox sync managers...
[ 517.634556] EtherCAT DEBUG 0-7: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 517.634562] EtherCAT DEBUG 0-7: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 517.635717] EtherCAT DEBUG 0-7: Assigning SII access to PDI.
[ 517.643995] EtherCAT DEBUG 0-7: Now in PREOP.
[ 517.644006] EtherCAT DEBUG 0-7: Assigning SII access back to EtherCAT.
[ 517.645197] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1601.
[ 517.645204] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32
[ 517.645225] EtherCAT DEBUG 0-7: Setting entry count to zero.
[ 517.645229] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:00.
[ 517.645232] EtherCAT DEBUG: 00
[ 517.645237] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.645240] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00
[ 517.649908] EtherCAT DEBUG 0-7: Download response:
[ 517.649914] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00
[ 517.649933] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 517.649938] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:01.
[ 517.649941] EtherCAT DEBUG: 10 00 40 60
[ 517.649950] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.649953] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60
[ 517.654598] EtherCAT DEBUG 0-7: Download response:
[ 517.654605] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60
[ 517.654623] EtherCAT DEBUG 0-7: Mapping PDO entry 0x607A:00 (32 bit) at position 2.
[ 517.654628] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:02.
[ 517.654632] EtherCAT DEBUG: 20 00 7A 60
[ 517.654641] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.654643] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60
[ 517.659298] EtherCAT DEBUG 0-7: Download response:
[ 517.659304] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60
[ 517.659323] EtherCAT DEBUG 0-7: Setting number of PDO entries to 2.
[ 517.659326] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:00.
[ 517.659330] EtherCAT DEBUG: 02
[ 517.659334] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.659337] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00
[ 517.664005] EtherCAT DEBUG 0-7: Download response:
[ 517.664011] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00
[ 517.664029] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO 0x1601.
[ 517.664033] EtherCAT DEBUG 0-7: Setting PDO assignment of SM2:
[ 517.664036] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601
[ 517.664046] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero.
[ 517.664049] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00.
[ 517.664052] EtherCAT DEBUG: 00
[ 517.664057] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.664059] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 517.668683] EtherCAT DEBUG 0-7: Download response:
[ 517.668689] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[ 517.668710] EtherCAT DEBUG 0-7: Assigning PDO 0x1601 at position 1.
[ 517.668715] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:01.
[ 517.668718] EtherCAT DEBUG: 01 16
[ 517.668724] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.668727] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00
[ 517.673422] EtherCAT DEBUG 0-7: Download response:
[ 517.673428] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00
[ 517.673447] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 1.
[ 517.673451] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00.
[ 517.673454] EtherCAT DEBUG: 01
[ 517.673459] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.673461] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 517.678116] EtherCAT DEBUG 0-7: Download response:
[ 517.678122] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[ 517.678143] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of SM2.
[ 517.678150] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1A01.
[ 517.678154] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x6041:00/16 0x6064:00/32
[ 517.678171] EtherCAT DEBUG 0-7: Setting entry count to zero.
[ 517.678174] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00.
[ 517.678178] EtherCAT DEBUG: 00
[ 517.678182] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.678184] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00
[ 517.682835] EtherCAT DEBUG 0-7: Download response:
[ 517.682842] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00
[ 517.682860] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 517.682866] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:01.
[ 517.682869] EtherCAT DEBUG: 10 00 41 60
[ 517.682878] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.682880] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60
[ 517.687527] EtherCAT DEBUG 0-7: Download response:
[ 517.687533] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60
[ 517.687552] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[ 517.687557] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:02.
[ 517.687560] EtherCAT DEBUG: 20 00 64 60
[ 517.687569] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.687597] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60
[ 517.692256] EtherCAT DEBUG 0-7: Download response:
[ 517.692262] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60
[ 517.692280] EtherCAT DEBUG 0-7: Setting number of PDO entries to 2.
[ 517.692284] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00.
[ 517.692287] EtherCAT DEBUG: 02
[ 517.692292] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.692294] EtherCAT DEBUG: 00 20 2F 01 1A 00 02 00 00 00
[ 517.696967] EtherCAT DEBUG 0-7: Download response:
[ 517.696973] EtherCAT DEBUG: 00 30 60 01 1A 00 02 00 00 00
[ 517.696992] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO 0x1A01.
[ 517.696996] EtherCAT DEBUG 0-7: Setting PDO assignment of SM3:
[ 517.696998] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01
[ 517.697021] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero.
[ 517.697026] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00.
[ 517.697029] EtherCAT DEBUG: 00
[ 517.697034] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.697036] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 517.701671] EtherCAT DEBUG 0-7: Download response:
[ 517.701677] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[ 517.701698] EtherCAT DEBUG 0-7: Assigning PDO 0x1A01 at position 1.
[ 517.701702] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:01.
[ 517.701705] EtherCAT DEBUG: 01 1A
[ 517.701711] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.701714] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
[ 517.706339] EtherCAT DEBUG 0-7: Download response:
[ 517.706345] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
[ 517.706363] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 1.
[ 517.706367] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00.
[ 517.706370] EtherCAT DEBUG: 01
[ 517.706374] EtherCAT DEBUG 0-7: Expedited download request:
[ 517.706377] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[ 517.711021] EtherCAT DEBUG 0-7: Download response:
[ 517.711027] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[ 517.711047] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of SM3.
[ 517.711053] EtherCAT DEBUG 0-7: SM2: Addr 0x1100, Size 6, Ctrl 0x64, En 1
[ 517.711058] EtherCAT DEBUG 0-7: SM3: Addr 0x1400, Size 6, Ctrl 0x20, En 1
[ 517.712210] EtherCAT DEBUG 0 0:7: FMMU: LogOff 0x00000044, Size 6, PhysAddr 0x1100, SM2, Dir out
[ 517.712219] EtherCAT DEBUG 0 0:7: FMMU: LogOff 0x0000004A, Size 6, PhysAddr 0x1400, SM3, Dir in
[ 517.726202] EtherCAT DEBUG 0-7: Now in SAFEOP.
[ 518.606566] EtherCAT ERROR 0-7: Failed to set OP state, slave refused state change (SAFEOP + ERROR).
[ 518.607730] EtherCAT ERROR 0-7: AL status message 0x001B: "Sync manager watchdog".
[ 518.613745] EtherCAT 0-7: Acknowledged state SAFEOP.
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