Scenario 3: During the running A user application is running, which uses ecrt_sdo_request_read to read state data from the slave. Meanwhile the command "ethercat download" is executed in the terminal => the application suddenly receives EC_INT_REQUEST_FAILURE/EC_REQUEST_ERROR in ecrt_sdo_request_state(), it failes to check the slave state.
Cause: ecrt_sdo_request_read and ecrt_master_sdo_download racing On 30 May 2014 23:57, Jun Yuan <j.y...@rtleaders.com> wrote: > Hi, > > as Gavin Lambert already mentioned one year ago, see > http://lists.etherlab.org/pipermail/etherlab-dev/2013/000327.html. > > I checked the log of an industrial EtherCAT application I made, and I was > shocked to discover how deeply and frequently my application is affected by > this issue. It doesn't only affect those who use FoE, SoE, etc, it also > makes problem while only CoE is used. It doesn't not only affect when the > user application is started, but also show its teeth without any > application. > > Scenario 1: CoE, no user application > One slave on the bus with 7 slaves is turned off for temporary > maintenance. After 5 - 30 seconds, it's turned on again. => > > [ 4629.242295] EtherCAT ERROR 0-0: Received unknown response while > uploading SDO 0x1C12:00. > [ 4629.242297] EtherCAT DEBUG: 00 80 07 00 00 00 11 00 09 06 > [ 4629.242305] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs > for SM2. > > Cause: SDO dictionary fetch was disrupted as the slave comes up. > Consequence: User application cannot be started later, as no PDO was > assigned to SM2. > > > Scenario 2: CoE, with user SDO operation > Soon after all the slaves become online, the user application is started, > which read/write several SDOs from the slaves. And most of the sdo > operations fail. > > [ 1169.599680] EtherCAT DEBUG 0-0: Uploading SDO 0x10F3:02. > [ 1169.607575] EtherCAT ERROR 0-0: Received unknown response while > uploading SDO 0x10F3:02. > [ 1169.607609] EtherCAT ERROR 0-0: Failed to process SDO request. > [ 1169.615791] EtherCAT DEBUG 0-0: Invalid entry description response > while fetching SDO entry 0x4810:08! > [ 1169.615852] EtherCAT DEBUG 0-0: Downloading SDO 0x10F3:03. > [ 1169.626209] EtherCAT DEBUG 0-0: Invalid SDO download response! > Retrying... > [ 1169.628254] EtherCAT DEBUG 0-0: Invalid entry description response > while fetching SDO entry 0x4810:09! > [ 1169.628336] EtherCAT DEBUG 0-0: Uploading SDO 0x10F3:27. > [ 1169.638630] EtherCAT ERROR 0-0: Received unknown response while > uploading SDO 0x10F3:27. > [ 1169.665583] EtherCAT DEBUG 0-0: Invalid entry description response > while fetching SDO entry 0x4810:0A! > [ 1169.665852] EtherCAT DEBUG 0-0: Uploading SDO 0x608F:01. > [ 1169.675979] EtherCAT ERROR 0-0: Received unknown response while > uploading SDO 0x608F:01. > [ 1169.684240] EtherCAT DEBUG 0-0: Invalid entry description response > while fetching SDO entry 0x4810:0B! > > Cause: User SDO operation happens simultaneously with the SDO dictionary > fetch. > Consequence: User application has to be aborted. > > Now I would consider it as a serious bug in the IgH EtherCAT Master, which > prevents the application to be successfully started every time. I'd like to > ask for the opinions/comments from the developers. > > Regards, > Jun Yuan > > > -- Jun Yuan [Aussprache: Djün Üän] Robotics Technology Leaders GmbH Am Loferfeld 58, D-81249 München Tel: +49 89 189 0465 24 Fax: +49 89 189 0465 11 mailto: j.y...@rtleaders.com Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
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