I need some advices about how to proceed to manage upload SDO error. I've a 3 Kollmorgen AKD ethercat net, which have to work in different modes changed at run time. The ehercat a development etherlab master (fee219bb31a9) which is working on a preemptive kernel. The error sometimes raises after Servos Pdo initialization: even if everything seems to correctly work; the first command which tries to upload Sdo value causes an error. Here il the log Jan 1 00:00:36 ubuntu-desktop kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! Jan 1 00:00:36 ubuntu-desktop kernel: EtherCAT 0: 3 slave(s) responding. Jan 1 00:00: 36 ubuntu-desktop kernel: EtherCAT 0: Slave states: INIT, PREOP. Jan 1 00:00:36 ubuntu-desktop kernel: EtherCAT 0: Scanning bus. Jan 1 00:01: 09 ubuntu-desktop kernel: EtherCAT 0: Bus scanning completed in 32380 ms. Jan 1 00:01:09 ubuntu-desktop kernel: EtherCAT 0: Slave states: PREOP. Jan 1 00:01:09 ubuntu-desktop kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! Jan 1 00: 01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8. Entries to map: 0x607A:00/32 0x6081: 00/32 Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! Jan 1 00:01:10 ubuntu- desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6083:00/32 0x6084:00/32
Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041: 00/16. Entries to map: 0x6041:00/16 0x6064:00/32 Jan 1 00:01:10 ubuntu- desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8. Entries to map: 0x606C:00/32 0x60FD:00/32 Jan 1 00:01:10 ubuntu- desktop kernel: EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping! Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x1002:00/32 Jan 1 00:01:10 ubuntu-desktop kernel: EtherCAT 0: Domain 0: Working counter changed to 2/9. Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping! Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6040:00/16 0x6060: 00/8. Entries to map: 0x607A:00/32 0x6081:00/32 Jan 1 00:01:11 ubuntu- desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping! Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6083:00/32 0x6084:00/32 Jan 1 00:01:11 ubuntu- desktop kernel: EtherCAT 0: Domain 0: Working counter changed to 3/9. Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping! Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041: 00/16. Entries to map: 0x6041:00/16 0x6064:00/32 Jan 1 00:01:11 ubuntu- desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping! Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8. Entries to map: 0x606C:00/32 0x60FD:00/32 Jan 1 00:01:11 ubuntu- desktop kernel: EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping! Jan 1 00:01:11 ubuntu-desktop kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x1002:00/32 Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT 0: Domain 0: 2 working counter changes - now 6/9. Jan 1 00:01: 12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping! Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6040:00/16 0x6060: 00/8. Entries to map: 0x607A:00/32 0x6081:00/32 Jan 1 00:01:12 ubuntu- desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping! Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6083:00/32 0x6084:00/32 Jan 1 00:01:12 ubuntu- desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping! Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6041:00/16. Entries to map: 0x6041:00/16 0x6064:00/32 Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping! Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8. Entries to map: 0x606C: 00/32 0x60FD:00/32 Jan 1 00:01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping! Jan 1 00: 01:12 ubuntu-desktop kernel: EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x1002:00/32 Jan 1 00:01:13 ubuntu-desktop kernel: EtherCAT 0: Slave states: OP. Jan 1 00: 01:13 ubuntu-desktop kernel: EtherCAT 0: Domain 0: 2 working counter changes - now 9/9. Jan 1 00:02:54 ubuntu-desktop kernel: EtherCAT ERROR 0-2: Received upload response for wrong SDO (0x2028:02, requested: 0x6060:00). Jan 1 00:02:54 ubuntu-desktop kernel: EtherCAT DEBUG: 00 30 41 28 20 02 04 00 00 00 00 00 00 00 Jan 1 00:02:55 ubuntu-desktop kernel: EtherCAT ERROR 0-2: Timeout after 1000 ms while waiting for SDO 0x6060:0 upload response. I suppose I'll repeatdly get a EC_REQUEST_ERROR from ecrt_sdo_request_state, I'll have to check. How can I verify such an error by code and recover from it? The same command executed after the described error doesn't seem to give problem any more. Thanks in advance for your advices and your help. Best Regards, Luca Paluan Invita i tuoi amici e Tiscali ti premia! Il consiglio di un amico vale più di uno spot in TV. Per ogni nuovo abbonato 30 € di premio per te e per lui! Un amico al mese e parli e navighi sempre gratis: http://freelosophy.tiscali.it/ _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
