> On 8 May 2015 02:37, quoth Fredriek Vanneste: > > Something else I forgot to mention before is that the Omron Drive gives > an > > error message when I try to go to "OP" state, saying: > > Communication Setting Error. > [...] > > [ 185.205688] EtherCAT 0: Using slave 0 as DC reference clock. > > [ 210.095697] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave > refused > > state change (PREOP + ERROR). > > [ 210.095742] EtherCAT ERROR 0-0: AL status message 0x0028: > > "Synchronization not supported". > > [ 210.095889] EtherCAT 0-0: Acknowledged state PREOP. > > It looks like you're just doing this at the command line, without an > application running. In this case you'll need to put a different slave as > the first slave. Currently Etherlab will try to bring the reference clock > to OP without configuring it, and this particular slave apparently doesn't > like that. The only solution is to put a slave that's ok with this (such as > an EK1100) as the first one instead. (I've submitted a patch to disable > this behaviour but I'm not sure if it's been integrated yet; certainly it's > not on the stable branch.) > > If the same thing occurs when you try to run your application code, then you > need to check that you're calling ecrt_slave_config_dc and passing it the > correct parameters (as specified by the slave vendor).
I get the same problem as with the ecrt_slave_config_state function. The program fails whenever it reaches this function. This is what dmesg gives: [17675.763801] EtherCAT: Requesting master 0... [17675.763807] EtherCAT: Successfully requested master 0. [17675.764124] EtherCAT 0: Domain0: Logical address 0x00000000, 44 byte, expected working counter 3. [17675.764127] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 44 byte, type LRW. [17675.764158] EtherCAT 0: Master thread exited. [17675.764159] EtherCAT 0: Starting EtherCAT-OP thread. [17675.765211] estimation task[16822]: segfault at 10 ip 00007f3254f8b537 sp 00007f3255378c20 error 4 in libethercat_rtdm.so.1.0.0[7f3254f87000+8000] [17675.870158] EtherCAT WARNING: Datagram ffff8801248f2688 (master-fsm) was SKIPPED 1 time. [17675.901068] Xenomai: RTDM: closing file descriptor 0. [17675.901075] EtherCAT 0: Releasing master... [17675.901088] EtherCAT 0: Master thread exited. [17675.901097] EtherCAT 0: Starting EtherCAT-IDLE thread. [17675.901146] EtherCAT 0: Released. [17675.901160] Xenomai: native: cleaning up mutex "mutex" (ret=0). [17676.874188] EtherCAT WARNING: Datagram ffff8801248f2688 (master-fsm) was SKIPPED 1 time. Any ideas? > Note that you won't be able to use "ethercat states" to bring the slave to > OP or to exchange PDOs via command line -- both of those tasks require a > proper application. > _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
