Hi all, I have been using the EtherCAT master 1.5.2 for a while on Ubuntu 14.04 with kernel 3.13.0-96-generic. This was working fine until I upgraded Ubuntu to 16.04, after which I was not able to access the slave anymore. When I start the master now, I see the following output and errors in the kernel message buffer:
[ 66.670838] EtherCAT: Master driver 1.5.2 2eff7c993a63 [ 66.671013] EtherCAT: 1 master waiting for devices. [ 66.675056] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63 [ 66.675073] EtherCAT: Accepting 00:26:55:E0:23:C8 as main device for master 0. [ 66.675078] ec_generic: Binding socket to interface 5 (eth3). [ 66.696808] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 66.696916] EtherCAT 0: Link state of ecm0 changed to UP. [ 66.700973] EtherCAT 0: 1 slave(s) responding on main device. [ 66.700975] EtherCAT 0: Slave states on main device: PREOP. [ 66.701299] EtherCAT 0: Scanning bus. [ 67.032970] EtherCAT 0: Bus scanning completed in 328 ms. [ 67.032976] EtherCAT 0: Using slave 0 as DC reference clock. [ 67.032978] EtherCAT ERROR 0: Failed to calculate bus topology. [ 67.032981] EtherCAT 0: Starting EoE thread. [ 67.050878] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 67.051543] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration". [ 67.052126] EtherCAT 0-0: Acknowledged state PREOP. [ 70.059310] EtherCAT WARNING 0-0: CoE Emergency Request received: Error code 0xA000, Error register 0x02, data: [ 70.059315] EtherCAT DEBUG: 0E 10 00 10 00 So far I have tried to rebuild and reinstall the EtherCAT driver. I am still using the same 3.13 kernel driver as before the upgrade. Also, the hardware configuration has not changed. I am still able to see the slave: ethercat slaves -v === Master 0, Slave 0 === Device: Main State: PREOP Flag: E Identity: Vendor Id: 0x000001a3 Product code: 0x019f418d Revision number: 0x35313544 Serial number: 0x00000000 DL information: FMMU bit operation: no Distributed clocks: yes, 64 bit DC system time transmission delay: 0 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 MII down closed no - - - - 1 MII up open yes - 1723160450 4216451648 0 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x0000/0, TX: 0x0000/0 Standard RX: 0x1000/128, TX: 0x1400/128 Supported protocols: EoE, CoE, FoE General: Group: Servo Drive Image name: DRIVE Order number: iPOS4808 BX-CAT v10 Device name: iPOS4808 BX-CAT v10 CoE details: Enable SDO: yes Enable SDO Info: yes Enable PDO Assign: yes Enable PDO Configuration: yes Enable Upload at startup: no Enable SDO complete access: no Flags: Enable SafeOp: no Enable notLRW: no Current consumption: 0 mA ------------ This is the output of the ethercat master command: ethercat master -v Master0 Phase: Idle Active: no Slaves: 1 Ethernet devices: Main: 00:26:55:e0:23:c8 (attached) Link: UP Tx frames: 9117 Tx bytes: 628652 Rx frames: 9116 Rx bytes: 628592 Tx errors: 0 Tx frame rate [1/s]: 249 255 118 Tx rate [KByte/s]: 14.6 15.7 7.8 Rx frame rate [1/s]: 249 255 118 Rx rate [KByte/s]: 14.6 15.7 7.8 Common: Tx frames: 9117 Tx bytes: 628652 Rx frames: 9116 Rx bytes: 628592 Lost frames: 0 Tx frame rate [1/s]: 249 255 118 Tx rate [KByte/s]: 14.6 15.7 7.8 Rx frame rate [1/s]: 249 255 118 Rx rate [KByte/s]: 14.6 15.7 7.9 Loss rate [1/s]: 0 -0 0 Frame loss [%]: 0.0 -0.0 0.0 Distributed clocks: Reference clock: Slave 0 Application time: 0 2000-01-01 00:00:00.000000000 ------------ I do not understand what is causing the errors and loss of control of the slave. Any help and hints to solve this are greatly appreciated! Regards, Klaas Jelmer
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