Hi,
I have a special slave with a strange behaviour. It's located at the end
of the bus after a few servo motor drives.
At the startup, it doesn't go to OP mode with the rest of the slaves.
But if I remove the power of this slave, before startup, and replug
after everything else is in OP mode, this slave goes to OP mode too.
When I checked the dmesg output I noticed that it gives a timeout error
for going to state INIT.
Here is the *ethercat slaves -v* output:
/ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
Vendor Id: 0x6167656d
Product code: 0x00000000
Revision number: 0x00000000
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 up open yes - 1795181876 0 0
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/1024, TX: 0x1400/1024
Standard RX: 0x1000/1024, TX: 0x1400/1024
Supported protocols: CoE, FoE
General:
Group: SSC_Device
Image name:
Order number: Megatec_ESC_NLCH
Device name: Megatec_ESC_NLCH
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: no
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA/
And this is the dmesg output with *Ethercat debug 1* configuration
/[ 186.189225] EtherCAT: Requesting master 0...
[ 186.189232] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 186.189234] EtherCAT: Successfully requested master 0.
[ 186.189236] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
0x0000000086b530b0)
[ 186.189240] EtherCAT DEBUG 0: Created domain 0.
[ 186.189243] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,
product_code = 0x00000000)
[ 186.189246] EtherCAT DEBUG 0: Creating slave configuration for 0:0,
0x6167656D/0x00000000.
[ 186.189250] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 186.189300] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0x0000000071c188e2, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 186.189305] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2, sync_index = 0)
[ 186.189308] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0x0000000071c188e2, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 186.189311] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2, sync_index = 1)
[ 186.189314] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0x0000000071c188e2, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 186.189316] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2, sync_index = 2)
[ 186.189322] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc
= 0x0000000071c188e2, sync_index = 2, pdo_index = 0x1600)
[ 186.189325] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.
[ 186.189331] EtherCAT DEBUG 0 0:0: Entry 0x7000:01.
[ 186.189333] EtherCAT DEBUG 0 0:0: Entry 0x7000:02.
[ 186.189334] EtherCAT DEBUG 0 0:0: Entry 0x7000:03.
[ 186.189336] EtherCAT DEBUG 0 0:0: Entry 0x7000:04.
[ 186.189337] EtherCAT DEBUG 0 0:0: Entry 0x7000:05.
[ 186.189338] EtherCAT DEBUG 0 0:0: Entry 0x7000:06.
[ 186.189339] EtherCAT DEBUG 0 0:0: Entry 0x7000:07.
[ 186.189340] EtherCAT DEBUG 0 0:0: Entry 0x7000:08.
[ 186.189341] EtherCAT DEBUG 0 0:0: Entry 0x7000:09.
[ 186.189343] EtherCAT DEBUG 0 0:0: Entry 0x7000:0A.
[ 186.189344] EtherCAT DEBUG 0 0:0: Entry 0x7000:0B.
[ 186.189345] EtherCAT DEBUG 0 0:0: Entry 0x7000:0C.
[ 186.189346] EtherCAT DEBUG 0 0:0: Entry 0x7000:0D.
[ 186.189347] EtherCAT DEBUG 0 0:0: Entry 0x7000:0E.
[ 186.189349] EtherCAT DEBUG 0 0:0: Entry 0x7000:0F.
[ 186.189350] EtherCAT DEBUG 0 0:0: Entry 0x7000:10.
[ 186.189351] EtherCAT DEBUG 0 0:0: Entry 0x7000:11.
[ 186.189352] EtherCAT DEBUG 0 0:0: Entry 0x7000:12.
[ 186.189354] EtherCAT DEBUG 0 0:0: Entry 0x7000:13.
[ 186.189355] EtherCAT DEBUG 0 0:0: Entry 0x7000:14.
[ 186.189356] EtherCAT DEBUG 0 0:0: Entry 0x7000:15.
[ 186.189357] EtherCAT DEBUG 0 0:0: Entry 0x7000:16.
[ 186.189358] EtherCAT DEBUG 0 0:0: Entry 0x7000:17.
[ 186.189360] EtherCAT DEBUG 0 0:0: Entry 0x7000:18.
[ 186.189361] EtherCAT DEBUG 0 0:0: Entry 0x7000:19.
[ 186.189362] EtherCAT DEBUG 0 0:0: Entry 0x7000:1A.
[ 186.189363] EtherCAT DEBUG 0 0:0: Entry 0x7000:1B.
[ 186.189364] EtherCAT DEBUG 0 0:0: Entry 0x7000:1C.
[ 186.189365] EtherCAT DEBUG 0 0:0: Entry 0x7000:1D.
[ 186.189367] EtherCAT DEBUG 0 0:0: Entry 0x7000:1E.
[ 186.189368] EtherCAT DEBUG 0 0:0: Entry 0x7000:1F.
[ 186.189369] EtherCAT DEBUG 0 0:0: Entry 0x7000:20.
[ 186.189370] EtherCAT DEBUG 0 0:0: Entry 0x7000:21.
[ 186.189371] EtherCAT DEBUG 0 0:0: Entry 0x7000:22.
[ 186.189372] EtherCAT DEBUG 0 0:0: Entry 0x7000:23.
[ 186.189373] EtherCAT DEBUG 0 0:0: Entry 0x7000:24.
[ 186.189374] EtherCAT DEBUG 0 0:0: Entry 0x7000:25.
[ 186.189376] EtherCAT DEBUG 0 0:0: Entry 0x7000:26.
[ 186.189377] EtherCAT DEBUG 0 0:0: Entry 0x7000:27.
[ 186.189379] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2, pdo_index =
0x1600)
[ 186.189386] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 16)
[ 186.189390] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 16)
[ 186.189393] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 16)
[ 186.189396] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 16)
[ 186.189399] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x05, entry_bit_length = 16)
[ 186.189402] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x06, entry_bit_length = 16)
[ 186.189404] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x07, entry_bit_length = 16)
[ 186.189407] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x08, entry_bit_length = 16)
[ 186.189410] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x09, entry_bit_length = 16)
[ 186.189412] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0A, entry_bit_length = 16)
[ 186.189415] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0B, entry_bit_length = 16)
[ 186.189418] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0C, entry_bit_length = 16)
[ 186.189420] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0D, entry_bit_length = 16)
[ 186.189423] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0E, entry_bit_length = 16)
[ 186.189426] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x0F, entry_bit_length = 16)
[ 186.189428] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x10, entry_bit_length = 16)
[ 186.189431] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
[ 186.189434] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x12, entry_bit_length = 16)
[ 186.189437] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x13, entry_bit_length = 16)
[ 186.189440] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x14, entry_bit_length = 16)
[ 186.189442] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x15, entry_bit_length = 16)
[ 186.189445] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x16, entry_bit_length = 16)
[ 186.189448] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x17, entry_bit_length = 16)
[ 186.189450] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x18, entry_bit_length = 16)
[ 186.189453] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x19, entry_bit_length = 16)
[ 186.189456] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1A, entry_bit_length = 16)
[ 186.189458] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1B, entry_bit_length = 16)
[ 186.189461] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1C, entry_bit_length = 16)
[ 186.189464] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1D, entry_bit_length = 16)
[ 186.189466] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1E, entry_bit_length = 16)
[ 186.189469] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x1F, entry_bit_length = 16)
[ 186.189472] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x20, entry_bit_length = 16)
[ 186.189474] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x21, entry_bit_length = 16)
[ 186.189477] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x22, entry_bit_length = 16)
[ 186.189480] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x23, entry_bit_length = 16)
[ 186.189482] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x24, entry_bit_length = 16)
[ 186.189485] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x25, entry_bit_length = 16)
[ 186.189488] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x26, entry_bit_length = 16)
[ 186.189490] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1600, entry_index = 0x7000, entry_subindex = 0x27, entry_bit_length = 16)
[ 186.189494] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0x0000000071c188e2, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 186.189496] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2, sync_index = 3)
[ 186.189502] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc
= 0x0000000071c188e2, sync_index = 3, pdo_index = 0x1A00)
[ 186.189504] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[ 186.189512] EtherCAT DEBUG 0 0:0: Entry 0x6000:01.
[ 186.189513] EtherCAT DEBUG 0 0:0: Entry 0x6000:02.
[ 186.189514] EtherCAT DEBUG 0 0:0: Entry 0x6000:03.
[ 186.189515] EtherCAT DEBUG 0 0:0: Entry 0x6000:04.
[ 186.189517] EtherCAT DEBUG 0 0:0: Entry 0x6000:05.
[ 186.189518] EtherCAT DEBUG 0 0:0: Entry 0x6000:06.
[ 186.189519] EtherCAT DEBUG 0 0:0: Entry 0x6000:07.
[ 186.189520] EtherCAT DEBUG 0 0:0: Entry 0x6000:08.
[ 186.189521] EtherCAT DEBUG 0 0:0: Entry 0x6000:09.
[ 186.189522] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A.
[ 186.189523] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B.
[ 186.189524] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C.
[ 186.189525] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D.
[ 186.189526] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E.
[ 186.189528] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F.
[ 186.189529] EtherCAT DEBUG 0 0:0: Entry 0x6000:10.
[ 186.189530] EtherCAT DEBUG 0 0:0: Entry 0x6000:11.
[ 186.189531] EtherCAT DEBUG 0 0:0: Entry 0x6000:12.
[ 186.189532] EtherCAT DEBUG 0 0:0: Entry 0x6000:13.
[ 186.189533] EtherCAT DEBUG 0 0:0: Entry 0x6000:14.
[ 186.189534] EtherCAT DEBUG 0 0:0: Entry 0x6000:15.
[ 186.189535] EtherCAT DEBUG 0 0:0: Entry 0x6000:16.
[ 186.189537] EtherCAT DEBUG 0 0:0: Entry 0x6000:17.
[ 186.189538] EtherCAT DEBUG 0 0:0: Entry 0x6000:18.
[ 186.189539] EtherCAT DEBUG 0 0:0: Entry 0x6000:19.
[ 186.189540] EtherCAT DEBUG 0 0:0: Entry 0x6000:1A.
[ 186.189541] EtherCAT DEBUG 0 0:0: Entry 0x6000:1B.
[ 186.189542] EtherCAT DEBUG 0 0:0: Entry 0x6000:1C.
[ 186.189543] EtherCAT DEBUG 0 0:0: Entry 0x6000:1D.
[ 186.189544] EtherCAT DEBUG 0 0:0: Entry 0x6000:1E.
[ 186.189546] EtherCAT DEBUG 0 0:0: Entry 0x6000:1F.
[ 186.189547] EtherCAT DEBUG 0 0:0: Entry 0x6000:20.
[ 186.189548] EtherCAT DEBUG 0 0:0: Entry 0x6000:21.
[ 186.189549] EtherCAT DEBUG 0 0:0: Entry 0x6000:22.
[ 186.189550] EtherCAT DEBUG 0 0:0: Entry 0x6000:23.
[ 186.189551] EtherCAT DEBUG 0 0:0: Entry 0x6000:24.
[ 186.189553] EtherCAT DEBUG 0 0:0: Entry 0x6000:25.
[ 186.189554] EtherCAT DEBUG 0 0:0: Entry 0x6000:26.
[ 186.189555] EtherCAT DEBUG 0 0:0: Entry 0x6000:27.
[ 186.189557] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2, pdo_index =
0x1A00)
[ 186.189562] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 16)
[ 186.189565] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 16)
[ 186.189568] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 16)
[ 186.189571] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 16)
[ 186.189574] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 16)
[ 186.189577] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 16)
[ 186.189579] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 16)
[ 186.189582] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 16)
[ 186.189585] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 16)
[ 186.189588] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 16)
[ 186.189591] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 16)
[ 186.189593] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 16)
[ 186.189596] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 16)
[ 186.189599] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 16)
[ 186.189601] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 16)
[ 186.189604] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 16)
[ 186.189607] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
[ 186.189610] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 16)
[ 186.189612] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x13, entry_bit_length = 16)
[ 186.189615] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x14, entry_bit_length = 16)
[ 186.189618] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x15, entry_bit_length = 16)
[ 186.189621] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x16, entry_bit_length = 16)
[ 186.189624] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x17, entry_bit_length = 16)
[ 186.189626] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x18, entry_bit_length = 16)
[ 186.189629] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x19, entry_bit_length = 16)
[ 186.189632] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1A, entry_bit_length = 16)
[ 186.189635] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1B, entry_bit_length = 16)
[ 186.189637] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1C, entry_bit_length = 16)
[ 186.189640] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1D, entry_bit_length = 16)
[ 186.189643] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1E, entry_bit_length = 16)
[ 186.189646] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x1F, entry_bit_length = 16)
[ 186.189649] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x20, entry_bit_length = 16)
[ 186.189651] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x21, entry_bit_length = 16)
[ 186.189654] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x22, entry_bit_length = 16)
[ 186.189656] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x23, entry_bit_length = 16)
[ 186.189659] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x24, entry_bit_length = 16)
[ 186.189662] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x25, entry_bit_length = 16)
[ 186.189664] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x26, entry_bit_length = 16)
[ 186.189667] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index =
0x1A00, entry_index = 0x6000, entry_subindex = 0x27, entry_bit_length = 16)
[ 186.189671] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,
product_code = 0x00000000)
[ 186.189676] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0x0000000071c188e2, index = 0x7000, subindex = 0x01, domain =
0x00000000b451bb74, bit_position = 0x000000002facf3e1)
[ 186.189680] EtherCAT DEBUG 0: Domain 0: Added 78 bytes, total 78.
[ 186.189683] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,
product_code = 0x00000000)
[ 186.189686] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc
= 0x0000000071c188e2, index = 0x7000, subindex = 0x05, domain =
0x00000000b451bb74, bit_position = 0x000000006507b978)
[ 186.189707] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0x00000000b451bb74, mem = 0x000000006263e939)
[ 186.189710] EtherCAT DEBUG 0: ecrt_master_callbacks(master =
0x0000000086b530b0, send_cb = 0x00000000a7d24716, receive_cb =
0x0000000062142df5, cb_data = 0x0000000086b530b0)
[ 186.189713] EtherCAT DEBUG 0: ecrt_master_activate(master =
0x0000000086b530b0)
[ 186.189716] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 186.189717] EtherCAT 0: Domain0: Logical address 0x00000000, 78 byte,
expected working counter 1.
[ 186.189720] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 78 byte, type LWR.
[ 186.189723] EtherCAT DEBUG 0: Stopping master thread.
[ 186.189734] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 186.189749] EtherCAT 0: Master thread exited.
[ 186.189752] EtherCAT DEBUG 0: FSM datagram is 00000000cfd93c4c.
[ 186.189753] EtherCAT 0: Starting EtherCAT-OP thread.
[ 186.189947] EtherCAT DEBUG 0: Operation thread running with fsm
interval = 4000 us, max data size=45000
[ 186.190049] EtherCAT DEBUG 0: mmap()
[ 186.190063] EtherCAT DEBUG 0: Vma fault, offset = 0, page =
00000000edcde822
[ 186.195501] EtherCAT DEBUG 0: Configuration changed (aborting state
check).
[ 186.195506] EtherCAT WARNING 0: No application time received up to
now, but master already active.
[ 186.195508] EtherCAT DEBUG 0: Requesting OP...
[ 186.203556] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 186.203564] EtherCAT DEBUG 0-0: Configuring...
[ 191.215776] EtherCAT ERROR 0-0: Timeout while setting state INIT./
And this a simple code part for my tests. This doesn't configures servo
drives. Just one slave to see if it goes to OP mode
/ if (!(sc_dig_out = ecrt_master_slave_config(
master, BusCouplerPos, megatec))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_dig_out, EC_END, slave_0_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
/
Any ideas? Do you suggest something to try?
Best regards,
Oguz.
--
Oguz Dilmac
Bilko AS, R&D Manager
====================================
Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 563 00 00
e-mail :[email protected]
web site :http://www.bilko-automation.com
https://www.youtube.com/@LyncaCNC
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