Ethercat HAL driver

bkt
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5 years 7 months ago - 5 years 7 months ago #201430 by bkt

Replied by bkt on topic Ethercat HAL driver

@dc1981 .... after last week just now an error as I mentioned to you ... do checking dmesg I see these warning:

EtherCAT WARNING: Datagram 0000000026ab63a1 (master-fsm) was SKIPPED 1 time

and error ....

[ 7773.445798] EtherCAT 0: Bus scanning completed in 268 ms.
[ 7773.445803] EtherCAT 0: Using slave main-0 as DC reference clock.
[ 7773.466036] EtherCAT 0: Slave states on main device: INIT.
[ 7773.490397] EtherCAT 0: Slave states on main device: PREOP.
[ 7774.374797] igb 0000:05:00.0 enp5s0: igb: enp5s0 NIC Link is Down
[ 7774.376414] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 7774.376418] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 7774.380472] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram error.
[ 7774.384540] EtherCAT 0: 0 slave(s) responding on main device.

Precisely this happened: I turned off linuxcnc and error60 came out in the drives which means: data receiving abnormal in Op status.
Without thinking I turned off the power and started again without turning off the pc .... so I had the inconvenience of not being able to have the drives in OP anymore but only in PREOP.

I am attaching the dmesg.txt to see if you can help me understand the origin of the problem

thanks

Last edit: 5 years 7 months ago by bkt.

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bkt
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5 years 7 months ago #201445 by bkt

Replied by bkt on topic Ethercat HAL driver

@db1981 after these accident I turn off all system. After some second I power on again the system .... when open axis gui I can see "not ready" messages on screen of drive ID=0 ... all other slaves is ok .... so I operate a dmesg | grep -i EtherCAT command and I find these:

Warning: Spoiler!

Code:

bkt@bkt:~$ dmesg | grep -i EtherCAT
[   22.353071] EtherCAT: Master driver 1.5.2 unknown
[   22.353228] EtherCAT: 1 master waiting for devices.
[   22.354293] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[   22.354304] EtherCAT: Accepting 68:ED:A6:00:12:45 as main device for master 0.
[   22.382337] EtherCAT 0: Starting EtherCAT-IDLE thread.
[   26.732446] EtherCAT 0: Link state of ecm0 changed to UP.
[   26.736475] EtherCAT 0: 7 slave(s) responding on main device.
[   26.736477] EtherCAT 0: Slave states on main device: INIT.
[   26.738721] EtherCAT 0: Scanning bus.
[   27.128486] EtherCAT 0: Bus scanning completed in 392 ms.
[   27.128489] EtherCAT 0: Using slave main-0 as DC reference clock.
[   27.132510] EtherCAT 0: Slave states on main device: INIT, PREOP.
[   27.198329] EtherCAT 0: Slave states on main device: PREOP.
[  153.926114] EtherCAT: Requesting master 0...
[  153.926116] EtherCAT: Successfully requested master 0.
[  153.926917] EtherCAT 0: Domain0: Logical address 0x00000000, 70 byte, expected working counter 15.
[  153.926920] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 70 byte, type LRW at 00000000d4106b06.
[  153.930237] EtherCAT 0: Master thread exited.
[  153.930242] EtherCAT 0: Starting EtherCAT-OP thread.
[  154.227023] EtherCAT 0: Domain 0: Working counter changed to 3/15.
[  154.252818] EtherCAT 0: Slave states on main device: PREOP, OP.
[  154.260869] EtherCAT WARNING 0-main-6: Slave does not support changing the PDO mapping!
[  154.260871] EtherCAT WARNING 0-main-6: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/4 0x6000:08/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x0000:00/1 0x6000:0D/1 0x6000:0E/1 0x0000:00/1 0x6000:10/1 0x6000:11/32 0x6000:12/32. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/4 0x6000:08/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x0000:00/1 0x6000:0D/1 0x1C32:20/1 0x0000:00/1 0x1800:09/1 0x6000:11/32 0x6000:12/32
[  154.510059] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP.
[  154.831308] EtherCAT 0: Slave states on main device: PREOP, OP.
[  155.231514] EtherCAT 0: Domain 0: 3 working counter changes - now 12/15.
[  159.476561] EtherCAT WARNING 0-main-0: Slave did not sync after 5000 ms.
[  159.487502] EtherCAT 0: Domain 0: Working counter changed to 15/15.
[  159.520721] EtherCAT 0: Slave states on main device: SAFEOP, OP.
[  159.809682] EtherCAT 0: Slave states on main device: OP.

so with command ethercat slaves -p0:

Code:

bkt@bkt:~$ ethercat slaves -p0
0  0:0  OP  +  EP3E-EC

but is not really on OP state (if try to moove joint 0 I obtain following error) so seems etherlab glue poit to different device .....

regards
bkt

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db1981
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5 years 7 months ago #201447 by db1981

Replied by db1981 on topic Ethercat HAL driver

@bkt

this concerns the problem discussed last week? Or you not able to get your system running anymore?

What dmesg tells us:

-you have 8 ??? network interfaces ????
-interface enp5s0 is used for ethercat and is tryed to get configured by the network manager. Try to remove this interface from the network configuration, it should be exclusive for ethercat.
-you have restarted linuxcnc many times ??
-physical link on interface enp5s0 (ethercat) is many times lost. check for grounding /shielding , qualitiy of patchcables (stp)

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db1981
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5 years 7 months ago #201449 by db1981

Replied by db1981 on topic Ethercat HAL driver

there are clocking problems and lost frames at slave 0, but this seems to be a physical problem. strange for me is, that its the first slave in the row.

The following user(s) said Thank You: bkt

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bkt
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5 years 7 months ago #201453 by bkt

Replied by bkt on topic Ethercat HAL driver

@1981 ... yes I have 6 eth plus a custom card which is seen as a series of eth. Patch cable is cat7a .... plus if change it is the same .... I try to work on network interfaces ... is strange for me too .... because other slaves in the row work perfect ....

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bkt
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5 years 7 months ago - 5 years 7 months ago #201532 by bkt

Replied by bkt on topic Ethercat HAL driver

db1981 wrote: @bkt

this concerns the problem discussed last week? Or you not able to get your system running anymore?

My machine work well but sometime some slave not go to OP state.

db1981 wrote: What dmesg tells us:

-you have 8 ??? network interfaces ???? yes
-interface enp5s0 is used for ethercat and is tryed to get configured by the network manager. Try to remove this interface from the network configuration, it should be exclusive for ethercat. If try to leave it from network configuration ethercet not start at all .... plus in /etc/default/ethercat enp5s0 is just in manual mode (iface enp5s0 inet manual)
-you have restarted linuxcnc many times ?? yes 5/6 time in all days
-physical link on interface enp5s0 (ethercat) is many times lost. check for grounding /shielding , qualitiy of patchcables (stp)

Last edit: 5 years 7 months ago by bkt.

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Ethercat HAL driver