Ethercat with Delta Ms300 and CMM-EC01

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08 Apr 2021 10:59 #205315 by Stormholt
Hey

So I have gotten stuck working with Ethercat and the Delta MS300 VFD17AMS43AFSHA with the CMM-EC01 ethercat network card.

It would seem that I dont get either download or upload responses. Except from a wrong address.
To configure i have used EtherCAT Configurator from which i managed to fully control the inverter.

However have had no luck with linuxcnc ethercat. How can i solve these error messages? or what should i look into?

dmesg after /etc/init.d/ethercat restart
[177056.067266] EtherCAT 0: Master thread exited.
[177056.067271] EtherCAT 0: Starting EtherCAT-IDLE thread.
[177056.067293] EtherCAT 0: Releasing master...
[177056.067294] EtherCAT 0: Released.
[177056.072744] EtherCAT 0: Slave states on main device: PREOP.
[177081.406968] EtherCAT 0: Master thread exited.
[177081.406977] EtherCAT 0: Releasing main device 80:EE:73:DB:47:84.
[177081.415880] ec_generic: Unloading.
[177081.425221] EtherCAT: Master module cleaned up.
[177083.445215] EtherCAT: Master driver 1.5.2 1.5.2-144-gb870761
[177083.445268] EtherCAT: 1 master waiting for devices.
[177083.446901] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 1.5.2-144-gb870761
[177083.446907] EtherCAT: Accepting 80:EE:73:DB:47:84 as main device for master 0.
[177083.446912] ec_generic: Binding socket to interface 3 (enp1s0).
[177083.454886] EtherCAT 0: Starting EtherCAT-IDLE thread.
[177083.454921] EtherCAT 0: Link state of ecm0 changed to UP.
[177083.457885] EtherCAT 0: 1 slave(s) responding on main device.
[177083.457888] EtherCAT 0: Slave states on main device: PREOP.
[177083.458392] EtherCAT 0: Scanning bus.
[177083.634544] EtherCAT ERROR 0-0: Received upload response for wrong SDO (0x1000:00, requested: 0x1C12:00).
[177083.634547] EtherCAT DEBUG: 
[177083.634548] 00 
[177083.634548] 30 
[177083.634548] 43 
[177083.634548] 00 
[177083.634549] 10 
[177083.634549] 00 
[177083.634549] B0 
[177083.634549] 21 
[177083.634549] FF 
[177083.634550] 1F 

[177093.633034] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c12:0 upload response.
[177093.633037] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.
[177093.633769] EtherCAT ERROR 0-0: Received upload response for wrong SDO (0x1000:00, requested: 0x1C13:00).
[177093.633770] EtherCAT DEBUG: 
[177093.633771] 00 
[177093.633771] 30 
[177093.633771] 43 
[177093.633771] 00 
[177093.633772] 10 
[177093.633772] 00 
[177093.633772] B0 
[177093.633772] 21 
[177093.633773] FF 
[177093.633773] 1F 

[177103.632993] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c13:0 upload response.
[177103.632996] EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3.
[177103.632997] EtherCAT 0: Bus scanning completed in 20175 ms.
[177103.632998] EtherCAT 0: Using slave 0 as DC reference clock.

dmesg after starting linuxcnc
[177294.755458] EtherCAT: Requesting master 0...
[177294.755464] EtherCAT: Successfully requested master 0.
[177294.755711] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[177294.755715] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW.
[177294.755732] EtherCAT 0: Master thread exited.
[177294.755735] EtherCAT 0: Starting EtherCAT-OP thread.
[177295.754966] EtherCAT WARNING 0: 258 datagrams UNMATCHED!
[177295.764084] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 132 times.
[177296.754971] EtherCAT WARNING 0: 72 datagrams UNMATCHED!
[177296.765089] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 33 times.
[177298.754981] EtherCAT WARNING 0: 16 datagrams UNMATCHED!
[177298.767100] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 8 times.
[177299.754986] EtherCAT WARNING 0: 34 datagrams UNMATCHED!
[177299.768104] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 17 times.
[177300.754991] EtherCAT WARNING 0: 12 datagrams UNMATCHED!
[177300.769110] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 6 times.
[177301.754997] EtherCAT WARNING 0: 22 datagrams UNMATCHED!
[177301.770115] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 11 times.
[177302.755002] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[177302.771126] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177303.755007] EtherCAT WARNING 0: 16 datagrams UNMATCHED!
[177303.772125] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 8 times.
[177304.755012] EtherCAT WARNING 0: 12 datagrams UNMATCHED!
[177304.773131] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 6 times.
[177304.784130] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1600:0 download response.
[177304.784132] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[177304.784132] EtherCAT WARNING 0-0: 
[177304.784133] Currently mapped PDO entries: 
[177304.784134] 0x6040:00/16
[177304.784134]  
[177304.784135] 0x6042:00/16
[177304.784135]  
[177304.784135] 0x6060:00/8
[177304.784136]  
[177304.784136] 0x0000:00/8
[177304.784136] . Entries to map: 
[177304.784137] 0x6040:00/16
[177304.784137]  
[177304.784137] 0x6042:00/16
[177304.784138]  
[177304.784138] 0x6060:00/8
[177304.784138]  
[177304.784139] 0x0000:00/8

[177304.784139] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1600.
[177305.755017] EtherCAT WARNING 0: 14 datagrams UNMATCHED!
[177305.774135] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 7 times.
[177306.755022] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177306.775141] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177307.755027] EtherCAT WARNING 0: 16 datagrams UNMATCHED!
[177307.776146] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 8 times.
[177308.755032] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[177308.777151] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 1 time.
[177309.755037] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[177309.778166] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 2 times.
[177310.755043] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177310.779161] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177311.755048] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[177311.780166] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 2 times.
[177312.755053] EtherCAT WARNING 0: 26 datagrams UNMATCHED!
[177312.781171] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 13 times.
[177313.755058] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[177313.782177] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177314.755063] EtherCAT WARNING 0: 36 datagrams UNMATCHED!
[177314.783181] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 18 times.
[177314.784187] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c12:0 download response.
[177314.784188] EtherCAT WARNING 0-0: Failed to clear PDO assignment of SM2.
[177314.784189] EtherCAT WARNING 0-0: 
[177314.784190] Currently assigned PDOs: 
[177314.784190] 0x1600
[177314.784191] . PDOs to assign: 
[177314.784191] 0x1600

[177315.755068] EtherCAT WARNING 0: 12 datagrams UNMATCHED!
[177315.784187] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 6 times.
[177316.755073] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177316.785192] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177317.755078] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[177317.786197] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 1 time.
[177318.755083] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177318.787202] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177319.755089] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[177319.788207] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177320.755099] EtherCAT WARNING 0: 10 datagrams UNMATCHED!
[177320.789212] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 5 times.
[177321.755099] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177321.790218] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177322.755104] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[177322.791222] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177323.755109] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[177323.792228] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 1 time.
[177324.755115] EtherCAT WARNING 0: 158 datagrams UNMATCHED!
[177324.784267] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1a00:0 download response.
[177324.784276] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[177324.784277] EtherCAT WARNING 0-0: 
[177324.784278] Currently mapped PDO entries: 
[177324.784278] 0x6041:00/16
[177324.784280]  
[177324.784280] 0x6043:00/16
[177324.784280]  
[177324.784281] 0x6061:00/8
[177324.784282]  
[177324.784282] 0x0000:00/8
[177324.784283] . Entries to map: 
[177324.784283] 0x6041:00/16
[177324.784283]  
[177324.784284] 0x6043:00/16
[177324.784284]  
[177324.784284] 0x6061:00/8
[177324.784285]  
[177324.784285] 0x0000:00/8

[177324.784286] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A00.
[177324.793237] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 83 times.
[177325.755119] EtherCAT WARNING 0: 266 datagrams UNMATCHED!
[177325.794239] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 132 times.
[177326.755125] EtherCAT WARNING 0: 84 datagrams UNMATCHED!
[177326.795243] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 40 times.
[177327.755129] EtherCAT WARNING 0: 10 datagrams UNMATCHED!
[177327.796249] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177328.755134] EtherCAT WARNING 0: 8 datagrams UNMATCHED!
[177328.797253] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177329.755140] EtherCAT WARNING 0: 14 datagrams UNMATCHED!
[177329.798259] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 7 times.
[177330.755145] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[177330.799264] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 3 times.
[177333.755160] EtherCAT WARNING 0: 32 datagrams UNMATCHED!
[177333.802403] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 16 times.
[177334.755165] EtherCAT WARNING 0: 54 datagrams UNMATCHED!
[177334.784283] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c13:0 download response.
[177334.784285] EtherCAT WARNING 0-0: Failed to clear PDO assignment of SM3.
[177334.784286] EtherCAT WARNING 0-0: 
[177334.784286] Currently assigned PDOs: 
[177334.784287] 0x1A00
[177334.784287] . PDOs to assign: 
[177334.784287] 0x1A00

[177334.786940] EtherCAT 0: Domain 0: Working counter changed to 2/3
[177334.786942] .
[177334.803284] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 28 times.
[177334.814167] EtherCAT 0: Slave states on main device: OP.
[177335.756175] EtherCAT WARNING 0: 108 datagrams UNMATCHED!
[177335.787295] EtherCAT 0: Domain 0: 48 working counter changes - now 2/3
[177335.787299] .
[177335.804295] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 53 times.
[177336.756179] EtherCAT WARNING 0: 120 datagrams UNMATCHED!
[177336.788300] EtherCAT 0: Domain 0: 24 working counter changes - now 2/3
[177336.788304] .
[177336.805300] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 60 times.
[177337.757184] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
[177337.789305] EtherCAT 0: Domain 0: 10 working counter changes - now 2/3
[177337.789309] .
[177337.806305] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 10 times.
[177338.757190] EtherCAT WARNING 0: 12 datagrams UNMATCHED!
[177338.790310] EtherCAT 0: Domain 0: 12 working counter changes - now 2/3
[177338.790315] .
[177338.807312] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 7 times.
[177339.758195] EtherCAT WARNING 0: 10 datagrams UNMATCHED!
[177339.791316] EtherCAT 0: Domain 0: 6 working counter changes - now 2/3
[177339.791320] .
[177339.808317] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 4 times.
[177340.758200] EtherCAT WARNING 0: 30 datagrams UNMATCHED!
[177340.792320] EtherCAT 0: Domain 0: 26 working counter changes - now 2/3
[177340.792324] .
[177340.809320] EtherCAT WARNING: Datagram 00000000614f7216 (domain0-0-main) was SKIPPED 15 times.
[177341.758205] EtherCAT WARNING 0: 24 datagrams UNMATCHED!
[177341.793327] EtherCAT 0: Domain 0: 10 working counter changes - now 2/3

dmesg after stopping linuxcnc
[177445.583701] EtherCAT 0: Master thread exited.
[177445.583719] EtherCAT 0: Starting EtherCAT-IDLE thread.
[177445.584019] EtherCAT ERROR 0-0: Failed to receive AL state datagram: 
[177445.584022] Datagram 
[177445.584023] initialized
[177445.584023] .
[177445.584030] EtherCAT 0: Releasing master...
[177445.584033] EtherCAT 0: Released.
[177445.591738] EtherCAT 0: Slave states on main device: PREOP.
[177446.004739] EtherCAT WARNING: Datagram 00000000867ce911 (master-fsm) was SKIPPED 1 time.

Furthermore i have attached different ethercat output of slave, master, sii_read, pdos and cstruct
There are no output from sdos or config

About my system:
Linux mint 19.1, Linux 5.11.4-rt11, iso image here
Linuxcnc 2.9.0-pre0-3734-gdb1d119f63
Ethercat 1.5.2

Any help is appreciated!

File Attachment:

File Name: ethercat-c...4-08.xml
File Size:2 KB

File Attachment:

File Name: postgui_20...4-08.hal
File Size:0 KB

File Attachment:

File Name: ethercatsl...4-08.txt
File Size:0 KB

File Attachment:

File Name: ethercatsi...4-08.txt
File Size:2 KB

File Attachment:

File Name: ethercatpd...4-08.txt
File Size:1 KB

File Attachment:

File Name: ethercatma...4-08.txt
File Size:1 KB

File Attachment:

File Name: ethercatcs...4-08.txt
File Size:1 KB
Attachments:

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08 Apr 2021 18:03 #205340 by db1981
hello,

please post your ini and hal file.

at first, linuxcnc-ethercat should not be placed in an postgui hal file..

i'm not shure if your master or network card is fully working, do you have access to annother ethercat slave ?

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09 Apr 2021 07:21 - 09 Apr 2021 07:39 #205399 by Stormholt
I believe i did attach the postgui.hal in the first post, here is the main hal file as well.

I do not have another slave, however i have thought about getting one from the Linuxcnc-ethercat documentation.

I have had trouble with the devices SII file which i still suspect to be faulty. At one point i got an error, something like: " PDO does not provide the syncmanager infomation" and "failed to determine PDO syncmanager", after which i read my sii file and it barely had any information in it. I then used the device description file from Deltas download center to generate and upload a new one using ethercat configurator, that made me come past the error, however now i can no longer control the device with the configurator tool. I have attached the output of "ethercat sii_read -p0 -v" in the first post.
Always two steps forward, one step back...
Attachments:
Last edit: 09 Apr 2021 07:39 by Stormholt.
The following user(s) said Thank You: lele

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09 Apr 2021 07:52 #205403 by db1981
is the drive still functional with ethercat configurator ? At which bus cycle time do you run it?

The setup of your hal file is not good, placing ethercat in an postgui hal file is an bad thing. place the lcec_conf and the addf read /write calls in the main hal. The commented addf calls for the hostmod2 read and write functions are in the wrong order too. I hope this is not the normal output from pncconf...

please read the post about the execution order : forum.linuxcnc.org/24-hal-components/223...er?start=1140#199443 .

Change this, and post the output of dmesg after linuxcnc start again.

You can also do an test with an slower ethercat cycle time, in the past i had a few devices on the table that have been not able to communicate faster than 1ms.
for this change:
[ini] servo_period to 1000000 (1ms)
[ethercat_conf] app_cycle_time to 1000000, ref_clock_sync_cycles to 1000 or (1 for testing).

(SII Eeprom content, is not necceary to get the device running, since we know which pdos needed and that its an normal coe device we can do an blind configuration.....)
The following user(s) said Thank You: Stormholt

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09 Apr 2021 09:04 #205408 by Stormholt
Thank you for your help!

The driver is not really functional with the configurator, after the SII update.

I have never thought about the execution order *face palm*. Is it still important even when you don't explicitly have any "calculation" or "functions" using the component in the hal file?

I believe i set it up as you specified, and changed to a 100ms thread. Now there is no longer all of those Unmatched errors
dmesg:
[264798.540481] EtherCAT: Requesting master 0...
[264798.540487] EtherCAT: Successfully requested master 0.
[264798.540658] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[264798.540661] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW.
[264798.540676] EtherCAT 0: Master thread exited.
[264798.540678] EtherCAT 0: Starting EtherCAT-OP thread.
[264798.540718] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[264810.786527] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1600:0 download response.
[264810.786531] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[264810.786531] EtherCAT WARNING 0-0: 
[264810.786532] Currently mapped PDO entries: 
[264810.786532] 0x6040:00/16
[264810.786533]  
[264810.786534] 0x6042:00/16
[264810.786534]  
[264810.786534] 0x6060:00/8
[264810.786535]  
[264810.786535] 0x0000:00/8
[264810.786536] . Entries to map: 
[264810.786536] 0x6040:00/16
[264810.786536]  
[264810.786537] 0x6042:00/16
[264810.786537]  
[264810.786537] 0x6060:00/8
[264810.786538]  
[264810.786538] 0x0000:00/8

[264810.786539] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1600.
[264820.886566] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c12:0 download response.
[264820.886569] EtherCAT WARNING 0-0: Failed to clear PDO assignment of SM2.
[264820.886570] EtherCAT WARNING 0-0: 
[264820.886571] Currently assigned PDOs: 
[264820.886571] 0x1600
[264820.886572] . PDOs to assign: 
[264820.886572] 0x1600

[264830.986603] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1a00:0 download response.
[264830.986606] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[264830.986607] EtherCAT WARNING 0-0: 
[264830.986607] Currently mapped PDO entries: 
[264830.986608] 0x6041:00/16
[264830.986608]  
[264830.986609] 0x6043:00/16
[264830.986609]  
[264830.986609] 0x6061:00/8
[264830.986610]  
[264830.986610] 0x0000:00/8
[264830.986611] . Entries to map: 
[264830.986611] 0x6041:00/16
[264830.986611]  
[264830.986611] 0x6043:00/16
[264830.986612]  
[264830.986612] 0x6061:00/8
[264830.986613]  
[264830.986613] 0x0000:00/8

[264830.986613] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A00.
[264841.086638] EtherCAT ERROR 0-0: Timeout after 10000 ms while waiting for SDO 0x1c13:0 download response.
[264841.086641] EtherCAT WARNING 0-0: Failed to clear PDO assignment of SM3.
[264841.086642] EtherCAT WARNING 0-0: 
[264841.086642] Currently assigned PDOs: 
[264841.086643] 0x1A00
[264841.086643] . PDOs to assign: 
[264841.086643] 0x1A00

[264841.586641] EtherCAT 0: Domain 0: Working counter changed to 2/3
[264841.586643] .
[264841.886998] EtherCAT 0: Slave states on main device: OP.
[264873.155537] EtherCAT 0: Master thread exited.
[264873.155544] EtherCAT 0: Starting EtherCAT-IDLE thread.
[264873.155564] EtherCAT ERROR 0-0: Failed to receive AL state datagram: 
[264873.155565] EtherCAT 0: Releasing master...
[264873.155565] Datagram 
[264873.155566] initialized
[264873.155566] .
[264873.155570] EtherCAT 0: Released.
[264873.163116] EtherCAT 0: Slave states on main device: PREOP.
[264873.851102] EtherCAT WARNING: Datagram 00000000867ce911 (master-fsm) was SKIPPED 1 time.

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09 Apr 2021 09:33 #205410 by db1981
at this state, execution order should not be important to get the drive to op state.
looking at dmesg, i think that the drives goes to ethercat op state, so lcnc-ethercat and your ethercat_conf.xml should be working.
What is the output of "ethercat slaves" when linuxcnc is running?

I believe i set it up as you specified, and changed to a 100ms thread

I hope you changed it to 1ms (1000000ns), 100ms would be a little bit slow.... i your posted config the servo_period has been 2khz (500000ns)...

I think that the drive should first be working with beckhoff again, before deeper searching in lcnc ethercat. I have no idea what could gone broken with upload the eeprom content. Does the slave go to op state in ethercat configurator, do you get any actual values from the statusword ?

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09 Apr 2021 09:53 #205411 by Stormholt
All right db1981, you win :laugh:
I set it to 1ms, dmesg is the same except the Unmatched warnings are back.

"Ethercat slaves", while linuxcnc is running
0  0:0  OP  +  Delta MS300 EtherCAT(CoE)

Prior to the SII update i could fully control the driver using the configurator, with actual values from statusword etc.
Not after the update.

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09 Apr 2021 10:06 #205413 by db1981
Mhhh, are you shure you configured lcnc with uspace and realtime?
if there are differences when running at 100ms and 1ms, i think theres something buggy in the etherlab master setup or lcnc is not running in realtime.
is "using posix realtime" displayed at linuxcnc start ?

please post an xmd descritption of the slave. Ethercat configurator, select the device in the left tree, actions menue, export xml descritption...

i am out of office now till sunday ... don't know if i will have internet on the construction site....

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09 Apr 2021 14:52 #205438 by Stormholt
Right i, usually work in a simulated version of the actual machine, so i didn't notice that linuxcnc is actually NOT running in real-time.
The computer i am working on with has the following "uname -a"
Linux vaerks-XH110G 5.11.4-rt11 #1 SMP Thu Mar 25 13:15:14 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux

I attempted reinstall linuxcnc and rebuilding lcnc-ethercat and ethercat-master to run realtime, but haven't made it work yet.
Is there somewhere i can configure or force linuxcnc to run realtime?

Thank you for your time and help! Unfortunately i want have access to the ethercat computer until monday, have a good weekend !
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12 Apr 2021 06:33 #205703 by db1981
i did an mistake,

please do an "box export" in ethercat configurator . (right click on the device, in the left tree).
The following user(s) said Thank You: Stormholt

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