Ethercat with Delta Ms300 and CMM-EC01

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12 Apr 2021 07:11 #205704 by Stormholt
Hope you had a good weekend

Here it is, normally in .tce format, but the forum did not allow that format so here in .txt
Attachments:

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13 Apr 2021 06:06 #205761 by db1981
tce and xml seems to be normal.
Why does the drive not run anymore with ethercat configurator?
What is the actual behavieour?
Are there any errors displayed in the logger at the bottom, when the config is restarted?

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13 Apr 2021 07:26 - 13 Apr 2021 11:19 #205763 by Stormholt
So i have also tried Codesys and Twincat. Codesys cannot find the device and Twincat cannot establish an online connection.
Ethercat Configurator(After the EEPROM update) finds the device and seemingly has an online connection, but i can no longer read values like status word etc. The system parameters have either become empty or gibberish. And i cannot write to the writeable ones. I have attached an image, that also displays an error. Seems like a sync manager has the wrong idea of how many registers are mapped to it.
Attachments:
Last edit: 13 Apr 2021 11:19 by Stormholt.

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13 Apr 2021 09:47 #205768 by Stormholt
I just got the EK1100, along side with a couple different I/O series components.
So i tried out EK100, EL1002 and EL2004

Here is the xml
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="EK1100" />
<slave idx="1" type="EL1002" />
<slave idx="2" type="EL2004" />
</master>
</masters>

And here is the dmesg, I have no idea how the dmesg should look when it works. But i don't imaging so many UNMATCHED and SKIPPING warnings. How is it supposed to look like?
[ 6771.305904] EtherCAT: Requesting master 0...
[ 6771.305907] EtherCAT: Successfully requested master 0.
[ 6771.306040] EtherCAT 0: Domain0: Logical address 0x00000000, 2 byte, expected working counter 3.
[ 6771.306041] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LRW.
[ 6771.306049] EtherCAT 0: Master thread exited.
[ 6771.306050] EtherCAT 0: Starting EtherCAT-OP thread.
[ 6771.306073] EtherCAT WARNING 0: 46 datagrams UNMATCHED!
[ 6771.637720] EtherCAT 0: Domain 0: Working counter changed to 1/3
[ 6771.637725] .
[ 6771.662556] EtherCAT 0: Slave states on main device: OP.
[ 6772.305527] EtherCAT WARNING 0: 81 datagrams UNMATCHED!
[ 6772.591712] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 42 times.
[ 6772.638713] EtherCAT 0: Domain 0: 35 working counter changes - now 3/3
[ 6772.638718] .
[ 6773.305523] EtherCAT WARNING 0: 54 datagrams UNMATCHED!
[ 6773.592713] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 3 times.
[ 6773.639714] EtherCAT 0: Domain 0: 2 working counter changes - now 3/3
[ 6773.639717] .
[ 6774.305521] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 6774.593712] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 1 time.
[ 6774.640712] EtherCAT 0: Domain 0: 2 working counter changes - now 3/3
[ 6774.640716] .
[ 6775.306522] EtherCAT WARNING 0: 111 datagrams UNMATCHED!
[ 6775.594712] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 38 times.
[ 6775.641712] EtherCAT 0: Domain 0: 20 working counter changes - now 3/3
[ 6775.641716] .
[ 6776.307519] EtherCAT WARNING 0: 27 datagrams UNMATCHED!
[ 6776.595713] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 8 times.
[ 6776.642712] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3
[ 6776.642716] .
[ 6777.307518] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
[ 6777.596712] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 6 times.
[ 6777.643712] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3
[ 6777.643716] .
[ 6778.309517] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 6778.597711] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 2 times.
[ 6778.644711] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3
[ 6778.644714] .
[ 6779.311517] EtherCAT WARNING 0: 33 datagrams UNMATCHED!
[ 6779.598711] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 10 times.
[ 6779.645707] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3
[ 6779.645710] .
[ 6780.312517] EtherCAT WARNING 0: 78 datagrams UNMATCHED!
[ 6780.599713] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 27 times.
[ 6780.646708] EtherCAT 0: Domain 0: 20 working counter changes - now 3/3
[ 6780.646712] .
[ 6781.313518] EtherCAT WARNING 0: 45 datagrams UNMATCHED!
[ 6781.600710] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 14 times.
[ 6781.647710] EtherCAT 0: Domain 0: 16 working counter changes - now 3/3
[ 6781.647714] .
[ 6782.314517] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 6782.601710] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 3 times.
[ 6782.648711] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3
[ 6782.648716] .
[ 6783.314520] EtherCAT WARNING 0: 9 datagrams UNMATCHED!
[ 6783.602709] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 1 time.
[ 6783.649714] EtherCAT 0: Domain 0: 2 working counter changes - now 3/3
[ 6783.649718] .
[ 6784.315520] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[ 6784.603711] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 2 times.
[ 6784.650709] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3
[ 6784.650713] .
[ 6785.316516] EtherCAT WARNING 0: 27 datagrams UNMATCHED!
[ 6785.604709] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 18 times.
[ 6785.651709] EtherCAT 0: Domain 0: 22 working counter changes - now 3/3
[ 6785.651714] .
[ 6786.316514] EtherCAT WARNING 0: 33 datagrams UNMATCHED!
[ 6786.605710] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 2 times.
[ 6788.002828] EtherCAT 0: Domain 0: Working counter changed to 0/3
[ 6788.002832] .
[ 6788.319521] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[ 6788.607714] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 2 times.
[ 6789.007010] EtherCAT 0: Domain 0: Working counter changed to 3/3
[ 6789.007014] .
[ 6789.319527] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
[ 6789.608707] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 6 times.
[ 6790.007707] EtherCAT 0: Domain 0: 8 working counter changes - now 3/3
[ 6790.007712] .
[ 6790.319522] EtherCAT WARNING 0: 15 datagrams UNMATCHED!
[ 6790.609707] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 5 times.
[ 6791.008711] EtherCAT 0: Domain 0: 2 working counter changes - now 3/3
[ 6791.008716] .
[ 6791.320514] EtherCAT WARNING 0: 21 datagrams UNMATCHED!
[ 6791.610706] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 12 times.
[ 6792.009707] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3
[ 6792.009712] .
[ 6792.320517] EtherCAT WARNING 0: 15 datagrams UNMATCHED!
[ 6792.611702] EtherCAT WARNING: Datagram 000000008dbfd2ea (domain0-0-main) was SKIPPED 4 times.
[ 6792.732376] EtherCAT 0: Master thread exited.
[ 6792.732384] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6792.732406] EtherCAT 0: Releasing master...
[ 6792.732407] EtherCAT 0: Released.
[ 6792.738515] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 6792.751509] EtherCAT 0: Slave states on main device: PREOP

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13 Apr 2021 11:26 #205774 by Grotius
Hi Stormhold,

Why don't u grab an old pc with the stormhold edition on it? I think it would take 15 minutes to install.

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13 Apr 2021 12:48 - 13 Apr 2021 13:12 #205786 by Stormholt
Hey Grotius
i am on the stormhold edition actually, however i am trying out a new kernel to get the "PREEMPT RT" in uname -a to get POSIX real-time when running linuxcnc.

Even though i went to xconfig and set a pin in "Fully Preemptible Kernel" for the stormhold edition kernel, and only got "PREEMPT" and not "PREEMPT RT" in its uname -a, which apparently makes a difference
Last edit: 13 Apr 2021 13:12 by Stormholt.

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13 Apr 2021 14:13 #205797 by db1981
Hi,

-your ethercat problems are caused of an etherlab/ethernet driver problem or that your are not running in realtime.

-with the ms300 box, maybe something wen't wrong with the eeprom update. Where did you find the eeprom data and the xml file from delta?

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13 Apr 2021 14:47 #205802 by Stormholt
Hey db1981

I believe your assessment is completely correct.

I just managed to get POSIX realtime, and now the the EK1100 etc works like a charm.

So it set the ethernet cable of the ms300 to the EK100 and it has the same errors, slightly different dmesg :
[ 2293.564978] EtherCAT: Requesting master 0...
[ 2293.564983] EtherCAT: Successfully requested master 0.
[ 2293.565253] EtherCAT 0: Domain0: Logical address 0x00000000, 14 byte, expected working counter 6.
[ 2293.565254] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 14 byte, type LRW.
[ 2293.565295] EtherCAT 0: Master thread exited.
[ 2293.565300] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2293.565376] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2293.918764] EtherCAT 0: Domain 0: Working counter changed to 1/6
[ 2293.918768] .
[ 2294.919741] EtherCAT 0: Domain 0: Working counter changed to 3/6
[ 2294.919743] .
[ 2303.959730] EtherCAT ERROR 0-3: Timeout after 10000 ms while waiting for SDO 0x1600:0 download response.
[ 2303.959733] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 2303.959733] EtherCAT WARNING 0-3: 
[ 2303.959734] Currently mapped PDO entries: 
[ 2303.959735] 0x6040:00/16
[ 2303.959736]  
[ 2303.959736] 0x6042:00/16
[ 2303.959737]  
[ 2303.959737] 0x6060:00/8
[ 2303.959737]  
[ 2303.959738] 0x0000:00/8
[ 2303.959739] . Entries to map: 
[ 2303.959739] 0x6040:00/16
[ 2303.959740]  
[ 2303.959740] 0x6042:00/16
[ 2303.959741]  
[ 2303.959741] 0x6060:00/8
[ 2303.959742]  
[ 2303.959742] 0x0000:00/8

[ 2303.959744] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1600.
[ 2313.959728] EtherCAT ERROR 0-3: Timeout after 10000 ms while waiting for SDO 0x1c12:0 download response.
[ 2313.959731] EtherCAT WARNING 0-3: Failed to clear PDO assignment of SM2.
[ 2313.959732] EtherCAT WARNING 0-3: 
[ 2313.959733] Currently assigned PDOs: 
[ 2313.959734] 0x1600
[ 2313.959734] . PDOs to assign: 
[ 2313.959735] 0x1600

[ 2323.959720] EtherCAT ERROR 0-3: Timeout after 10000 ms while waiting for SDO 0x1a00:0 download response.
[ 2323.959723] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 2323.959724] EtherCAT WARNING 0-3: 
[ 2323.959724] Currently mapped PDO entries: 
[ 2323.959725] 0x6041:00/16
[ 2323.959725]  
[ 2323.959726] 0x6043:00/16
[ 2323.959726]  
[ 2323.959727] 0x6061:00/8
[ 2323.959728]  
[ 2323.959728] 0x0000:00/8
[ 2323.959729] . Entries to map: 
[ 2323.959729] 0x6041:00/16
[ 2323.959730]  
[ 2323.959730] 0x6043:00/16
[ 2323.959730]  
[ 2323.959731] 0x6061:00/8
[ 2323.959732]  
[ 2323.959732] 0x0000:00/8

[ 2323.959733] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A00.
[ 2333.959712] EtherCAT ERROR 0-3: Timeout after 10000 ms while waiting for SDO 0x1c13:0 download response.
[ 2333.959715] EtherCAT WARNING 0-3: Failed to clear PDO assignment of SM3.
[ 2333.959716] EtherCAT WARNING 0-3: 
[ 2333.959716] Currently assigned PDOs: 
[ 2333.959717] 0x1A00
[ 2333.959718] . PDOs to assign: 
[ 2333.959718] 0x1A00

[ 2333.964712] EtherCAT 0: Domain 0: Working counter changed to 5/6
[ 2333.964713] .
[ 2333.995385] EtherCAT 0: Slave states on main device: OP.

With XML:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="EK1100" />
<slave idx="1" type="EL1002" />
<slave idx="2" type="EL2004" />
<slave idx="3" type="generic" vid="000001DD" pid="10400200" configPdos="true">
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="ms300.control" halType="u32"/>
<pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="ms300.target-velocity" halType="s32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="ms300.mode" halType="s32"/>
<pdoEntry idx="0000" subIdx="00" bitLen="8"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="ms300.status" halType="u32"/>
<pdoEntry idx="6043" subIdx="00" bitLen="16" halPin="ms300.velocity-demand" halType="s32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="ms300.mode-display" halType="s32"/>
<pdoEntry idx="0000" subIdx="00" bitLen="8"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

I got the xml file from Delta's own downloadcenter . The eeprom data is not something i found, but some thing i believe is generated when using the "EEPROM update" in ethercat configurator. I believe it is similar to the sii_tool that can generate an SII file from an xml file

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13 Apr 2021 17:33 #205813 by db1981
maybe the eeprom update has gone wrong.
I have no experience how good this works with foreign devices.

infosys.beckhoff.com/english.php?content.../4348710539.html&id=
The following user(s) said Thank You: Stormholt

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03 Aug 2021 22:55 #216872 by sqmathlete

I got the xml file from Delta's own  downloadcenter  . The eeprom data is not something i found, but some thing i believe is generated when using the "EEPROM update" in ethercat configurator. I believe it is similar to the sii_tool that can generate an SII file from an xml file

Are you updating from TwinCat?  Also, have a look at the xml file,  I had the same card in C2000 VFD and there was one line a the end of the xml file that I had to change to allow PDO's  to be written.

Dan

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