EtherCAT Servo cannot set to OP state

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22 Jan 2024 08:00 #291320 by lraja143
EtherCAT Servo cannot set to OP state was created by lraja143
Dear friends,
I am facing the issue in ethercat master implementation.
I have installed igh ethercat master.
I have tried to set the servo in op state using igh commands. But, the Servo cannot set to OP state.
Servo drive: veichi servo sd700.

 

I have get more information about this using gmesg command. It says "ERROR 0.0  timeout while setting state OP.

 


Kindly check and give me a suggestion /solution to solve this issue
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31 Jan 2024 06:45 #292051 by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
Hi, did you solve the problem ? I have the same servodrive, I`ll check next week.

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31 Jan 2024 10:43 #292058 by endian
Replied by endian on topic EtherCAT Servo cannot set to OP state
try 
ethercat pdos
ethercat cstruct 
ethercat debug 1
and let terminal output below... 

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03 Feb 2024 04:56 #292278 by lraja143
Replied by lraja143 on topic EtherCAT Servo cannot set to OP state
Dear Stean, The problem is not solved. Kindly help me if you solved this issue

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03 Feb 2024 06:33 #292280 by lraja143
Replied by lraja143 on topic EtherCAT Servo cannot set to OP state
Dear Sir,
I have shared the terminal output as suggested by you. Kindly check and help me
"lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
{0x1602, 2, slave_0_pdo_entries + 0},
{0x1a02, 3, slave_0_pdo_entries + 2},
};

ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};

lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat debug 1
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep ethercat
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo dmesg | grep EtherCAT
[ 180.830901] EtherCAT: Master driver 1.6.0-rc1 unknown
[ 180.831419] EtherCAT: 1 master waiting for devices.
[ 180.867495] ec_generic: EtherCAT master generic Ethernet device module 1.6.0-rc1 unknown
[ 180.867568] EtherCAT: Accepting DC:A6:32:28:79:61 as main device for master 0.
[ 180.884585] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 430.573013] EtherCAT 0: Link state of ecm0 changed to UP.
[ 430.582246] EtherCAT 0: 1 slave(s) responding on main device.
[ 430.582270] EtherCAT 0: Slave states on main device: INIT.
[ 430.582419] EtherCAT 0: Scanning bus.
[ 430.843757] EtherCAT 0: Bus scanning completed in 260 ms.
[ 430.843780] EtherCAT 0: Using slave 0 as DC reference clock.
[ 430.848691] EtherCAT 0: Slave states on main device: PREOP.
[ 531.164458] EtherCAT 0: Master debug level set to 1.
[ 678.455807] EtherCAT: Requesting master 0...
[ 678.455849] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 678.455859] EtherCAT: Successfully requested master 0.
[ 678.455931] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x0000000069c462d7)
[ 678.455946] EtherCAT DEBUG 0: Created domain 0.
[ 678.456348] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.456360] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00850104/0x01030507.
[ 678.456369] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 678.456875] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 0, dir = 2, watchdog_mode = 0)
[ 678.456895] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 0)
[ 678.456910] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 1, dir = 2, watchdog_mode = 0)
[ 678.456968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 1)
[ 678.456981] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 2, dir = 1, watchdog_mode = 0)
[ 678.456995] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 2)
[ 678.457016] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 2, pdo_index = 0x1602)
[ 678.457028] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602.
[ 678.457034] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1602)
[ 678.457065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457081] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457095] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000a0031af1, sync_index = 3, dir = 2, watchdog_mode = 0)
[ 678.457107] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000a0031af1, sync_index = 3)
[ 678.457167] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000a0031af1, sync_index = 3, pdo_index = 0x1A02)
[ 678.457178] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02.
[ 678.457185] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 678.457237] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000a0031af1, pdo_index = 0x1A02)
[ 678.457262] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[ 678.457279] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457294] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000a0031af1, pdo_index = 0x1A02, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[ 678.457467] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457495] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6040, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457509] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0.
[ 678.457522] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457538] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x60FF, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457552] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457568] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6041, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457577] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 6.
[ 678.457589] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457605] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x6064, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.457619] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069c462d7, alias = 0, position = 0, vendor_id = 0x00850104, product_code = 0x01030507)
[ 678.457635] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000a0031af1, index = 0x606C, subindex = 0x00, domain = 0x00000000b5134dfa, bit_position = 0x00000000ef25e7f7)
[ 678.458339] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000b5134dfa, mem = 0x0000000008bda562)
[ 678.458358] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x0000000069c462d7, send_cb = 0x00000000547b267b, receive_cb = 0x000000002a851c7b, cb_data = 0x0000000069c462d7)
[ 678.458366] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x0000000069c462d7)
[ 678.458379] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ 678.458386] EtherCAT 0: Domain0: Logical address 0x00000000, 16 byte, expected working counter 3.
[ 678.458395] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 16 byte, type LRW at 000000006890a4e7.
[ 678.458404] EtherCAT DEBUG 0: Stopping master thread.
[ 678.458583] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 678.458806] EtherCAT 0: Master thread exited.
[ 678.458823] EtherCAT DEBUG 0: FSM datagram is 00000000feeb28d1.
[ 678.458830] EtherCAT 0: Starting EtherCAT-OP thread.
[ 678.460757] EtherCAT DEBUG 0: mmap()
[ 678.460847] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 000000005554fe22
[ 678.469036] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[ 679.205026] EtherCAT DEBUG 0: Configuration changed.
[ 679.205057] EtherCAT DEBUG 0-0: Checking system time offset.
[ 679.305020] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
[ 679.305050] EtherCAT DEBUG 0: Requesting OP...
[ 679.501127] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 679.501197] EtherCAT DEBUG 0-0: Configuring...
[ 679.649612] EtherCAT DEBUG 0-0: Now in INIT.
[ 679.649637] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 679.649644] EtherCAT DEBUG 0-0: Clearing mailbox check flag...
[ 679.749636] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 679.849590] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 679.899690] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 679.899735] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 679.899748] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 679.999602] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 680.149609] EtherCAT DEBUG 0-0: Now in PREOP.
[ 680.149637] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 680.199618] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1602.
[ 680.199642] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:00.
[ 680.199648] EtherCAT DEBUG 0-0: Upload request:
[ 680.199653] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00
[ 680.399623] EtherCAT DEBUG 0-0: Upload response:
[ 680.399645] EtherCAT DEBUG: 00 30 4F 02 16 00 02 00 00 00
[ 680.399688] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.399710] EtherCAT DEBUG: 02
[ 680.399721] EtherCAT DEBUG 0-0: 2 PDO entries mapped.
[ 680.399726] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:01.
[ 680.399733] EtherCAT DEBUG 0-0: Upload request:
[ 680.399737] EtherCAT DEBUG: 00 20 40 02 16 01 00 00 00 00
[ 680.599635] EtherCAT DEBUG 0-0: Upload response:
[ 680.599656] EtherCAT DEBUG: 00 30 43 02 16 01 10 00 40 60
[ 680.599699] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.599723] EtherCAT DEBUG: 10 00 40 60
[ 680.599746] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 680.599754] EtherCAT DEBUG 0-0: Uploading SDO 0x1602:02.
[ 680.599760] EtherCAT DEBUG 0-0: Upload request:
[ 680.599764] EtherCAT DEBUG: 00 20 40 02 16 02 00 00 00 00
[ 680.799635] EtherCAT DEBUG 0-0: Upload response:
[ 680.799655] EtherCAT DEBUG: 00 30 43 02 16 02 20 00 FF 60
[ 680.799698] EtherCAT DEBUG 0-0: Uploaded data:
[ 680.799722] EtherCAT DEBUG: 20 00 FF 60
[ 680.799744] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 680.799753] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602.
[ 680.799758] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x60FF:00/32. Entries to map: 0x6040:00/16 0x60FF:00/32
[ 680.799796] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 680.799802] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 680.799806] EtherCAT DEBUG: 00
[ 680.799818] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.799822] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00
[ 680.999693] EtherCAT DEBUG 0-0: Download response:
[ 680.999736] EtherCAT DEBUG: 00 30 60 02 16 00 00 00 00 00
[ 680.999827] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 680.999841] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01.
[ 680.999848] EtherCAT DEBUG: 10 00 40 60
[ 680.999870] EtherCAT DEBUG 0-0: Expedited download request:
[ 680.999877] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60
[ 681.199690] EtherCAT DEBUG 0-0: Download response:
[ 681.199717] EtherCAT DEBUG: 00 30 60 02 16 01 10 00 40 60
[ 681.199763] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2.
[ 681.199812] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02.
[ 681.199822] EtherCAT DEBUG: 20 00 FF 60
[ 681.199844] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.199848] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60
[ 681.399652] EtherCAT DEBUG 0-0: Download response:
[ 681.399675] EtherCAT DEBUG: 00 30 60 02 16 02 20 00 FF 60
[ 681.399783] EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
[ 681.399789] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.
[ 681.399795] EtherCAT DEBUG: 02
[ 681.399806] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.399810] EtherCAT DEBUG: 00 20 2F 02 16 00 02 00 00 00
[ 681.599670] EtherCAT DEBUG 0-0: Download response:
[ 681.599691] EtherCAT DEBUG: 00 30 60 02 16 00 02 00 00 00
[ 681.599755] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1602.
[ 681.599762] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 681.599767] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1602
[ 681.599789] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 681.599795] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.599800] EtherCAT DEBUG: 00
[ 681.599811] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.599816] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 681.799689] EtherCAT DEBUG 0-0: Download response:
[ 681.799716] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[ 681.799796] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1.
[ 681.799804] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 681.799811] EtherCAT DEBUG: 02 16
[ 681.799825] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.799830] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00
[ 681.999681] EtherCAT DEBUG 0-0: Download response:
[ 681.999701] EtherCAT DEBUG: 00 30 60 12 1C 01 02 16 00 00
[ 681.999766] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 681.999774] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 681.999779] EtherCAT DEBUG: 01
[ 681.999790] EtherCAT DEBUG 0-0: Expedited download request:
[ 681.999794] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 682.199998] EtherCAT DEBUG 0-0: Download response:
[ 682.200061] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[ 682.200145] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[ 682.200164] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A02.
[ 682.200170] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:00.
[ 682.200176] EtherCAT DEBUG 0-0: Upload request:
[ 682.200180] EtherCAT DEBUG: 00 20 40 02 1A 00 00 00 00 00
[ 682.399800] EtherCAT DEBUG 0-0: Upload response:
[ 682.399846] EtherCAT DEBUG: 00 30 4F 02 1A 00 03 00 00 00
[ 682.399898] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.399904] EtherCAT DEBUG: 03
[ 682.399962] EtherCAT DEBUG 0-0: 3 PDO entries mapped.
[ 682.399970] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:01.
[ 682.399977] EtherCAT DEBUG 0-0: Upload request:
[ 682.399981] EtherCAT DEBUG: 00 20 40 02 1A 01 00 00 00 00
[ 682.599826] EtherCAT DEBUG 0-0: Upload response:
[ 682.599873] EtherCAT DEBUG: 00 30 43 02 1A 01 10 00 41 60
[ 682.599923] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.599929] EtherCAT DEBUG: 10 00 41 60
[ 682.599999] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 682.600014] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:02.
[ 682.600021] EtherCAT DEBUG 0-0: Upload request:
[ 682.600025] EtherCAT DEBUG: 00 20 40 02 1A 02 00 00 00 00
[ 682.799765] EtherCAT DEBUG 0-0: Upload response:
[ 682.799795] EtherCAT DEBUG: 00 30 43 02 1A 02 20 00 64 60
[ 682.799841] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.799845] EtherCAT DEBUG: 20 00 64 60
[ 682.799898] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 682.799909] EtherCAT DEBUG 0-0: Uploading SDO 0x1A02:03.
[ 682.799915] EtherCAT DEBUG 0-0: Upload request:
[ 682.799919] EtherCAT DEBUG: 00 20 40 02 1A 03 00 00 00 00
[ 682.999740] EtherCAT DEBUG 0-0: Upload response:
[ 682.999761] EtherCAT DEBUG: 00 30 43 02 1A 03 20 00 6C 60
[ 682.999823] EtherCAT DEBUG 0-0: Uploaded data:
[ 682.999828] EtherCAT DEBUG: 20 00 6C 60
[ 682.999849] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???".
[ 682.999857] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02.
[ 682.999862] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32
[ 682.999913] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 682.999918] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 682.999923] EtherCAT DEBUG: 00
[ 682.999934] EtherCAT DEBUG 0-0: Expedited download request:
[ 682.999939] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00
[ 683.199759] EtherCAT DEBUG 0-0: Download response:
[ 683.199795] EtherCAT DEBUG: 00 30 60 02 1A 00 00 00 00 00
[ 683.199844] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 683.199889] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01.
[ 683.199896] EtherCAT DEBUG: 10 00 41 60
[ 683.199917] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.199923] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60
[ 683.399749] EtherCAT DEBUG 0-0: Download response:
[ 683.399769] EtherCAT DEBUG: 00 30 60 02 1A 01 10 00 41 60
[ 683.399831] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[ 683.399840] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02.
[ 683.399845] EtherCAT DEBUG: 20 00 64 60
[ 683.399867] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.399871] EtherCAT DEBUG: 00 20 23 02 1A 02 20 00 64 60
[ 683.599762] EtherCAT DEBUG 0-0: Download response:
[ 683.599783] EtherCAT DEBUG: 00 30 60 02 1A 02 20 00 64 60
[ 683.599868] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[ 683.599877] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03.
[ 683.599882] EtherCAT DEBUG: 20 00 6C 60
[ 683.599902] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.599907] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 6C 60
[ 683.799876] EtherCAT DEBUG 0-0: Download response:
[ 683.799920] EtherCAT DEBUG: 00 30 60 02 1A 03 20 00 6C 60
[ 683.799969] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 683.799978] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.
[ 683.799984] EtherCAT DEBUG: 03
[ 683.800037] EtherCAT DEBUG 0-0: Expedited download request:
[ 683.800044] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00
[ 683.999810] EtherCAT DEBUG 0-0: Download response:
[ 683.999846] EtherCAT DEBUG: 00 30 60 02 1A 00 03 00 00 00
[ 683.999901] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A02.
[ 683.999909] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 683.999914] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A02
[ 683.999988] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 683.999996] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.000002] EtherCAT DEBUG: 00
[ 684.000013] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.000019] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 684.199899] EtherCAT DEBUG 0-0: Download response:
[ 684.199952] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[ 684.200018] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1.
[ 684.200028] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 684.200078] EtherCAT DEBUG: 02 1A
[ 684.200096] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.200101] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00
[ 684.400258] EtherCAT DEBUG 0-0: Download response:
[ 684.400290] EtherCAT DEBUG: 00 30 60 13 1C 01 02 1A 00 00
[ 684.400339] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 684.400347] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 684.400354] EtherCAT DEBUG: 01
[ 684.400367] EtherCAT DEBUG 0-0: Expedited download request:
[ 684.400372] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[ 684.700098] EtherCAT DEBUG 0-0: Download response:
[ 684.700119] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[ 684.700168] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 684.700184] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x64, En 1
[ 684.700191] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 10, Ctrl 0x20, En 1
[ 684.800044] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1100, SM2, Dir out
[ 684.800072] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 10, PhysAddr 0x1400, SM3, Dir in
[ 685.049798] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 685.100060] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 690.300338] EtherCAT ERROR 0-0: Timeout while setting state OP.
[ 690.405518] EtherCAT 0: Slave states on main device: SAFEOP.
[ 699.098638] EtherCAT 0: Releasing master...
[ 699.098661] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x0000000069c462d7)
[ 699.098670] EtherCAT DEBUG 0: Stopping master thread.
[ 699.098691] EtherCAT DEBUG 0: Master OP thread exiting...
[ 699.101684] EtherCAT 0: Master thread exited.
[ 699.101736] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 699.105202] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ 699.105234] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[ 699.105247] EtherCAT 0: Released.
[ 699.105303] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 699.105310] EtherCAT DEBUG: 0C 6C 00 00 00 00 10 00 00 00 00 00 00 00 00 00
[ 699.105376] EtherCAT DEBUG: 40 02 05 00 00 00 00 00 00 00 03 00
[ 699.105428] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ 699.105523] EtherCAT DEBUG 0: Datagram 00000000feeb28d1 already queued (skipping).
[ 699.117950] EtherCAT DEBUG 0-0: Changing state from SAFEOP to PREOP (forced).
[ 699.117976] EtherCAT DEBUG 0-0: Configuring...
[ 700.085883] EtherCAT WARNING: Datagram 00000000feeb28d1 (master-fsm) was SKIPPED 1 time.
[ 704.117853] EtherCAT ERROR 0-0: Timeout while setting state INIT.
"

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03 Feb 2024 10:03 #292289 by tommylight
Replied by tommylight on topic EtherCAT Servo cannot set to OP state
Duplicate post deleted.

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03 Feb 2024 10:24 #292296 by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
please send all configuration with xml file, I`ll try to check it today

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03 Feb 2024 20:36 #292328 by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
I checked working, you have to check "vid=XXXXXX" and pid="XXXXXX" number in XML file, must match the servodrive ID`s.

command ethercat debug 0 show you more informations

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03 Feb 2024 20:50 #292330 by Stean
Replied by Stean on topic EtherCAT Servo cannot set to OP state
or XML file is wrong, send to check

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08 Feb 2024 05:30 #292822 by endian
Replied by endian on topic EtherCAT Servo cannot set to OP state
I think you should fill up your existing .xml file with correct stuff from your terminal

take care about shape and size of product and vendor IDs...
* Vendor ID: 0x00850104
* Product code: 0x01030507

other stuff like cyclic PDOs you are able to create from some existing .xml samples from this forum... lets to search ethercat-conf.xml and take some time for study ... you have to learn what are what and what should be where... its easy
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1
RxPDO 0x1602 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1
TxPDO 0x1a02 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6064:00, 32 bit, ""
PDO entry 0x606c:00, 32 bit, ""
lraja@lraja-desktop:~/lr_r2k/OpenPLC_v3$ sudo ethercat cstruct
/* Master 0, Slave 0, "SD700_ECAT Drive"
* Vendor ID: 0x00850104
* Product code: 0x01030507
* Revision number: 0x02040608
*/

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x60ff, 0x00, 32},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
};

something like, but I can not tell you if it is working..
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="0x00850104" pid=" 0x01030507" name="stuff" configPdos="true">

<!-- Set OpMode to Cyclic Synchronous Velocity -->
<sdoConfig idx="6060" subIdx="00">
<sdoDataRaw data="09 00"/>
</sdoConfig>
<!-- Set Cycle Time -->
<sdoConfig idx="60c2" subIdx="01">
<sdoDataRaw data="01 00"/>
</sdoConfig>
<!-- Set Cycle exp = (-3) == 10^(-3) -->
<sdoConfig idx="60a2" subIdx="02">
<sdoDataRaw data="fd 00"/>
</sdoConfig>

<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1602">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="target-controlword" halType="u32"/>
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a02">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="actual-statusword" halType="u32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actaul-position-si" halType="s32"/>
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity-si" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
</slave>
</master>
</masters>
The following user(s) said Thank You: cekaa

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