- Configuring LinuxCNC
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- Long initialization of Ethercat on servo drive SV660N
Long initialization of Ethercat on servo drive SV660N
- hanz24
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29 Oct 2025 01:43 #337374
by hanz24
This is some lines that related to ethercat from sudo dmesg, is the problem with sync manager from xml file? or is it because some pdo from my drive didn't match
Replied by hanz24 on topic Long initialization of Ethercat on servo drive SV660N
[ 130.057958] EtherCAT 0: Link state of ecm0 changed to UP.
[ 130.098035] EtherCAT 0: 1 slave(s) responding on main device. Re-scanning on next possibility.
[ 130.098038] EtherCAT 0: Slave states on main device: INIT.
[ 130.098040] EtherCAT 0: Re-scanning now.
[ 130.098338] EtherCAT 0: Scanning bus.
[ 130.423709] EtherCAT 0: Bus scanning completed in 324 ms.
[ 130.423713] EtherCAT 0: Using slave 0 as DC reference clock.
[ 130.423716] EtherCAT 0: Starting EoE thread.
[ 130.429964] EtherCAT 0: Slave states on main device: PREOP.
[ 223.571989] EtherCAT: Requesting master 0...
[ 223.571994] EtherCAT: Successfully requested master 0.
[ 223.572282] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[ 223.572285] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[ 223.572300] EtherCAT 0: Master thread exited.
[ 223.572302] EtherCAT 0: Stopping EoE thread.
[ 223.572312] EtherCAT 0: EoE thread exited.
[ 223.572313] EtherCAT 0: Starting EoE thread.
[ 223.572363] EtherCAT 0: Starting EtherCAT-OP thread.
[ 223.572393] EtherCAT WARNING 0: 3 datagrams TIMED OUT!
[ 233.629941] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP.
[ 233.637940] EtherCAT 0: Slave states on main device: SAFEOP.
[ 241.597939] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 245.322148] EtherCAT 0: Master thread exited.
[ 245.322152] EtherCAT 0: Stopping EoE thread.
[ 245.322161] EtherCAT 0: EoE thread exited.
[ 245.322169] EtherCAT 0: Starting EoE thread.
[ 245.322206] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 245.322267] EtherCAT 0: Releasing master...
[ 245.322270] EtherCAT 0: Released.
[ 245.330235] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 245.331449] EtherCAT 0-0: Acknowledged state SAFEOP.This is some lines that related to ethercat from sudo dmesg, is the problem with sync manager from xml file? or is it because some pdo from my drive didn't match
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- Hakan
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29 Oct 2025 07:06 #337380
by Hakan
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
Two errors, one is timeout and one is watchdog.
Let's start with the first one, timeout. You also got Timeout warnings.
This can happen if the network performance is questionable.
Which network card do you use, and which linux module does it use? Find out with "lspci -k".
With a Realtek card, switch to the r8168-dkms driver, maybe not exactly that name but similar at least.
Intel card works best, but can need latency-related settings.
Watchdog is often set with a default value. It's seems your drive need that explicitly set.
Add the lineafter the dcconf line line. If you're interested in trying to decode it, each interval is 40 nanoseconds long,
so this ends up being just under 100 ms. 100 ms is Ethercat default setting.
Let's start with the first one, timeout. You also got Timeout warnings.
This can happen if the network performance is questionable.
Which network card do you use, and which linux module does it use? Find out with "lspci -k".
With a Realtek card, switch to the r8168-dkms driver, maybe not exactly that name but similar at least.
Intel card works best, but can need latency-related settings.
Watchdog is often set with a default value. It's seems your drive need that explicitly set.
Add the line
<watchdog divider="2498" intervals="1000"/>so this ends up being just under 100 ms. 100 ms is Ethercat default setting.
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29 Oct 2025 07:56 - 29 Oct 2025 07:58 #337382
by hanz24
Replied by hanz24 on topic Long initialization of Ethercat on servo drive SV660N
Im using Intel I210 for network card, and igb for linux module (?) im not sure about the linux module.
And i already try to adding watchdog line too before, and i think its giving same error. And sometimes my slaves state is in INIT+ERROR after running the linuxcnc sim.
And i already try to adding watchdog line too before, and i think its giving same error. And sometimes my slaves state is in INIT+ERROR after running the linuxcnc sim.
[ 228.150236] EtherCAT: Requesting master 0...
[ 228.150242] EtherCAT: Successfully requested master 0.
[ 228.150518] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[ 228.150521] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[ 228.150547] EtherCAT 0: Master thread exited.
[ 228.150550] EtherCAT 0: Stopping EoE thread.
[ 228.150570] EtherCAT 0: EoE thread exited.
[ 228.150571] EtherCAT 0: Starting EoE thread.
[ 228.150622] EtherCAT 0: Starting EtherCAT-OP thread.
[ 228.150653] EtherCAT WARNING 0: 3 datagrams TIMED OUT!
[ 238.231729] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP.
[ 238.241933] EtherCAT 0: Slave states on main device: SAFEOP.
[ 246.189933] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 324.353930] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 373.619468] EtherCAT 0: Master thread exited.
[ 373.619473] EtherCAT 0: Stopping EoE thread.
[ 373.619510] EtherCAT 0: EoE thread exited.
[ 373.619521] EtherCAT 0: Starting EoE thread.
[ 373.619565] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 373.622301] EtherCAT 0: Releasing master...
[ 373.622304] EtherCAT 0: Released.
[ 373.622394] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 373.622878] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 383.626063] EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP.
[ 383.633953] EtherCAT 0: Slave states on main device: SAFEOP.
[ 387.645398] EtherCAT: Requesting master 0...
[ 387.645588] EtherCAT: Successfully requested master 0.
[ 387.645853] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[ 387.645856] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[ 387.645872] EtherCAT 0: Master thread exited.
[ 387.645875] EtherCAT 0: Stopping EoE thread.
[ 387.645891] EtherCAT 0: EoE thread exited.
[ 387.645892] EtherCAT 0: Starting EoE thread.
[ 387.646323] EtherCAT 0: Starting EtherCAT-OP thread.
[ 391.577924] EtherCAT ERROR 0-0: Failed to set INIT state, slave refused state change (SAFEOP + ERROR).
[ 391.579407] EtherCAT ERROR 0-0: AL status message 0x0000: "No error".
Last edit: 29 Oct 2025 07:58 by hanz24.
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29 Oct 2025 08:22 - 29 Oct 2025 08:22 #337383
by Hakan
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
The i210 is my favorite. If you also have isolcpus=1,2,3 that's as good as it gets, I guess.
The other thing is the EoE thread starting. It have seen on posts here
that EoE can be a problem.
The way I would test is to download and compile ethercat master myself.
And use the --disable-eoe option to disable EoE altogether from the master.
The other thing is the EoE thread starting. It have seen on posts here
that EoE can be a problem.
The way I would test is to download and compile ethercat master myself.
And use the --disable-eoe option to disable EoE altogether from the master.
Last edit: 29 Oct 2025 08:22 by Hakan.
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29 Oct 2025 08:26 #337384
by hanz24
Replied by hanz24 on topic Long initialization of Ethercat on servo drive SV660N
I also want to ask about this because i dont know if this can cause the problem. My pdos from the driver is not that much and some of the pin id for basic config is not there, like 6060, 60FF, 6061, 606C. whether this could be the cause of the error all this time or not, but when I tried to delete some pins that were not on the pdos slaves the error still appeared
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29 Oct 2025 08:37 #337385
by Hakan
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
Ok, so what does the drive have? It isn't a cia402 drive since those pdos are standardized in cia402?
Output of "lcec_configgen -generic_pdos", please?
Output of "lcec_configgen -generic_pdos", please?
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- rodw
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29 Oct 2025 08:58 #337386
by rodw
Replied by rodw on topic Long initialization of Ethercat on servo drive SV660N
Where are your vid and pid settings in your XML? Please refer to the simple example mentioned by Hakan earlier github.com/dbraun1981/hal-cia402/tree/main/example
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29 Oct 2025 10:47 #337390
by Hakan
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
Or is it that you don't have the "target-velocity" pdo? Just delete it. Same with "actual-velocity" and "actual-torque". Nice to have, not needed.
Minimal
Minimal
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
</pdo>
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- onceloved
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29 Oct 2025 11:17 #337392
by onceloved
Replied by onceloved on topic Long initialization of Ethercat on servo drive SV660N
I also use the SV660N driver. I can configure it for you remotely. How can I contact you?
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29 Oct 2025 13:33 #337398
by Hakan
Replied by Hakan on topic Long initialization of Ethercat on servo drive SV660N
Can't you just share the config? It will help the next guy also.
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- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- Long initialization of Ethercat on servo drive SV660N
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