Ethercat drives not responding, mesa error finishing read

The PLL fault doesn't freeze or kill the process: one drive will stop responding to cyclic position commands. The only reset function I've built into my code so far toggles cia402.x.enable and cia402.x.fault-reset, and that doesn't seem to be enough to reestablish communication with the drive.

Do you see pll-reset-count increasing?

What's the exact error message you get? I can search the code to see what's going on.

You can always try "ethercat rescan", sometimes it clears errors.
e-stop on when you do this.

Edit: I guess it is PLL error 0x32 error message you get.
Check for other messages in syslog, like missed datagrams.
Improved network latency is the answwer in that case.
Also the pll-reset-count as mentioned above.

The next time I see that error, I will try those things.

$lcecObject.pll-error-count is holding at 2. I haven't seen it increase yet.

I want to read some more data from the drives, and it won't work. See attached iX7NH.xml, line 23. I want to see the temperature values from the drive, but I can't read them. As shown, where pdoEntry idx="260B", the drive stays in PREOP (see dmesg output in dmesg260B.txt). If I change the index to "2606", the drive will go to OP (see dmesg output in dmesg2606.txt) and I can see the number through HAL (that I don't want). Registers 2606 and 260B are both 16 bit signed integers.
Any of 260B, 260C, or 260D (all temperature sensors in the servo system) have the same effect.


I can read the values manually with "ethercat upload -p0 -t int16 0x260B 0" and I get some number.
The drive manual says I can read up to 10 registers with one TxPDO: I have 6.
It also says that I am limited to 28 bytes in one TxPDO: I have 13.
How do I do this?

With pll-reset-count steady at to 2 it should be fine.

Try to locate temperature sensors in the pdo listing from "ethercat pdos".
I suspect you are addressing a sdo with 2605 and that won't work.
You'll find out from the ethercat pdos listing.

Output from "ethercat pdos" in attached file.

0x2605 works just fine: that's the DC link voltage and I can read that from all 3 drives.
0x260B does not.

The drive manual doesn't discuss SDOs, or whether some data index is a PDO or SDO. I would hope a temperature sensor would be continuously readable, which would require it to be a PDO.