I listened to you and made the following corrections.
<Mailbox DataLinkLayer="true">
<FoE/>
</Mailbox>
So "EtherCAT ERROR 0-0: Received mailbox protocol 0x08 as response." The error
is gone!
[ 54.128206@1] EtherCAT: Master driver 1.5.2 unknown
[ 54.128482@1] EtherCAT: 1 master waiting for devices.
[ 54.143837@0] ec_generic: EtherCAT master generic Ethernet device
module 1.5.2 unknown
[ 54.146156@0] EtherCAT: Accepting 00:1E:06:C2:B1:B6 as main
device for master 0.
[ 54.153610@0] ec_generic: Binding socket to interface 2 (eth0).
[ 54.236637@0] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 54.236761@0] EtherCAT 0: Link state of ecm0 changed to UP.
[ 54.246617@1] EtherCAT 0: 1 slave(s) responding on main device.
[ 54.248103@1] EtherCAT 0: Slave states on main device: INIT.
[ 54.253576@1] EtherCAT 0: Scanning bus.
[ 54.308988@1] EtherCAT 0: Bus scanning completed in 60 ms.
[ 54.309026@1] EtherCAT 0: Using slave 0 as DC reference clock.
[ 54.336653@0] EtherCAT 0: Slave states on main device: PREOP.
The attachment coe_delete.txt is the entire EtherLab log executed with the
modified xml.
It is still not changed to OP state.
EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state
change (PREOP + ERROR).
EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output
configuration".
I think it seems to be a new problem with my existing one.
I see
http://lists.etherlab.org/pipermail/etherlab-users/attachments/20120413/b83b76d4/attachment.c
Do I need this extra programming to change to the OP state?
Best regards,
Kwon
root@odroid:~# cat ethercat_start
modprobe ec_master main_devices=00:1e:06:c2:b1:b6
modprobe ec_generic
root@odroid:~#
root@odroid:~# ./ethercat_start
[ 54.128206@1] EtherCAT: Master driver 1.5.2 unknown
[ 54.128482@1] EtherCAT: 1 master waiting for devices.
[ 54.143837@0] ec_generic: EtherCAT master generic Ethernet device module
1.5.2 unknown
[ 54.146156@0] EtherCAT: Accepting 00:1E:06:C2:B1:B6 as main device for
master 0.
[ 54.153610@0] ec_generic: Binding socket to interface 2 (eth0).
[ 54.236637@0] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 54.236761@0] EtherCAT 0: Link state of ecm0 changed to UP.
[ 54.246617@1] EtherCAT 0: 1 slave(s) responding on main device.
[ 54.248103@1] EtherCAT 0: Slave states on main device: INIT.
[ 54.253576@1] EtherCAT 0: Scanning bus.
root@odroid:~# [ 54.308988@1] EtherCAT 0: Bus scanning completed in 60 ms.
[ 54.309026@1] EtherCAT 0: Using slave 0 as DC reference clock.
[ 54.336653@0] EtherCAT 0: Slave states on main device: PREOP.
root@odroid:~#
root@odroid:~# ethercat debug 1
[ 60.579031@2] EtherCAT 0: Master debug level set to 1.
root@odroid:~#
root@odroid:~# ethercat rescan
root@odroid:~# [ 64.956691@2] EtherCAT DEBUG 0: Sending broadcast-write to
measure transmission delays on main link.
[ 64.960241@2] EtherCAT DEBUG 0: 1 slaves responded to delay measuring on
main link.
[ 64.967944@2] EtherCAT 0: Scanning bus.
[ 64.971652@2] EtherCAT DEBUG 0: Scanning slave 0 on main link.
[ 64.977857@2] EtherCAT DEBUG 0-0: Slave has the System Time register.
[ 65.034596@2] EtherCAT 0: Bus scanning completed in 70 ms.
[ 65.034634@2] EtherCAT 0: Using slave 0 as DC reference clock.
[ 65.040301@2] EtherCAT DEBUG 0-0:
ec_slave_calc_transmission_delays_rec(delay = 0 ns)
[ 65.048106@2] EtherCAT DEBUG 0: No app_time received up to now.
[ 65.066575@0] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP
(forced).
[ 65.068160@0] EtherCAT DEBUG 0-0: Configuring...
[ 65.073379@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 65.077258@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 65.083532@0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 65.090165@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 65.095672@0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 65.102167@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 65.109297@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 65.117896@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 65.120870@0] EtherCAT DEBUG 0-0: Finished configuration.
[ 65.126267@0] EtherCAT DEBUG 0-0: Ready for requests.
root@odroid:~#
root@odroid:~#
root@odroid:~# ethercat states INIT
[ 993.312272@1] EtherCAT DEBUG 0-0: Changing state from PREOP to INIT.
[ 993.313011@1] EtherCAT DEBUG 0-0: Configuring...
[ 993.318521@1] EtherCAT DEBUG 0-0: Now in INIT.
[ 993.322024@1] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 993.328211@1] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 993.334986@1] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 993.340490@1] EtherCAT DEBUG 0-0: Finished configuration.
[ 993.352228@1] EtherCAT 0: Slave states on main device: INIT.
root@odroid:~#
root@odroid:~#
root@odroid:~# ethercat states PREOP
root@odroid:~# [ 996.002257@2] EtherCAT DEBUG 0-0: Changing state from INIT to
PREOP.
[ 996.005748@2] EtherCAT DEBUG 0-0: Configuring...
[ 996.010485@2] EtherCAT DEBUG 0-0: Now in INIT.
[ 996.014821@2] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 996.020931@2] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 996.027722@2] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 996.033294@2] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 996.039704@2] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 996.046912@2] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 996.057612@2] EtherCAT DEBUG 0-0: Now in PREOP.
[ 996.058458@2] EtherCAT DEBUG 0-0: Finished configuration.
[ 996.072214@2] EtherCAT 0: Slave states on main device: PREOP.
root@odroid:~#
root@odroid:~# ethercat states SAFEOP
root@odroid:~# [ 999.162230@0] EtherCAT DEBUG 0-0: Changing state from PREOP
to SAFEOP.
[ 999.165610@0] EtherCAT DEBUG 0-0: Configuring...
[ 999.171719@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 999.174700@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 999.181085@0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 999.187787@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 999.193185@0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 999.199566@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 999.206732@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 999.217365@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 999.218324@0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 128, Ctrl 0x24, En 1
[ 999.225588@0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 128, Ctrl 0x20, En 1
[ 999.233884@0] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused
state change (PREOP + ERROR).
[ 999.242230@0] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output
configuration".
[ 999.250985@0] EtherCAT 0-0: Acknowledged state PREOP.
root@odroid:~#
root@odroid:~# ethercat cstruct
/* Master 0, Slave 0, "evb9252_dig"
* Vendor ID: 0x00001337
* Product code: 0x000004d2
* Revision number: 0x00000000
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x7000, 0x01, 8}, /* LED0 */
{0x7000, 0x02, 8}, /* LED1 */
{0x6000, 0x01, 8}, /* Button1 */
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 2, slave_0_pdo_entries + 0}, /* LEDs */
{0x1a00, 1, slave_0_pdo_entries + 2}, /* Buttons */
};
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_DISABLE},
{3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};_______________________________________________
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