Hello.
I solved the problem that did not change to OP state!!. :)
I set the defaultsize of SM2 and SM3 in the xml
file.(attachments:kty_success.xml)
Because if defaultsize is not defined, size of SM2, SM3 is 0 in SAFEOP
operation as below.
root@odroid:~# ethercat states OP
root@odroid:~# [ 51.376661@0] EtherCAT DEBUG 0-0: Changing state
from PREOP to OP.
[ 51.378857@0] EtherCAT DEBUG 0-0: Configuring...
[ 51.385170@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 51.388296@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 51.394066@0] EtherCAT DEBUG 0-0: Clearing sync manager
configurations...
[ 51.401123@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 51.406349@0] EtherCAT DEBUG 0-0: Configuring mailbox sync
managers...
[ 51.413099@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128,
Ctrl 0x26, En 1
[ 51.420182@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128,
Ctrl 0x22, En 1
[ 51.431622@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 51.431655@0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 0,
Ctrl 0x24, En 0
[ 51.438992@0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 0,
Ctrl 0x20, En 0
[ 51.451201@0] EtherCAT ERROR 0-0: Failed to set SAFEOP state,
slave refused state change (PREOP + ERROR).
[ 51.455414@0] EtherCAT ERROR 0-0: AL status message 0x001D:
"Invalid output configuration".
[ 51.465214@0] EtherCAT 0-0: Acknowledged state PREOP.
root@odroid:~#
So I have specified defaultsize for SM2 and SM3 in the xml file.
The status changed to OP like the attachment success.txt afterwards.
The "Sync manager watchdog" error is still happening, but the OP is the first
to change!
Your help has been very helpful to me.
Thank you.
Best regards,
Kwon
From: etherlab-dev [mailto:etherlab-dev-boun...@etherlab.org] On Behalf Of
Christoph Schroeder
Sent: Wednesday, May 31, 2017 6:44 PM
To: etherlab-dev@etherlab.org
Subject: Re: [etherlab-dev] "Failed to read number of assigned PDOs for SM2"
error occurs.
Hello,
I am not 100% sure but I will write down some conjectures what could cause the
problem. I think the critical part is this:
<Mailbox DataLinkLayer="true">
<CoE CompleteAccess="false" PdoUpload="true" SdoInfo="true"/>
<FoE/>
</Mailbox>
This is the description of PdoUpload:
Device has dynamic process data, i.e. PDO configuration
and PDO assignment is uploaded from the device and
SyncManager lengths are set according to the calculated
PDO length.
0: PDO description taken from ESI and SyncManager
length calculated based on the same
1: PDO description uploaded from the slave’s object
dictionary and SyncManager length calculated based on the
same
>From what I understand there is a static and a dynamic way to manage process
>data. The static way means the PDO informations resp. the SyncManager length
>are stored in the EEPROM which is retrieved by the EtherCAT master during
>initialization. The PDO informations are not mandatory but the SyncManager
>length is.
Complex slaves, resp. slaves with attached microcontroller / FPGA etc. that
support mailbox communication, support a dynamic way where the PDO informations
are retrieved via the mailbox CoE protocol. The SyncManager length is then
calculated based on these informations. This of course has to be supported by
the microcontroller / FPGA or in your case the OMRON-NJ501 PLC or rather by
it's software / configuration. Unfortunately I can't tell you how to exactly do
this as we never used CoE. We also use the LAN9252 as complex slave with a FPGA
but with a custom configuration and only VoE mailbox protocoll.
One other guess: the ESI file tells me that CoE is not completely supported but
some features that use CoE are. Maybe this confuses the EtherCAT master? This
would also explain why "EtherCAT ERROR 0-0: Received mailbox protocol 0x08 as
response." occurs which means only FoE is set as supported mailbox protocol.
Setting the bit in the EEPROM might be of help here, but could lead to other
errors.
Best regards,
Christoph
On 05/31/2017 10:09 AM, 권태영 wrote:
Hello.
I am testing the EtherLab with the MicroChip EVB-LAN9252-ADD-ON board.
The EVB-LAN9252-ADD-ON board is connected to ODROID-C1 and is used as an
EtherCAT slave as SOES(SPI communication).
Kernel version is using version 3.10.
I tested the ported SOES with OMRON-NJ501-1500 PLC and Sysmac Studio. (Attached
file: 1.png)
I have compiled EtherLab to do the same EtherCAT Master
operation.(etherlab-bundle-2.1)
I tried to control it with the ethercat command.
However, the following error message appears.
===================================================================
EtherCAT WARNING 0-0: Received mailbox protocol 0x08 as response.
EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2.
EtherCAT WARNING 0-0: Received mailbox protocol 0x08 as response.
EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3.
EtherCAT 0: Bus scanning completed in 90 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: Slave states on main device: PREOP.
EtherCAT ERROR 0-0: Received mailbox protocol 0x08 as response.
===================================================================
On the EVB-LAN9252-ADD-ON board, only the Run LED is blinking.(PEROP)
How can I tell if I can solve this problem?
Why does this error occur?
I am EtherCAT Newbi.... :(
The attached log.txt is all the commands and logs I have run.
The attached kty.xml file is the ESI file currently being used by the EtherCAT
Slave.
The attached 2.jpg is the current status of my board.
Regards
Kwon
_______________________________________________
etherlab-dev mailing list
etherlab-dev@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-dev
_____
Helmholtz-Zentrum Berlin für Materialien und Energie GmbH
Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.
Aufsichtsrat: Vorsitzender Dr. Karl Eugen Huthmacher, stv. Vorsitzende Dr.
Jutta Koch-Unterseher
Geschäftsführung: Prof. Dr. Bernd Rech (kommissarisch), Thomas Frederking
Sitz Berlin, AG Charlottenburg, 89 HRB 5583
Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin
http://www.helmholtz-berlin.de
<?xml version="1.0" encoding="UTF-8"?>
<EtherCATInfo>
<Vendor>
<Id>#x1337</Id>
<Name LcId="1033">rt-labs AB</Name>
</Vendor>
<Descriptions>
<Groups>
<Group>
<Type>lan9252_spi</Type>
<Name LcId="1033">lan9252</Name>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="1234" RevisionNo="0">evb9252_dig</Type>
<Name LcId="1033">lan9252</Name>
<GroupType>lan9252_spi</GroupType>
<Profile>
<ProfileNo>5001</ProfileNo>
<AddInfo>400</AddInfo>
<Dictionary>
<DataTypes>
<DataType>
<Name>DT1018</Name>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Vendor ID</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Product Code</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Revision Number</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Serial Number</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1600</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>LED0</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>LED1</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Button1</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C00ARR</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6000</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Button1</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7000</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>LED0</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>LED1</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>24</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT8000</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Elements</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Multiplier</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>STRING(3)</Name>
<BitSize>24</BitSize>
</DataType>
<DataType>
<Name>STRING(11)</Name>
<BitSize>88</BitSize>
</DataType>
<DataType>
<Name>UDINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>UINT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>USINT</Name>
<BitSize>8</BitSize>
</DataType>
</DataTypes>
<Objects>
<Object>
<Index>#x1000</Index>
<Name>Device Type</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>#x01901389</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</Object>
<Object>
<Index>#x1008</Index>
<Name>Device Name</Name>
<Type>STRING(11)</Type>
<BitSize>88</BitSize>
<Info>
<DefaultString>evb9252_dig</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1009</Index>
<Name>Hardware Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100A</Index>
<Name>Software Version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultString>1.0</DefaultString>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1018</Index>
<Name>Identity Object</Name>
<Type>DT1018</Type>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Info>
<DefaultValue>#x1337</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Product Code</Name>
<Info>
<DefaultValue>1234</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Revision Number</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Serial Number</Name>
<Info>
<DefaultValue>#x00000000</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1600</Index>
<Name>LEDs</Name>
<Type>DT1600</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LED0</Name>
<Info>
<DefaultValue>#x70000108</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LED1</Name>
<Info>
<DefaultValue>#x70000208</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>Buttons</Name>
<Type>DT1A00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Info>
<DefaultValue>#x60000108</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name>
<Type>DT1C00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM0</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM1</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM2</Name>
<Info>
<DefaultValue>3</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Communications Type SM3</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1600</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A00</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x6000</Index>
<Name>Buttons</Name>
<Type>DT6000</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Button1</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x7000</Index>
<Name>LEDs</Name>
<Type>DT7000</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LED0</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>LED1</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x8000</Index>
<Name>Parameters</Name>
<Type>DT8000</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Elements</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Multiplier</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Sm ControlByte="#x26" DefaultSize="128" Enable="1" StartAddress="#x1000">MBoxOut</Sm>
<Sm ControlByte="#x22" DefaultSize="128" Enable="1" StartAddress="#x1080">MBoxIn</Sm>
<Sm ControlByte="#x24" DefaultSize="2" Enable="1" StartAddress="#x1100">Outputs</Sm>
<Sm ControlByte="#x20" DefaultSize="1" Enable="1" StartAddress="#x1180">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index>
<Name>LEDs</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>LED0</Name>
<DataType>USINT</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>8</BitLen>
<Name>LED1</Name>
<DataType>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>Buttons</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>Button1</Name>
<DataType>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<FoE/>
</Mailbox>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800E00CC8813f000000000800000</ConfigData>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>root@odroid:~# ethercatctl start
[ 98.625808@1] EtherCAT: Master driver 1.5.2 unknown
[ 98.626085@1] EtherCAT: 1 master waiting for devices.
[ 98.641972@1] ec_generic: EtherCAT master generic Ethernet device module
1.5.2 unknown
[ 98.645399@0] EtherCAT: Accepting 00:1E:06:C2:B1:B6 as main device for
master 0.
[ 98.651766@0] ec_generic: Binding socket to interface 2 (eth0).
[ 98.696466@0] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 98.696582@0] EtherCAT 0: Link state of ecm0 changed to UP.
[ 98.706419@1] EtherCAT 0: 1 slave(s) responding on main device.
[ 98.707932@1] EtherCAT 0: Slave states on main device: INIT.
[ 98.713393@1] EtherCAT 0: Scanning bus.
root@odroid:~# [ 98.768869@1] EtherCAT 0: Bus scanning completed in 60 ms.
[ 98.768908@1] EtherCAT 0: Using slave 0 as DC reference clock.
[ 98.796388@1] EtherCAT 0: Slave states on main device: PREOP.
root@odroid:~#
root@odroid:~# ethercat debug 1
[ 102.383512@3] EtherCAT 0: Master debug level set to 1.
root@odroid:~#
root@odroid:~#
root@odroid:~# ethercat states OP
root@odroid:~# [ 117.456335@1] EtherCAT DEBUG 0-0: Changing state from PREOP
to OP.
[ 117.457305@1] EtherCAT DEBUG 0-0: Configuring...
[ 117.462681@1] EtherCAT DEBUG 0-0: Now in INIT.
[ 117.466362@1] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 117.472852@1] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 117.479479@1] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 117.484915@1] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 117.491288@1] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 117.498730@1] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 117.507313@1] EtherCAT DEBUG 0-0: Now in PREOP.
[ 117.510019@1] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 2, Ctrl 0x24, En 1
[ 117.517531@1] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 1, Ctrl 0x20, En 1
[ 117.526215@1] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 117.529726@1] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 117.536321@1] EtherCAT 0: Slave states on main device: OP.
[ 117.596300@1] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 117.606338@0] EtherCAT DEBUG 0-0: OP -> SAFEOP + ERROR.
[ 117.606435@0] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager
watchdog".
[ 117.615800@0] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 117.618840@0] EtherCAT DEBUG 0-0: Changing state from SAFEOP to OP.
[ 117.625027@0] EtherCAT DEBUG 0-0: Configuring...
[ 117.631182@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 117.634058@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 117.640328@0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 117.647040@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 117.652525@0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 117.659031@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 117.666116@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 117.675847@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 117.677809@0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 2, Ctrl 0x24, En 1
[ 117.684862@0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 1, Ctrl 0x20, En 1
[ 117.693621@0] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 117.697437@0] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 117.706381@0] EtherCAT 0: Slave states on main device: OP.
[ 117.796320@0] EtherCAT DEBUG 0-0: OP -> SAFEOP + ERROR.
[ 117.796405@0] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager
watchdog".
[ 117.805614@0] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 117.808898@0] EtherCAT DEBUG 0-0: Changing state from SAFEOP to OP.
[ 117.815026@0] EtherCAT DEBUG 0-0: Configuring...
[ 117.821208@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 117.824043@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 117.830267@0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 117.837011@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 117.842521@0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 117.849016@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 117.856088@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 117.866060@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 117.867781@0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 2, Ctrl 0x24, En 1
[ 117.874845@0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 1, Ctrl 0x20, En 1
[ 117.883661@0] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 117.887523@0] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 117.986318@0] EtherCAT DEBUG 0-0: OP -> SAFEOP + ERROR.
[ 117.986405@0] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager
watchdog".
[ 117.995732@0] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 117.998817@0] EtherCAT DEBUG 0-0: Changing state from SAFEOP to OP.
[ 118.005009@0] EtherCAT DEBUG 0-0: Configuring...
[ 118.011351@0] EtherCAT DEBUG 0-0: Now in INIT.
[ 118.014040@0] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 118.020238@0] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 118.027021@0] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 118.032505@0] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 118.039015@0] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 118.046097@0] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 118.055454@0] EtherCAT DEBUG 0-0: Now in PREOP.
[ 118.057785@0] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 2, Ctrl 0x24, En 1
[ 118.064856@0] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 1, Ctrl 0x20, En 1
[ 118.073516@0] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 118.077913@0] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 118.176300@1] EtherCAT DEBUG 0-0: OP -> SAFEOP + ERROR.
[ 118.176400@1] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager
watchdog".
[ 118.184909@1] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 118.188769@1] EtherCAT DEBUG 0-0: Changing state from SAFEOP to OP.
[ 118.194993@1] EtherCAT DEBUG 0-0: Configuring...
[ 118.201552@1] EtherCAT DEBUG 0-0: Now in INIT.
[ 118.204025@1] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 118.210211@1] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 118.216965@1] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 118.222495@1] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 118.228975@1] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 118.236069@1] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 118.244727@1] EtherCAT DEBUG 0-0: Now in PREOP.
[ 118.247732@1] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 2, Ctrl 0x24, En 1
[ 118.254826@1] EtherCAT DEBUG 0-0: SM3: Addr 0x1180, Size 1, Ctrl 0x20, En 1
[ 118.262968@1] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 118.267270@1] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 118.326322@0] EtherCAT DEBUG 0-0: OP -> SAFEOP + ERROR.
[ 118.326411@0] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager
watchdog".
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