Florian, I have changed the device position to 0. I now get this error: Jun 28 21:48:22 bertwistle kernel: [ 503.590840] EtherCAT ERROR: Failed to determine PDO sync manager for FMMU on slave 0!
I have posted the syslog below. Thanks. Jun 28 21:48:08 bertwistle kernel: [ 489.420078] EtherCAT: Master debug level set to 1. Jun 28 21:48:08 bertwistle kernel: [ 489.423984] EtherCAT DEBUG: File closed. Jun 28 21:48:22 bertwistle kernel: [ 503.395978] ec_mini: no version for "ecrt_request_master" found: kernel tainted. Jun 28 21:48:22 bertwistle kernel: [ 503.403956] ec_mini: Starting... Jun 28 21:48:22 bertwistle kernel: [ 503.403962] EtherCAT: Requesting master 0... Jun 28 21:48:22 bertwistle kernel: [ 503.403966] EtherCAT DEBUG: IDLE -> OPERATION. Jun 28 21:48:22 bertwistle kernel: [ 503.403969] EtherCAT: Successfully requested master 0. Jun 28 21:48:22 bertwistle kernel: [ 503.403973] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xf4da8800, request_cb = 0xf895d010, release_cb = 0xf895d000, cb_data = 0x0) Jun 28 21:48:22 bertwistle kernel: [ 503.403976] ec_mini: Registering domain... Jun 28 21:48:22 bertwistle kernel: [ 503.403980] EtherCAT DEBUG: ecrt_master_create_domain(master = 0xf4da8800) Jun 28 21:48:22 bertwistle kernel: [ 503.403986] EtherCAT DEBUG: Created domain 0. Jun 28 21:48:22 bertwistle kernel: [ 503.403990] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0, vendor_id = 0x40, product_code = 0x26483052) Jun 28 21:48:22 bertwistle kernel: [ 503.403994] EtherCAT DEBUG: Creating slave configuration for 0:0, 0x00000040/0x26483052. Jun 28 21:48:22 bertwistle kernel: [ 503.403998] EtherCAT DEBUG: Attached slave 0 to config 0:0. Jun 28 21:48:22 bertwistle kernel: [ 503.404002] ec_mini: Configuring PDOs... Jun 28 21:48:22 bertwistle kernel: [ 503.404005] EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xf775d400, n_syncs = 4294967295, syncs = 0xf895e260) Jun 28 21:48:22 bertwistle kernel: [ 503.404009] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xf775d400, sync_index = 3, dir = 2) Jun 28 21:48:22 bertwistle kernel: [ 503.404012] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xf775d400, sync_index = 3) Jun 28 21:48:22 bertwistle kernel: [ 503.404016] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xf775d400, sync_index = 3, pdo_index = 0x1A00) Jun 28 21:48:22 bertwistle kernel: [ 503.404020] EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:0. Jun 28 21:48:22 bertwistle kernel: [ 503.404023] EtherCAT DEBUG: No default mapping found. Jun 28 21:48:22 bertwistle kernel: [ 503.404027] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf775d400, pdo_index = 0x1A00) Jun 28 21:48:22 bertwistle kernel: [ 503.404031] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x01, entry_bit_length = 16) Jun 28 21:48:22 bertwistle kernel: [ 503.404036] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x02, entry_bit_length = 32) Jun 28 21:48:22 bertwistle kernel: [ 503.404040] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x03, entry_bit_length = 32) Jun 28 21:48:22 bertwistle kernel: [ 503.404044] ec_mini: Registering PDO entries... Jun 28 21:48:22 bertwistle kernel: [ 503.404047] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xebc1c200, regs = 0xf895d3a0) Jun 28 21:48:22 bertwistle kernel: [ 503.404051] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0, vendor_id = 0x40, product_code = 0x26483052) Jun 28 21:48:22 bertwistle kernel: [ 503.404056] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf775d400, index = 0x3101, subindex = 0x01, domain = 0xebc1c200, bit_position = 0x0) Jun 28 21:48:22 bertwistle kernel: [ 503.404060] EtherCAT DEBUG: Domain 0: Added 10 bytes, total 10. Jun 28 21:48:22 bertwistle kernel: [ 503.404063] ec_mini: Activating master... Jun 28 21:48:22 bertwistle kernel: [ 503.404066] EtherCAT DEBUG: ecrt_master_activate(master = 0xf4da8800) Jun 28 21:48:22 bertwistle kernel: [ 503.404071] EtherCAT: Domain0: Logical address 0x00000000, 10 byte, expected working counter 1. Jun 28 21:48:22 bertwistle kernel: [ 503.404074] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 10 byte, type LRD. Jun 28 21:48:22 bertwistle kernel: [ 503.404078] EtherCAT DEBUG: Stopping master thread. Jun 28 21:48:22 bertwistle kernel: [ 503.406921] EtherCAT DEBUG: Master IDLE thread exiting... Jun 28 21:48:22 bertwistle kernel: [ 503.415080] EtherCAT: Master thread exited. Jun 28 21:48:22 bertwistle kernel: [ 503.415087] EtherCAT DEBUG: FSM datagram is f4da8acc. Jun 28 21:48:22 bertwistle kernel: [ 503.415090] EtherCAT: Starting EtherCAT-OP thread. Jun 28 21:48:22 bertwistle kernel: [ 503.440426] ec_mini: Starting cyclic sample thread. Jun 28 21:48:22 bertwistle kernel: [ 503.440432] ec_mini: Started. Jun 28 21:48:22 bertwistle kernel: [ 503.442231] EtherCAT DEBUG: Operation thread running. Jun 28 21:48:22 bertwistle kernel: [ 503.478891] ec_mini: 1 slave(s). Jun 28 21:48:22 bertwistle kernel: [ 503.478895] ec_mini: AL states: 0x02. Jun 28 21:48:22 bertwistle kernel: [ 503.478899] ec_mini: Link is up. Jun 28 21:48:22 bertwistle kernel: [ 503.478902] ec_mini: AnaIn: State 0x02. Jun 28 21:48:22 bertwistle kernel: [ 503.404020] EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:0. Jun 28 21:48:22 bertwistle kernel: [ 503.404023] EtherCAT DEBUG: No default mapping found. Jun 28 21:48:22 bertwistle kernel: [ 503.404027] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf775d400, pdo_index = 0x1A00) Jun 28 21:48:22 bertwistle kernel: [ 503.404031] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x01, entry_bit_length = 16) Jun 28 21:48:22 bertwistle kernel: [ 503.404036] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x02, entry_bit_length = 32) Jun 28 21:48:22 bertwistle kernel: [ 503.404040] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf775d400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex = 0x03, entry_bit_length = 32) Jun 28 21:48:22 bertwistle kernel: [ 503.404044] ec_mini: Registering PDO entries... Jun 28 21:48:22 bertwistle kernel: [ 503.404047] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xebc1c200, regs = 0xf895d3a0) Jun 28 21:48:22 bertwistle kernel: [ 503.404051] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xf4da8800, alias = 0, position = 0, vendor_id = 0x40, product_code = 0x26483052) Jun 28 21:48:22 bertwistle kernel: [ 503.404056] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf775d400, index = 0x3101, subindex = 0x01, domain = 0xebc1c200, bit_position = 0x0) Jun 28 21:48:22 bertwistle kernel: [ 503.404060] EtherCAT DEBUG: Domain 0: Added 10 bytes, total 10. Jun 28 21:48:22 bertwistle kernel: [ 503.404063] ec_mini: Activating master... Jun 28 21:48:22 bertwistle kernel: [ 503.404066] EtherCAT DEBUG: ecrt_master_activate(master = 0xf4da8800) Jun 28 21:48:22 bertwistle kernel: [ 503.404071] EtherCAT: Domain0: Logical address 0x00000000, 10 byte, expected working counter 1. Jun 28 21:48:22 bertwistle kernel: [ 503.404074] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 10 byte, type LRD. Jun 28 21:48:22 bertwistle kernel: [ 503.404078] EtherCAT DEBUG: Stopping master thread. Jun 28 21:48:22 bertwistle kernel: [ 503.406921] EtherCAT DEBUG: Master IDLE thread exiting... Jun 28 21:48:22 bertwistle kernel: [ 503.415080] EtherCAT: Master thread exited. Jun 28 21:48:22 bertwistle kernel: [ 503.415087] EtherCAT DEBUG: FSM datagram is f4da8acc. Jun 28 21:48:22 bertwistle kernel: [ 503.415090] EtherCAT: Starting EtherCAT-OP thread. Jun 28 21:48:22 bertwistle kernel: [ 503.440426] ec_mini: Starting cyclic sample thread. Jun 28 21:48:22 bertwistle kernel: [ 503.440432] ec_mini: Started. Jun 28 21:48:22 bertwistle kernel: [ 503.442231] EtherCAT DEBUG: Operation thread running. Jun 28 21:48:22 bertwistle kernel: [ 503.478891] ec_mini: 1 slave(s). Jun 28 21:48:22 bertwistle kernel: [ 503.478895] ec_mini: AL states: 0x02. Jun 28 21:48:22 bertwistle kernel: [ 503.478899] ec_mini: Link is up. Jun 28 21:48:22 bertwistle kernel: [ 503.478902] ec_mini: AnaIn: State 0x02. Jun 28 21:48:22 bertwistle kernel: [ 503.478906] ec_mini: AnaIn: online. Jun 28 21:48:22 bertwistle kernel: [ 503.494876] EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP. Jun 28 21:48:22 bertwistle kernel: [ 503.494880] EtherCAT DEBUG: Configuring slave 0... Jun 28 21:48:22 bertwistle kernel: [ 503.526908] EtherCAT DEBUG: Slave 0 is now in INIT. Jun 28 21:48:22 bertwistle kernel: [ 503.526911] EtherCAT DEBUG: Clearing FMMU configurations of slave 0... Jun 28 21:48:22 bertwistle kernel: [ 503.542866] EtherCAT DEBUG: Configuring mailbox sync managers of slave 0. Jun 28 21:48:22 bertwistle kernel: [ 503.542870] EtherCAT DEBUG: Slave 0 does not provide mailbox sync manager configurations. Jun 28 21:48:22 bertwistle kernel: [ 503.542874] EtherCAT DEBUG: SM0: Addr 0x1800, Size 192, Ctrl 0x26, En 1 Jun 28 21:48:22 bertwistle kernel: [ 503.542878] EtherCAT DEBUG: SM1: Addr 0x1C00, Size 192, Ctrl 0x22, En 1 Jun 28 21:48:22 bertwistle kernel: [ 503.590830] EtherCAT DEBUG: Slave 0 is now in PREOP. Jun 28 21:48:22 bertwistle kernel: [ 503.590836] EtherCAT WARNING: PDOs configured for SM3, but slave 0 does not provide the sync manager information! Jun 28 21:48:22 bertwistle kernel: [ 503.590840] EtherCAT ERROR: Failed to determine PDO sync manager for FMMU on slave 0! (END) _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
