Sometimes SoE configuration failes (during startup).
I use DC, RTAI, the newest devel-version of the master and a Rexroth servo
drive.
Is it a synchronization problem among threads? See the error message:
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: Writing IDN 0x000F of drive
0 (2 byte).
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write request:
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG: 03 40 0F 00 07 00
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write response:
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG: 04 40 0F 00
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: Writing IDN 0x0010 of drive
0 (32 byte).
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG 0-0: SCC write request:
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG: 03 40 10 00 02 00 02 00 28 00 00
00 00 00 00 00
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00
Dec 2 14:54:38 pc-br3 kernel: EtherCAT DEBUG: 00 00 00 00
Dec 2 14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: Failed to receive SoE write
response datagram: Datagram received.
Dec 2 14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: Writing IDN 0x0010 failed.
Dec 2 14:54:38 pc-br3 kernel: EtherCAT ERROR 0-0: SoE configuration failed.
Take a look at the error message "EtherCAT ERROR 0-0: Failed to receive SoE
write response datagram: Datagram received."
First datagram->state != EC_DATAGRAM_RECEIVED (ec_fsm_soe_write_response(...)
and in ec_datagram_print_state(...) datagram->state == EC_DATAGRAM_RECEIVED.
Creation of error message in ec_fsm_soe_write_response(...):
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_soe_error;
EC_SLAVE_ERR(slave, "Failed to receive SoE write"
" response datagram: ");
ec_datagram_print_state(datagram);
ec_fsm_soe_print_error(fsm);
return;
}
and in ec_datagram_print_state(...):
void ec_datagram_print_state(
const ec_datagram_t *datagram /**< EtherCAT datagram */
)
{
printk("Datagram ");
switch (datagram->state) {
case EC_DATAGRAM_INIT:
printk("initialized");
break;
case EC_DATAGRAM_QUEUED:
printk("queued");
break;
case EC_DATAGRAM_SENT:
printk("sent");
break;
case EC_DATAGRAM_RECEIVED:
printk("received");
break;
case EC_DATAGRAM_TIMED_OUT:
printk("timed out");
break;
case EC_DATAGRAM_ERROR:
printk("error");
break;
default:
printk("???");
}
printk(".\n");
}
Mit freundlichen Grüßen / Best regards
Andreas Baur
-----------------------------------------------------------------------------------
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Max-Paul-Straße 1
88525 Dürmentingen
Deutschland / Germany
Tel.: +49 (0) 7371 / 500 - 0
Fax: +49 (0) 7371 / 500 - 111
Mail: softw...@paul.eu
Web: www.paul.eu
-----------------------------------------------------------------------------------
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haftende Gesellschafterin:
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Geschäftsführer: Werner Paul
Ust.-IdNr DE 146544409
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