Hi I'm EtherCAT starter and I have basic problem. I try to test EtherCAT communication with the Beckhoff EL9800 evaluation hardware.
I have already done communication test using the Beckhoff TwinCAT system manager( all on windows ). The EtherCAT bus information has been detected by autoscan box function of TwinCAT system manager and state machine transferred to OP state. It's success But, EtherLab Master( 1.5 ) failed autoscan. Is there any master configuration or programming for Beckhoff EL9800 eveluation board? Could you give me your any tips/suggestions/experiences/manual ? - System Information - Intel i7 860 - Debian lenny 5.0.7 - Kernel 2.6.34.5 with Xenomai 2.5.5.2 - EtherCAT-capable Device driver 8139too - EtherLab Master 1.5 Below text is master debug message. ------------------------------------------------------------------------------------------------------------------------------- [ 7311.084742] EtherCAT 0: 0 slave(s) responding. [ 7311.084744] EtherCAT DEBUG 0: Master state machine detected link down. Clearing slave list. [ 7314.829235] EtherCAT 0: Link state changed to UP. [ 7314.830270] EtherCAT 0: 1 slave(s) responding. [ 7314.830274] EtherCAT 0: Slave states: INIT. [ 7314.830282] EtherCAT DEBUG 0-0: Init FSM. [ 7314.830306] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays. [ 7314.830324] EtherCAT DEBUG 0: 1 slaves responded to delay measuring. [ 7314.830326] EtherCAT 0: Scanning bus. [ 7314.830395] EtherCAT DEBUG 0-0: Slave has the System Time register. [ 7314.880972] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 7314.880974] EtherCAT DEBUG 0-0: Configuring... [ 7314.881010] EtherCAT DEBUG 0-0: Now in INIT. [ 7314.881012] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [ 7314.881034] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [ 7314.881053] EtherCAT DEBUG 0-0: Clearing DC assignment... [ 7314.881071] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [ 7314.881074] EtherCAT DEBUG 0-0: SM0: Addr 0x0F00, Size 0, Ctrl 0x46, En 0 [ 7314.881076] EtherCAT DEBUG 0-0: SM1: Addr 0x1000, Size 0, Ctrl 0x00, En 0 [ 7314.881730] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR). [ 7314.881750] EtherCAT ERROR 0-0: AL status message 0x0000: "No error". [ 7314.881752] EtherCAT ERROR 0-0: Unknown AL status code 0x0000. [ 7314.881921] EtherCAT 0-0: Acknowledged state INIT. [ 7314.881923] EtherCAT 0: Bus scanning completed in 51 ms. [ 7314.881925] EtherCAT DEBUG 0: Writing system time offsets... [ 7314.881927] EtherCAT DEBUG 0: No app_time received up to now. [ 7314.883145] EtherCAT DEBUG 0-0: Ready for requests. Slave infomation ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ toybox:/opt/etherlab# bin/ethercat slaves -v === Master 0, Slave 0 === State: INIT Flag: E Identity: Vendor Id: 0x00000002 Product code: 0x26483052 Revision number: 0x03100001 Serial number: 0x00000000 DL information: FMMU bit operation: no Distributed clocks: yes, 32 bit DC system time transmission delay: 0 ns Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns] 0 N/A up open yes - 1635389460 0 0 1 N/A down closed no - - - - 2 N/A down closed no - - - - 3 N/A down closed no - - - - Mailboxes: Bootstrap RX: 0x1000/532, TX: 0x1800/532 Standard RX: 0x1800/192, TX: 0x1c00/192 Supported protocols: CoE, FoE General: Group: EvaBoard Image name: DEVICE Order number: EL9800 Device name: EL9800 16 Ch. Dig. In-/Output (Build >= 21) CoE details: Enable SDO: no Enable SDO Info: no Enable PDO Assign: no Enable PDO Configuration: no Enable Upload at startup: no Enable SDO complete access: no Flags: Enable SafeOp: no Enable notLRW: no Current consumption: 0 mA Thank you for your greate application.
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