> -----Original Message----- > From: Gavin Lambert [mailto:gav...@compacsort.com] > Sent: maandag 11 mei 2015 10:01 > To: 'Fredriek Vanneste' > Cc: etherlab-users@etherlab.org > Subject: RE: [etherlab-users] EtherLab with Omron Accurax PREOP-> OP fail > > On 11 May 2015 18:32, quoth Fredriek Vanneste: > > > > [17675.764159] EtherCAT 0: Starting EtherCAT-OP thread. > > > > [17675.765211] estimation task[16822]: segfault at 10 ip > > > > 00007f3254f8b537 > > > sp > > > > 00007f3255378c20 error 4 in > > > > libethercat_rtdm.so.1.0.0[7f3254f87000+8000] > > > > [17675.870158] EtherCAT WARNING: Datagram ffff8801248f2688 > > > > (master-fsm) > > > was > > > > SKIPPED 1 time. > > > > [17675.901068] Xenomai: RTDM: closing file descriptor 0. > > > > [17675.901075] EtherCAT 0: Releasing master... > > > > [17675.901088] EtherCAT 0: Master thread exited. > > > > [17675.901097] EtherCAT 0: Starting EtherCAT-IDLE thread. > > > > [17675.901146] EtherCAT 0: Released. > > > > [17675.901160] Xenomai: native: cleaning up mutex "mutex" (ret=0). > > > > [17676.874188] EtherCAT WARNING: Datagram ffff8801248f2688 > > > > (master-fsm) > > > was > > > > SKIPPED 1 time. > > > > > > > > Any ideas? > > > > > > Most likely you are passing incorrect parameters, or calling things > > > in > > the > > > wrong order. It's hard to say for sure exactly what without seeing > > > your code. > > > > > > > I have attached a file with the code I used in this example. > > Thank you in advance. > > You've never actually assigned anything to sc_motor, so it's still NULL. > Hence the segfault. > > You need to assign the local sc from main to it so that the other tasks can > see it. > That was indeed an issue. I am one step closer to a solution now. I added sc_motor =ecrt_master_slave_config (master, 0,0,...); and the functions mentioned before are now being executed! Thank you! I also added the ecrt_slave_config_dc(sc_motor, 0x0300,2500000,0,250000,0); just befor the ecrt_slave_config_state(...); If I run the program now, I am getting an error message but only after some time(15seconds). (synchronization error and state change error) Please find attached the output from "dmesg" . There seems to be a problem with SDO download of the PDO mapping and the slave is not able to change state to SAFEOP or OP.
Fred
e1000e: eth0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None [ 29.666957] e1000e 0000:00:19.0 eth0: 10/100 speed: disabling TSO [ 29.667006] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 32.606192] init: plymouth-upstart-bridge main process ended, respawning [ 245.795076] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [ 245.795078] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x6061:00/8 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32. Entries to map: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x6061:00/8 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32 [ 245.795098] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B02. [ 245.821067] EtherCAT WARNING 0-0: No application time supplied. Cyclic start time will not be in phase. [ 245.828076] EtherCAT 0: Domain 0: Working counter changed to 2/3. [ 246.738221] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 246.742224] EtherCAT WARNING: Datagram ffff880124962d98 (domain0-0-main) was SKIPPED 1 time. [ 247.927565] EtherCAT 0: Releasing master... [ 247.927577] EtherCAT 0: Master thread exited. [ 247.927587] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 247.927622] EtherCAT 0: Released. [ 248.851188] EtherCAT: Requesting master 0... [ 250.829987] EtherCAT ERROR 0-0: Timeout while setting state OP. [ 250.830000] EtherCAT: Successfully requested master 0. [ 250.830173] EtherCAT 0: Domain0: Logical address 0x00000000, 44 byte, expected working counter 3. [ 250.830176] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 44 byte, type LRW. [ 250.830264] EtherCAT 0: Master thread exited. [ 250.830267] EtherCAT 0: Starting EtherCAT-OP thread. [ 250.834513] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 250.836641] EtherCAT 0: Domain 0: Working counter changed to 2/3. [ 250.838030] EtherCAT 0: Slave states on main device: SAFEOP. [ 250.838032] EtherCAT WARNING 0: No app_time received up to now, but master already active. [ 250.867641] EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted. [ 250.867646] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". [ 250.867648] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [ 250.867649] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6060:00/8 0x60B8:00/16 0x607F:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x6060:00/8 0x60B8:00/16 0x607F:00/32 [ 250.867665] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702. [ 250.891645] EtherCAT ERROR 0-0: SDO download 0x1B02:00 (1 bytes) aborted. [ 250.891650] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". [ 250.891651] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [ 250.891652] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x6061:00/8 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32. Entries to map: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x6061:00/8 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32 [ 250.891671] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B02. [ 250.917648] EtherCAT WARNING 0-0: No application time supplied. Cyclic start time will not be in phase. [ 251.834134] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 251.838807] EtherCAT WARNING: Datagram ffff8800c0682d98 (domain0-0-main) was SKIPPED 1 time. [ 251.838810] EtherCAT 0: Domain 0: 2 working counter changes - now 2/3. [ 252.269099] EtherCAT 0: Releasing master... [ 252.269115] EtherCAT 0: Master thread exited. [ 252.269124] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 252.269159] EtherCAT 0: Released. [ 255.926815] EtherCAT ERROR 0-0: Timeout while setting state OP.
_______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
