Hi Graeme, Thanks for the application. I tried implementing your master without the patches and with my application.
It does not reach the application stage and throws this error prior to login. I get the following errors (PFA). It throws a reception of CoE dictionary request failed' Regards, Rahul On 8/23/17, Graeme Foot <graeme.f...@touchcut.com> wrote: > Hi, > > I have attached a test app to have a look at. It is a (very) cut down > version of how my app works. Of course I use RTAI, so it won't be > compatible with your Xenomi environment. > > > In main.c at the top of runECat() I have a list of EtherCAT devices and > their addresses. It is hard coded here but can of course be loaded from a > config file. The device names match devices in the etherCATSlaves.c file. > > etherCATMaster.c contains the code to configure and run the master. > etherCATSlaves.c contains each slave's code. > > yaskawaSGDV_create() > - configures the device and gets the PDO command offsets > > yaskawaSGDV_prepareToRun() > - calculates each commands address (after the domains are populated and > allocated) > - sets cyclic synchronous position mode (optional, the mode can be set at > any time while running) > - sets the control word to zero, just in case > > yaskawaSGDV_run() > - is called once each scan. add code here to control the axis > > yaskawaSGDV_prepareToStop() > - is called when the app is closing. add any code here to clean up your > axis > > > Note: In this app the prepareToStop() functions are called once and then the > app is shut down immediately. In reality you should continue your realtime > cycle until all of the devices are stopped, disabled and safe to turn off. > The app also relies on some of my patches. > > > I hope this helps > > Regards, > Graeme. > > > > -----Original Message----- > From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf > Of Graeme Foot > Sent: Wednesday, 16 August 2017 10:42 a.m. > To: Rahul Deshpande <rahulg...@gmail.com>; etherlab-users@etherlab.org > Subject: Re: [etherlab-users] No CoE communication > > Hi, > > I've been asked to let you know what master version and patches I'm using. > I'm still running an old version (2526 from the stable-1.5 branch, > 12/02/2013). The script I use to download it is attached > (004-etherlab_master). > > I use buildroot to create my linux system, so the script tar's the master > folder and puts it in the buildroot downloads folder. Note: I also use a > really old buildroot from 2012 with a few modifications, but I have attached > the mk file that it uses. > > The patches that I apply are also attached. > > The build options I use are: > --with-linux-dir="<linux dir>" > --enable-cycles > --enable-rtdm > --enable-e100 > --enable-e1000 > --enable-e1000e > --enable-cx2100 > > > I use RTAI, but that shouldn't make any difference. > > > Regards, > Graeme. > > > -----Original Message----- > From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf > Of Graeme Foot > Sent: Tuesday, 15 August 2017 12:39 p.m. > To: Rahul Deshpande <rahulg...@gmail.com>; etherlab-users@etherlab.org > Subject: Re: [etherlab-users] No CoE communication > > Remember to reply-all to mail the forum as well. > > Line 85 has: #define Yaskawa_Sigma7 0x00000539, 0x02200301 This is > different to my drive, so it may still be the Sigma 7 id causing a mismatch, > but it is the id being returned from the ethercat struct command. > > Other than that, I've got no idea. > > Graeme. > > > -----Original Message----- > From: Rahul Deshpande [mailto:rahulg...@gmail.com] > Sent: Tuesday, 15 August 2017 3:57 a.m. > To: Graeme Foot <graeme.f...@touchcut.com> > Subject: No CoE communication > > Hi Graeme, > > I understand I have been mailing a lot, my questions may seem repetitive. > > The positive now is I was able to get to OP state by forcefully setting 1c12 > and 1c13 to 0 (PDO assignment fro SM2 and SM3). > > I am still not able to configure the PDOs though. What I have narrowed down > to is, somehow CoE communication just does not happen. I was going through > the etherlab forum and came across a post where they mentioned some sdo's > had to be set prior to configuring the PDOs. Is it that ? > > Also, It would be great if I could just reach out to you on your phone if > thats not an issue. Could sort out my problems faster and not disturb you > with constant emails. Do let me know if thats an option. > Thank you so much. > > Regards, > Rahul >
) AT91 NAND: 8-bit, Software ECC Scanning device for bad blocks Creating 3 MTD partitions on "atmel_nand": 0x000000000000-0x000000400000 : "Bootstrap" 0x000000400000-0x000004000000 : "Partition 1" 0x000004000000-0x000010000000 : "Partition 2" atmel_spi atmel_spi.0: Atmel SPI Controller at 0xfffc8000 (irq 12) usbmon: debugfs is not available ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver at91_ohci at91_ohci: AT91 OHCI at91_ohci at91_ohci: new USB bus registered, assigned bus number 1 at91_ohci at91_ohci: irq 20, io mem 0x00500000 hub 1-0:1.0: USB hub found hub 1-0:1.0: 2 ports detected Initializing USB Mass Storage driver... usbcore: registered new interface driver usb-storage USB Mass Storage support registered. udc: at91_udc version 3 May 2006 mice: PS/2 mouse device common for all mice input: gpio-keys as /devices/platform/gpio-keys/input/input0 rtc-at91sam9 at91_rtt.0: rtc core: registered at91_rtt as rtc0 IRQ 1/rtc0: IRQF_DISABLED is not guaranteed on shared IRQs rtc-at91sam9 at91_rtt.0: rtc0: SET TIME! Registered led device: ds5 Registered led device: ds1 usbcore: registered new interface driver usbhid usbhid: USB HID core driver ALSA device list: No soundcards found. TCP cubic registered NET: Registered protocol family 17 rtc-at91sam9 at91_rtt.0: hctosys: unable to read the hardware clock VFS: Mounted root (jffs2 filesystem) on device 31:1. devtmpfs: mounted Freeing init memory: 128K ec_rt_dpr: module license 'unspecified' taints kernel. Disabling lock debugging due to kernel taint EtherCAT: Master driver 1.5.2 2eff7c993a63 EtherCAT 0: Registering RTDM device EtherCAT. EtherCAT: 1 master waiting for devices. (null): invalid hw address, using random EtherCAT: Accepting 3E:A6:B9:2B:5D:3D as main device for master 0. EtherCAT 0: Starting EtherCAT-IDLE thread. ecdev_open was successful EtherCAT 0: Link state of ecm0 changed to UP. EtherCAT WARNING 0: 1 datagram TIMED OUT! EtherCAT WARNING 0: 50 datagrams TIMED OUT! EtherCAT 0: 1 slave(s) responding on main device. EtherCAT 0: Slave states on main device: INIT. EtherCAT 0: Scanning bus. EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c12:0 failed with timeout after 1000 ms: No response. EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM2. EtherCAT ERROR 0-0: Reception of CoE upload request for SDO 0x1c13:0 failed with timeout after 1010 ms: No response. EtherCAT ERROR 0-0: Failed to read number of assigned PDOs for SM3. EtherCAT 0: Bus scanning completed in 2050 ms. EtherCAT 0: Using slave 0 as DC reference clock. EtherCAT 0: Starting EoE thread. EtherCAT 0: Slave states on main device: PREOP. Welcome to Buildroot buildroot login: EtherCAT ERROR 0-0: Reception of CoE dictionary request failed: No response.
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