Hi, I don't know for sure, but I suspect you are having issues with your network. I don't know Xenomi so can't comment on what might be wrong, but I don't think you should be getting any datagram timeouts on startup while the EtherCAT system is idle (i.e. before you start your app).
For comparison I have attached my startup log. You could also try monitoring your EtherCAT network with wireshark to see what packets are going through. Graeme. -----Original Message----- From: Rahul Deshpande [mailto:rahulg...@gmail.com] Sent: Thursday, 24 August 2017 5:26 a.m. To: Graeme Foot <graeme.f...@touchcut.com> Cc: etherlab-users@etherlab.org Subject: Re: No CoE communication 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 >
[ 7.261515] I-pipe: Domain RTAI registered. [ 7.269263] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 7.277118] RTAI[hal]: compiled with gcc version 4.5.3 (crosstool-NG 1.17.0) . [ 7.285099] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 2). [ 7.293358] PIPELINE layers: [ 7.301460] f8040780 9ac15d93 RTAI 200 [ 7.309537] c07b0f40 0 Linux 100 [ 7.336001] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 7.344842] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <without RTAI OWN KTASKs>, <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes. [ 7.361605] RTAI[sched]: hard timer type/freq = APIC/6241999(Hz); default timing: periodic; linear timed lists. [ 7.370415] RTAI[sched]: Linux timer freq = 100 (Hz), TimeBase freq = 1398167825 hz. [ 7.379270] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns. [ 7.406021] RTDM started. [ 7.435259] RTAI: Intel chipset not found. [ 7.578435] RTAI: Intel chipset not found. [ 7.612458] EtherCAT: Master driver 1.5.2 2eff7c993a63+ [ 7.622068] EtherCAT 0: Registering RTDM device EtherCAT. [ 7.630058] EtherCAT: 1 master waiting for devices. [ 7.646159] ec_cx2100: EtherCAT-capable Beckhoff CX2100 EtherCAT Network Driver (Revision 2) [ 7.654316] ec_cx2100: CX2100 Verbose Mode Off [ 7.662438] ec_cx2100 0000:04:00.0: PCI->APIC IRQ transform: INT A -> IRQ 18 [ 7.670942] ec_cx2100 0000:04:00.0: setting latency timer to 64 [ 7.670990] ec_cx2100: Found EtherCAT Master (0x0014), Revision: 0x0000, txDMA: 0x01, rxDMA: 0x00 [ 7.679704] ec_cx2100: EtherCAT Master, MAC address: 00:01:05:13:7e:d0, Link: Connected [ 7.688553] EtherCAT: Accepting 00:01:05:13:7E:D0 as main device for master 0. [ 7.697669] ec_cx2100: Link Status change: Connected [ 7.697880] EtherCAT 0: Link state of ecm0 changed to UP. [ 7.715663] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 7.725453] ec_cx2100: module inited [ 7.743936] ec_e1000e: Ethercat-capable Intel(R) PRO/1000 Network Driver - 1.0.2-k2(ethercat) [ 7.753133] ec_e1000e: Copyright (c) 1999-2008 Intel Corporation. [ 7.762250] ec_e1000e 0000:02:00.0: PCI->APIC IRQ transform: INT A -> IRQ 16 [ 7.771221] ec_e1000e 0000:02:00.0: setting latency timer to 64 [ 7.771386] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 7.780699] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 7.790345] EtherCAT 0: 7 slave(s) responding on main device. [ 7.799742] EtherCAT 0: Slave states on main device: INIT. [ 7.809601] EtherCAT 0: Scanning bus. [ 7.991009] ec_0000:02:00.0: eth0: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bc [ 7.999845] ec_0000:02:00.0: eth0: Intel(R) PRO/1000 Network Connection [ 8.008664] ec_0000:02:00.0: eth0: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.017329] ec_e1000e 0000:03:00.0: PCI->APIC IRQ transform: INT A -> IRQ 17 [ 8.025976] ec_e1000e 0000:03:00.0: setting latency timer to 64 [ 8.026142] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 8.035124] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 8.254439] ec_0000:03:00.0: eth1: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bd [ 8.263324] ec_0000:03:00.0: eth1: Intel(R) PRO/1000 Network Connection [ 8.272436] ec_0000:03:00.0: eth1: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.328639] Intel(R) PRO/1000 Network Driver - version 7.3.21-k5-NAPI [ 8.337662] Copyright (c) 1999-2006 Intel Corporation. [ 8.464543] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 8.526444] EtherCAT 0: Bus scanning completed in 720 ms. [ 8.526449] EtherCAT 0: Using slave 0 as DC reference clock. [ 8.623462] EtherCAT 0: Slave states on main device: PREOP. [ 11.153188] e1000e: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX [ 11.161685] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
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