Hi, I'm trying to use ethercat-1.5.2 communication with Delta A2 servo. I'm using 16.04 Ubuntu with 4.9.47-rt37 kernel, ec_generic with igb driver. I downloaded the code from sourceforge and run the application code development by myself. I use a loop frequency of 500Hz, and I always get the warning like this:
[11535.480556] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [11535.598057] EtherCAT 0: Domain 0: Working counter changed to 18/18 After many times message like this, the master rescan slaves and I'm get the following message: [13150.763685] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR. [13150.770129] EtherCAT ERROR 0-0: AL status message 0x0034: "DC Sync Timeout Error". [13150.774122] EtherCAT 0-0: Acknowledged state SAFEOP. [13151.764521] EtherCAT 0: Domain 0: 4 working counter changes - now 5/18 In fact, I do many homework myself. I'm trying the following methods: (1)set CPU affinity and disable irqbalance (2)tune parameters of ethernet card, such as rx/tx-usecs (3)set the priority of app to 91, and set the priority of Tx/Rx-irq to 92 (4)disable output to console(dmesg -E, I'm not sure it's really work or not) (5)disable relative option(C-State/Speedstep...) in BIOS (6)change the net cable My application is running in userspace, I'm also lock the memory and prevent the page faults,... My realtime loop is as follow: ecrt_master_receive(); ecrt_domain_process(); ... do a lot of stuff ... ecrt_domain_queue(); clock_gettime(); ecrt_master_application_time(); ecrt_master_sync_reference_clock(); ecrt_master_sync_slave_clocks(); ecrt_master_send(); Below is the whole output I'm getting in the kernel log: EtherCAT: Master driver 1.5.2 2eff7c993a63 [11211.237909] EtherCAT: Requesting master 0... [11211.237916] EtherCAT: Successfully requested master 0. [11211.238370] EtherCAT 0: Domain0: Logical address 0x00000000, 168 byte, expected working counter 18. [11211.238374] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 168 byte, type LRW. [11211.238441] EtherCAT 0: Master thread exited. [11211.238446] EtherCAT 0: Starting EtherCAT-OP thread. [11211.239018] EtherCAT WARNING 0: 1 datagram UNMATCHED! [11216.618425] igb 0000:02:00.0 enp2s0: igb: enp2s0 NIC Link is Down [11219.616650] igb 0000:02:00.0 enp2s0: igb: enp2s0 NIC Link is Up 100 Mbps Half Duplex, Flow Control: None [11226.612199] EtherCAT 0: Domain 0: Working counter changed to 3/18 [11226.612204] . [11227.615032] EtherCAT 0: Domain 0: 4 working counter changes - now 15/18 [11227.615037] . [11232.706757] EtherCAT WARNING 0-5: Slave did not sync after 5001 ms. [11232.714811] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11232.714815] . [11232.724444] EtherCAT 0: Slave states on main device: OP. [11464.675698] EtherCAT 0: Domain 0: Working counter changed to 0/18 [11464.675704] . [11465.416524] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [11465.678088] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11465.678093] . [11534.595654] EtherCAT 0: Domain 0: Working counter changed to 0/18 [11534.595659] . [11535.480556] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [11535.598057] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11535.598062] . [11545.455997] EtherCAT 0: Domain 0: Working counter changed to 0/18 [11545.456002] . [11545.489577] EtherCAT WARNING 0: 4 datagrams TIMED OUT! [11546.458400] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11546.458405] . [11650.427998] EtherCAT 0: Domain 0: Working counter changed to 0/18 [11650.428003] . [11650.584596] EtherCAT WARNING 0: 2 datagrams TIMED OUT! [11651.430394] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11651.430401] . [11809.891785] EtherCAT 0: Domain 0: Working counter changed to 0/18 [11809.891791] . [11810.717649] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [11810.894175] EtherCAT 0: Domain 0: Working counter changed to 18/18 [11810.894179] . [11841.651049] NOHZ: local_softirq_pending 80 [12095.812140] EtherCAT 0: Domain 0: Working counter changed to 0/18 [12095.812145] . [12095.951751] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [12096.814541] EtherCAT 0: Domain 0: Working counter changed to 18/18 [12096.814546] . [12291.250098] usb 1-1.1.3: USB disconnect, device number 5 [12292.965286] usb 1-1.1: USB disconnect, device number 3 [12311.063783] usb 1-1.1: new low-speed USB device number 7 using ehci-pci [12311.150559] usb 1-1.1: New USB device found, idVendor=413c, idProduct=2107 [12311.150565] usb 1-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=0 [12311.150568] usb 1-1.1: Product: Dell USB Entry Keyboard [12311.150575] usb 1-1.1: Manufacturer: Dell [12311.155244] input: Dell Dell USB Entry Keyboard as /devices/pci0000:00/0000:00:1d.0/usb1/1-1/1-1.1/1-1.1:1.0/0003:413C:2107.0003/input/input7 [12311.207877] hid-generic 0003:413C:2107.0003: input,hidraw1: USB HID v1.10 Keyboard [Dell Dell USB Entry Keyboard] on usb-0000:00:1d.0-1.1/input0 [13148.651274] EtherCAT 0: Domain 0: Working counter changed to 0/18 [13148.651279] . [13148.652828] EtherCAT 0: 0 slave(s) responding on main device. [13148.656820] EtherCAT 0: 6 slave(s) responding on main device. [13148.656825] EtherCAT 0: Slave states on main device: OP. [13148.661277] EtherCAT 0: Scanning bus. [13149.511156] EtherCAT WARNING 0: 3 datagrams TIMED OUT! [13149.653676] EtherCAT 0: Domain 0: Working counter changed to 18/18 [13149.653681] . [13150.734111] EtherCAT 0: Bus scanning completed in 2076 ms. [13150.734116] EtherCAT 0: Using slave 0 as DC reference clock. [13150.762120] EtherCAT 0: Domain 0: Working counter changed to 16/18 [13150.762125] . [13150.763685] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR. [13150.770129] EtherCAT ERROR 0-0: AL status message 0x0034: "DC Sync Timeout Error". [13150.774122] EtherCAT 0-0: Acknowledged state SAFEOP. [13151.764521] EtherCAT 0: Domain 0: 4 working counter changes - now 5/18 [13151.764526] . [13155.928201] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [13155.936188] EtherCAT 0: Domain 0: Working counter changed to 8/18 [13155.936193] . [13155.946192] EtherCAT ERROR 0-1: AL status message 0x0034: "DC Sync Timeout Error". [13155.950191] EtherCAT 0-1: Acknowledged state SAFEOP. [13156.938602] EtherCAT 0: Domain 0: 2 working counter changes - now 7/18 [13156.938607] . [13159.755727] EtherCAT 0: Domain 0: Working counter changed to 10/18 [13159.755732] . [13159.765730] EtherCAT ERROR 0-2: AL status message 0x0034: "DC Sync Timeout Error". [13159.769719] EtherCAT 0-2: Acknowledged state SAFEOP. [13160.758119] EtherCAT 0: Domain 0: 2 working counter changes - now 9/18 [13160.758123] . [13164.379567] EtherCAT 0: Domain 0: Working counter changed to 12/18 [13164.379571] . [13164.391579] EtherCAT ERROR 0-3: AL status message 0x0034: "DC Sync Timeout Error". [13164.395569] EtherCAT 0-3: Acknowledged state SAFEOP. [13165.381977] EtherCAT 0: Domain 0: 2 working counter changes - now 11/18 [13165.381982] . [13169.549633] EtherCAT WARNING 0-3: Slave did not sync after 5000 ms. [13169.557638] EtherCAT 0: Domain 0: Working counter changed to 14/18 [13169.557643] . [13169.567642] EtherCAT ERROR 0-4: AL status message 0x0034: "DC Sync Timeout Error". [13169.571654] EtherCAT 0-4: Acknowledged state SAFEOP. [13170.560055] EtherCAT 0: Domain 0: 2 working counter changes - now 13/18 [13170.560061] . [13174.725708] EtherCAT WARNING 0-4: Slave did not sync after 5000 ms. [13174.733715] EtherCAT 0: Domain 0: Working counter changed to 16/18 [13174.733721] . [13174.745738] EtherCAT ERROR 0-5: AL status message 0x0034: "DC Sync Timeout Error". [13174.749715] EtherCAT 0-5: Acknowledged state SAFEOP. [13175.393536] EtherCAT 0: Slave states on main device: OP. [13175.736114] EtherCAT 0: Domain 0: 3 working counter changes - now 18/18 [13175.736122] . [13178.967523] EtherCAT 0: Master thread exited. [13178.967562] EtherCAT 0: Starting EtherCAT-IDLE thread. [13178.967680] EtherCAT ERROR 0-3: Failed to receive AL state datagram: [13178.967684] Datagram [13178.967687] initialized [13178.967689] . [13178.967744] EtherCAT 0: Releasing master... [13178.967749] EtherCAT 0: Released. [13178.989988] EtherCAT 0: Slave states on main device: PREOP. [13179.454436] EtherCAT WARNING: Datagram ffff88005e6e2678 (master-fsm) was SKIPPED 1 time. What am I doing wrong? Is there anyone please offer me some advice, to fix them? Regards, Eirc Huang _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
