Problem solved it seems.
Re-configuring with
--enable-eoe=no
seems to have solved the problem. I don't need Ethernet over EtherCAT. However
I can not really explain why it works now.
This is what I did:
./bootstrap
./configure --enable-eoe=no --disable-sii-cache --enable-generic
--enable-rtmutex --disable-8139too prefix=/opt/CPO/lib/etherlab
make
make modules
make install
make modules_install
After restarting the master:
systemctl restart ethercat.service
it all seems to work just fine.
Thank you all for your effort,
Joachim Sällvin
________________________________
Från: Sebastien BLANCHET <blanc...@iram.fr>
Skickat: den 21 september 2020 11:44
Till: Joachim Sällvin <joachim.sall...@corpowerocean.com>;
etherlab-users@etherlab.org <etherlab-users@etherlab.org>
Ämne: Re: [Etherlab-users] AKD drive Failed to set SAFEOP state, slave refused
state change
Hi,
You should enable the debug mode to understand that happened just before
the error
--------------------------------
$ ethercat debug --help
ethercat debug <LEVEL>
Set the master's debug level.
Debug messages are printed to syslog.
Arguments:
LEVEL can have one of the following values:
0 for no debugging output,
1 for some debug messages, or
2 for printing all frame contents (use with caution!).
Numerical values can be specified either with decimal (no
prefix), octal (prefix '0') or hexadecimal (prefix '0x') base.
-------------------------------
Level 2 of debugging is very (very) verbose, so you should begin with
level 1
$ ethercat debug 1
Concerning "DefaultSize=0" for SM2 and SM3, I think that is normal,
because I have also such a value on my Kollmorgen AKD drive in torque mode.
#######################################
$ ethercat cstruct
/* Master 0, Slave 0, "AKD"
* Vendor ID: 0x0000006a
* Product code: 0x00414b44
* Revision number: 0x00000002
*/
ec_pdo_entry_info_t slave_0_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x2071, 0x00, 32},
{0x6041, 0x00, 16},
{0x3470, 0x02, 16},
{0x3470, 0x04, 16},
{0x606c, 0x00, 32},
{0x2077, 0x00, 32},
{0x60fd, 0x00, 32},
};
ec_pdo_info_t slave_0_pdos[] = {
{0x1600, 2, slave_0_pdo_entries + 0},
{0x1a00, 3, slave_0_pdo_entries + 2},
{0x1a01, 2, slave_0_pdo_entries + 5},
{0x1a02, 1, slave_0_pdo_entries + 7},
};
ec_sync_info_t slave_0_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 3, slave_0_pdos + 1, EC_WD_DISABLE},
{0xff}
};
#######################################
$ ethercat pdos
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1800, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1c00, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x2071:00, 32 bit, ""
SM3: PhysAddr 0x1140, DefaultSize 0, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x3470:02, 16 bit, ""
PDO entry 0x3470:04, 16 bit, ""
TxPDO 0x1a01 ""
PDO entry 0x606c:00, 32 bit, ""
PDO entry 0x2077:00, 32 bit, ""
TxPDO 0x1a02 ""
PDO entry 0x60fd:00, 32 bit, ""
Regards,
--
Sebastien BLANCHET
On 9/18/20 7:20 AM, Joachim Sällvin wrote:
> *Hi,*
>
> *My AKD drive slave refuses to go to operational. Any suggestions why?*
>
> *This is what dmesg tells me when trying:*
> [53271.293863] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> [53271.294126] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid
> output configuration".
>
> *The AKD drive is the only slave on the bus*
> *$ sudo ethercat slaves*
> 0 901:0 PREOP E AKD EtherCAT Drive (CoE)
>
> *and I've configured it so that I get*
>
> *$ sudo ethercat cstruct -p0*
> /* Master 0, Slave 0, "AKD"
> * Vendor ID: 0x0000006a
> * Product code: 0x00414b44
> * Revision number: 0x00000002
> */
>
> ec_pdo_entry_info_t slave_0_pdo_entries[] = {
> {0x6040, 0x00, 16},
> {0x60c1, 0x01, 32},
> {0x6041, 0x00, 16},
> {0x3470, 0x04, 16},
> {0x60fd, 0x00, 32},
> {0x606c, 0x00, 32},
> {0x6063, 0x00, 32},
> };
>
> ec_pdo_info_t slave_0_pdos[] = {
> {0x1600, 2, slave_0_pdo_entries + 0},
> {0x1a00, 3, slave_0_pdo_entries + 2},
> {0x1a01, 2, slave_0_pdo_entries + 5},
> };
>
> ec_sync_info_t slave_0_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_DISABLE},
> {3, EC_DIR_INPUT, 2, slave_0_pdos + 1, EC_WD_DISABLE},
> {0xff}
> };
>
>
>
> *I've tried with the command line tool...
> *
> *$ sudo ethercat states OP*
> *
> *
> *..and with my c-application. But the result is the same.
> *
> *
> *
> *One thing that puzzles me is the size of the synch managers SM2 and SM3:*
>
> *$ sudo ethercat pdos*
> SM0: PhysAddr 0x1800, DefaultSize 1024, ControlRegister 0x26, Enable 1
> SM1: PhysAddr 0x1c00, DefaultSize 1024, ControlRegister 0x22, Enable 1
> SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x24, Enable 1
> RxPDO 0x1600 ""
> PDO entry 0x6040:00, 16 bit, ""
> PDO entry 0x60c1:01, 32 bit, ""
> SM3: PhysAddr 0x1140, DefaultSize 0, ControlRegister 0x20, Enable 1
> TxPDO 0x1a00 ""
> PDO entry 0x6041:00, 16 bit, ""
> PDO entry 0x3470:04, 16 bit, ""
> PDO entry 0x60fd:00, 32 bit, ""
> TxPDO 0x1a01 ""
> PDO entry 0x606c:00, 32 bit, ""
> PDO entry 0x6063:00, 32 bit, ""
>
> *Should they really have DefaultSize 0?*
>
> *$ sudo ethercat versionIgH EtherCAT master 1.5.2 53ce5e56d511*
> *$ uname -a Linux ctrlPC1 5.4.54-rt32 #1 SMP PREEMPT_RT Wed Aug 12
> 12:59:33 CEST 2020 x86_64 x86_64 x86_64 GNU/Linux*
>
>
>
> *Detailed dmesg printout:*
>
>
> [54154.149923] EtherCAT: Master driver 1.5.2 53ce5e56d511
> [54154.149991] EtherCAT: 1 master waiting for devices.
> [54154.154118] ec_generic: EtherCAT master generic Ethernet device
> module 1.5.2 53ce5e56d511
> [54154.154127] EtherCAT: Accepting 78:D0:04:27:52:E4 as main device for
> master 0.
> [54154.154131] ec_generic: Binding socket to interface 4 (enp0s31f6).
> [54154.189154] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [54154.189384] EtherCAT 0: Link state of ecm0 changed to UP.
> [54154.197141] EtherCAT 0: 1 slave(s) responding on main device.
> [54154.197149] EtherCAT 0: Slave states on main device: PREOP.
> [54154.197613] EtherCAT 0: Scanning bus.
> [54154.489005] EtherCAT 0: Bus scanning completed in 292 ms.
> [54154.489006] EtherCAT 0: Using slave 0 as DC reference clock.
> [54154.489007] EtherCAT 0: Starting EoE thread.
> [54154.521934] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused state change (PREOP + ERROR).
> [54154.522227] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid
> output configuration".
> [54154.525166] EtherCAT 0-0: Acknowledged state PREOP.
>
>
> Any ideas?
>
> Best Regards,
>
> Joachim Sällvin
>
> Software Developer
> CorpowerOcean
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