Hi Martin,
I found a workaround last night. I have split the read and write PDO's into
separate read and write domains. I had not tried this earlier as the flag
requiring this is not set in the slave and TwinCAT is working from one domain.
However TwinCAT is using overlapped PDO's which I did not try as that does not
suit our application.
Re: the dc sync settings in the ESI file, I tried enabling SM-Synchron cyclic
operation mode under TwinCAT and the slave exhibited similar problems. After
talking to the supplier they recommended not using DC or SM-Synchron mode at
all. So I tried hardcoding removing the DC supported flag from the slave but
it made no difference.
So it is now working, but still with a manually loaded SII file via the loading
firmware from file mechanism.
Thanks,
Graeme.
From: Steih, Martin <martin.st...@lachmann-rink.de>
Sent: Tuesday, 22 November 2022 20:39
To: Graeme Foot <graeme.f...@touchcut.com>
Subject: AW: Kjellberg Q3000 slave problems
Hi,
Are you sure it does not support dc sync?
<Dc>
<OpMode>
<Name>Synchron</Name>
<Desc>FreeRun/SM-Synchron</Desc>
<AssignActivate>#x0</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
</OpMode>
</Dc>
I found this in your ESI file under Q3000, and the problem description you just
sent is precisely the same one we face when dc sync settings are not correct or
fitting.
i. A. Martin Steih
Projektleiter
Entwicklung
[cid:image001.png@01D8FF20.1CB46390]<https://www.lachmann-rink.de/>
Lachmann & Rink GmbH
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Von: Etherlab-users
<etherlab-users-boun...@etherlab.org<mailto:etherlab-users-boun...@etherlab.org>>
Im Auftrag von Graeme Foot
Gesendet: Dienstag, 15. November 2022 08:02
An: etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>
Betreff: [Etherlab-users] Kjellberg Q3000 slave problems
Hi,
We are trying to get a Kjellberg Q3000 plasma slave up and running in our
system. Unfortunately it is getting to SAFEOP and going to SAFEOP + Error.
Also while in SAFEOP it drops 1 or two packets out of three, causing the master
to enter an endless rescan loop. The Q3000 gets to OP successfully under
TwinCAT. I have wireshark logs of both startup sequences and can't find
anything obvious that is causing the issue.
* I'm using the 1.5.2 master with the GavinL patchset.
* I have enabled the --enable-regalias option as this slave uses the 0x0012
register to specify the slave alias.
* There are errors in the slaves SII. I have generated an SII using
TwinCAT and I'm loading it via the firmware loading patch (using
EC_SII_OVERRIDE). As far as I can tell it is correct. (I needed to increase
the esi files Eeprom ByteSize to 4096 so that it would include the categories
information, as per: https://etherlab.org/en/ethercat/faq.php). I've attached
the SII bin file in case anyone is interested.
* I gather the slave firmware uses the ET9300 slave stack code version 5.10.
* The slave allows LWR (i.e. both read and write data in the same domain)
* It supports distributed clocks, but not DC Sync.
* It looks like TwinCAT configures the read and write domain data to
overlap. Our master does not.
The Sync manager config is the same between TwinCAT and EtherLab
SM0: 0010800026000100
SM1: 0014800022000100
SM2: 0018250064000100
SM3: 001c410020000100
The FMMU config is mostly the same, the only difference I can see is the
virtual start address and that they overlap
TwinCAT:
FMMU0: 00000001250000070018000201000000
FMMU1: 0000000141000007001c000101000000
EtherLab:
FMMU0: 0f000000250000070018000201000000
FMMU1: 3400000041000007001c000101000000
TwinCAT also sets up a third FMMU for what I assume is a slave working counter
status domain.
FMMU2: 00000009010000000d08000101000000
One thing that the TwinCAT master does that EtherLab does not is set the "Error
Ack" flag to true when requesting a slave state change. E.g.:
EtherCAT datagram: Cmd: 'APWR' (2), Len: 2, Adp 0x1, Ado 0x120, Cnt 1
Header
AL Ctrl (0x120): 0x0011, Al Ctrl: INIT, Error Ack
.... .... .... 0001 = Al Ctrl: INIT (0x1)
.... .... ...1 .... = Error Ack: True
.... .... ..0. .... = Id: False
Working Cnt: 1
I've attached the esi file. As far as I can tell there's nothing particularly
special about the slave. We are using the Q3000 (460-480V) slave
(ProductCode="#x00003023"), but they are all the same configuration.
Tomorrow I'll try patching the master to set the Error Ack flag in the INIT
state change datagram, but apart from that I'm currently out of ideas for
things to try. Does anyone have any other ideas from problem slaves you've
encountered?
Regards,
Graeme Foot
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