Hi all, I've an EtherCAT chain of 8 slaves, the last one being a driver I never used before.
After the ecrt_master_activate() call, everything goes OP but that driver: it keeps giving me a "Sync manager watchdog" error (AL status 0x001B). Attached the kernel log (debug level 1) of that run. Has anyone experienced this kind of issue? Is there some workaround I can try? I disabled the watchdog (EC_WD_DISABLE to all SMs [1]) and wrote 0 to the ESC register 0x410 but the error simply changed to "Invalid watchdog configuration" (AL status 0x001F). According to the FAQ in the old website [2], configuration failures are most likely caused by wrong SII implementation: is this the case? [1] https://gitlab.com/entidi/libmachinery/-/blob/master/src/ethercat-slaves.c?ref_type=heads#L773 [2] https://web.archive.org/web/20210922180832/https://www.etherlab.org/en/ethercat/faq.php Thank you in advance. -- Nicola
[ 517.625201] EtherCAT DEBUG 0-7: Changing state from PREOP to OP. [ 517.625213] EtherCAT DEBUG 0-7: Configuring... [ 517.631024] EtherCAT DEBUG 0-7: Now in INIT. [ 517.631032] EtherCAT DEBUG 0-7: Clearing FMMU configurations... [ 517.631034] EtherCAT DEBUG 0-7: Clearing mailbox check flag... [ 517.632195] EtherCAT DEBUG 0-7: Clearing sync manager configurations... [ 517.633369] EtherCAT DEBUG 0-7: Clearing DC assignment... [ 517.634548] EtherCAT DEBUG 0-7: Configuring mailbox sync managers... [ 517.634556] EtherCAT DEBUG 0-7: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 517.634562] EtherCAT DEBUG 0-7: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 517.635717] EtherCAT DEBUG 0-7: Assigning SII access to PDI. [ 517.643995] EtherCAT DEBUG 0-7: Now in PREOP. [ 517.644006] EtherCAT DEBUG 0-7: Assigning SII access back to EtherCAT. [ 517.645197] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1601. [ 517.645204] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 517.645225] EtherCAT DEBUG 0-7: Setting entry count to zero. [ 517.645229] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:00. [ 517.645232] EtherCAT DEBUG: 00 [ 517.645237] EtherCAT DEBUG 0-7: Expedited download request: [ 517.645240] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 517.649908] EtherCAT DEBUG 0-7: Download response: [ 517.649914] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 517.649933] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 517.649938] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:01. [ 517.649941] EtherCAT DEBUG: 10 00 40 60 [ 517.649950] EtherCAT DEBUG 0-7: Expedited download request: [ 517.649953] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 517.654598] EtherCAT DEBUG 0-7: Download response: [ 517.654605] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 517.654623] EtherCAT DEBUG 0-7: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 517.654628] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:02. [ 517.654632] EtherCAT DEBUG: 20 00 7A 60 [ 517.654641] EtherCAT DEBUG 0-7: Expedited download request: [ 517.654643] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 517.659298] EtherCAT DEBUG 0-7: Download response: [ 517.659304] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 517.659323] EtherCAT DEBUG 0-7: Setting number of PDO entries to 2. [ 517.659326] EtherCAT DEBUG 0-7: Downloading SDO 0x1601:00. [ 517.659330] EtherCAT DEBUG: 02 [ 517.659334] EtherCAT DEBUG 0-7: Expedited download request: [ 517.659337] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 517.664005] EtherCAT DEBUG 0-7: Download response: [ 517.664011] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 517.664029] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO 0x1601. [ 517.664033] EtherCAT DEBUG 0-7: Setting PDO assignment of SM2: [ 517.664036] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 517.664046] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero. [ 517.664049] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00. [ 517.664052] EtherCAT DEBUG: 00 [ 517.664057] EtherCAT DEBUG 0-7: Expedited download request: [ 517.664059] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 517.668683] EtherCAT DEBUG 0-7: Download response: [ 517.668689] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 517.668710] EtherCAT DEBUG 0-7: Assigning PDO 0x1601 at position 1. [ 517.668715] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:01. [ 517.668718] EtherCAT DEBUG: 01 16 [ 517.668724] EtherCAT DEBUG 0-7: Expedited download request: [ 517.668727] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 517.673422] EtherCAT DEBUG 0-7: Download response: [ 517.673428] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 517.673447] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 1. [ 517.673451] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00. [ 517.673454] EtherCAT DEBUG: 01 [ 517.673459] EtherCAT DEBUG 0-7: Expedited download request: [ 517.673461] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 517.678116] EtherCAT DEBUG 0-7: Download response: [ 517.678122] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 517.678143] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of SM2. [ 517.678150] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1A01. [ 517.678154] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 [ 517.678171] EtherCAT DEBUG 0-7: Setting entry count to zero. [ 517.678174] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00. [ 517.678178] EtherCAT DEBUG: 00 [ 517.678182] EtherCAT DEBUG 0-7: Expedited download request: [ 517.678184] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 517.682835] EtherCAT DEBUG 0-7: Download response: [ 517.682842] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 517.682860] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 517.682866] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:01. [ 517.682869] EtherCAT DEBUG: 10 00 41 60 [ 517.682878] EtherCAT DEBUG 0-7: Expedited download request: [ 517.682880] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 517.687527] EtherCAT DEBUG 0-7: Download response: [ 517.687533] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 517.687552] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 517.687557] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:02. [ 517.687560] EtherCAT DEBUG: 20 00 64 60 [ 517.687569] EtherCAT DEBUG 0-7: Expedited download request: [ 517.687597] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 517.692256] EtherCAT DEBUG 0-7: Download response: [ 517.692262] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 517.692280] EtherCAT DEBUG 0-7: Setting number of PDO entries to 2. [ 517.692284] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00. [ 517.692287] EtherCAT DEBUG: 02 [ 517.692292] EtherCAT DEBUG 0-7: Expedited download request: [ 517.692294] EtherCAT DEBUG: 00 20 2F 01 1A 00 02 00 00 00 [ 517.696967] EtherCAT DEBUG 0-7: Download response: [ 517.696973] EtherCAT DEBUG: 00 30 60 01 1A 00 02 00 00 00 [ 517.696992] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO 0x1A01. [ 517.696996] EtherCAT DEBUG 0-7: Setting PDO assignment of SM3: [ 517.696998] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 517.697021] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero. [ 517.697026] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00. [ 517.697029] EtherCAT DEBUG: 00 [ 517.697034] EtherCAT DEBUG 0-7: Expedited download request: [ 517.697036] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 517.701671] EtherCAT DEBUG 0-7: Download response: [ 517.701677] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 517.701698] EtherCAT DEBUG 0-7: Assigning PDO 0x1A01 at position 1. [ 517.701702] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:01. [ 517.701705] EtherCAT DEBUG: 01 1A [ 517.701711] EtherCAT DEBUG 0-7: Expedited download request: [ 517.701714] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 517.706339] EtherCAT DEBUG 0-7: Download response: [ 517.706345] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 517.706363] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 1. [ 517.706367] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00. [ 517.706370] EtherCAT DEBUG: 01 [ 517.706374] EtherCAT DEBUG 0-7: Expedited download request: [ 517.706377] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 517.711021] EtherCAT DEBUG 0-7: Download response: [ 517.711027] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 517.711047] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of SM3. [ 517.711053] EtherCAT DEBUG 0-7: SM2: Addr 0x1100, Size 6, Ctrl 0x64, En 1 [ 517.711058] EtherCAT DEBUG 0-7: SM3: Addr 0x1400, Size 6, Ctrl 0x20, En 1 [ 517.712210] EtherCAT DEBUG 0 0:7: FMMU: LogOff 0x00000044, Size 6, PhysAddr 0x1100, SM2, Dir out [ 517.712219] EtherCAT DEBUG 0 0:7: FMMU: LogOff 0x0000004A, Size 6, PhysAddr 0x1400, SM3, Dir in [ 517.726202] EtherCAT DEBUG 0-7: Now in SAFEOP. [ 518.606566] EtherCAT ERROR 0-7: Failed to set OP state, slave refused state change (SAFEOP + ERROR). [ 518.607730] EtherCAT ERROR 0-7: AL status message 0x001B: "Sync manager watchdog". [ 518.613745] EtherCAT 0-7: Acknowledged state SAFEOP.
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