IGH 汇川SV660N调试

EoE

目前的方式是将eoe 关闭, 这需要重新配置编译ec_master

sudo ./configure --disable-8139too --enable-generic --enable-r8169 --disable-eoe --enable-coe

[426163.348589] EtherCAT 0: Master thread exited.
[426163.348592] EtherCAT 0: Stopping EoE thread.
[426163.348608] EtherCAT 0: EoE thread exited.
[426163.348609] EtherCAT 0: Starting EoE thread.
[426163.348664] EtherCAT 0: Starting EtherCAT-OP thread.
[426163.348725] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[426163.489821] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[426163.505818] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[426163.521818] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[426163.521822] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0s0.
[426163.537816] EtherCAT WARNING 0-0: Other mailbox protocol response for eoe0s0.
[426163.569373] EtherCAT 0: Domain 0: Working counter changed to 2/3.
[426163.579421] EtherCAT ERROR 0-0: Failed to set OP state, slave refused state change (SAFEOP + ERROR).
[426163.593756] EtherCAT ERROR 0-0: AL status message 0x0027: "Freerun not supported".
[426163.609782] EtherCAT 0-0: Acknowledged state SAFEOP.
[426164.571099] EtherCAT 0: Domain 0: 2 working counter changes - now 2/3.
[426169.069659] EtherCAT 0: Releasing master...
[426169.069681] EtherCAT 0: Master thread exited.
[426169.069683] EtherCAT 0: Stopping EoE thread.
[426169.069699] EtherCAT 0: EoE thread exited.
[426169.069707] EtherCAT 0: Starting EoE thread.
[426169.069799] EtherCAT 0: Starting EtherCAT-IDLE thread.
[426169.069839] EtherCAT 0: Released.

DC SYNCH configuration

配置DC错误，需结合ESI文件种的DC配置来更新代码种DC的配置

ESI DC描述

<Dc><OpMode><Name>DC</Name><Desc>DC-Synchron</Desc><AssignActivate>#x300</AssignActivate><CycleTimeSync0 Factor="1">0</CycleTimeSync0><ShiftTimeSync0>0</ShiftTimeSync0><CycleTimeSync1 Factor="1">0</CycleTimeSync1></OpMode>
</Dc>

IGH代码配置

ecrt_slave_config_dc(sc, 0x0300, PERIOD_NS, 0, 0, 0);

[500956.067652] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[500956.069655] EtherCAT ERROR 0-0: AL status message 0x0030: "Invalid DC SYNCH configuration".
[500956.073656] EtherCAT 0-0: Acknowledged state PREOP.
[500956.082001] EtherCAT 0: Releasing master...
[500956.082046] EtherCAT 0: Master thread exited.
[500956.082054] EtherCAT 0: Starting EtherCAT-IDLE thread.
[500956.082170] EtherCAT 0: Released.
[500956.082182] EtherCAT ERROR 0-2: Failed to receive AL state datagram: Datagram initialized.
[500956.373139] EtherCAT WARNING: Datagram 00000000047e5d5c (master-fsm) was SKIPPED 1 time.

SV660N TODO

TODO, SV660N需要在Pre-Op模式下设置PDO,

[518987.528022] EtherCAT: Requesting master 0...
[518987.528029] EtherCAT: Successfully requested master 0.
[518987.528128] EtherCAT 0: Domain0: Logical address 0x00000000, 40 byte, expected working counter 3.
[518987.528131] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 40 byte, type LRW.
[518987.528151] EtherCAT 0: Master thread exited.
[518987.528154] EtherCAT 0: Starting EtherCAT-OP thread.
[518987.528217] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[518987.666277] EtherCAT ERROR 0-0: SDO download 0x1701:00 (1 bytes) aborted.
[518987.666284] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[518987.666286] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[518987.666287] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32. Entries to map: 0x6040:00/16 0x607A:00/32 0x60B8:00/16 0x60FE:01/32
[518987.666303] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1701.
[518987.685277] EtherCAT ERROR 0-0: SDO download 0x1B01:00 (1 bytes) aborted.
[518987.685282] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[518987.685284] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[518987.685286] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x60F4:00/32 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32. Entries to map: 0x603F:00/16 0x6041:00/16 0x6064:00/32 0x6077:00/16 0x60F4:00/32 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x60FD:00/32
[518987.685312] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B01.
[518990.527089] EtherCAT WARNING 0: 6 datagrams UNMATCHED!
[518990.539264] EtherCAT WARNING: Datagram 00000000b8943496 (domain0-0-main) was SKIPPED 3 times.
[518992.699247] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[518992.705246] EtherCAT 0: Domain 0: Working counter changed to 2/3.