EtherCAT junctions connect failed

Hi Louis,

Could you post a diagram of the topology you use with this junction box?

Hi,

I used TwinCAT as the EtherCAT master and want connect AM3359_ICE after the junction box, but when I right-click to click Scan Boxes item, TwinCAT only find the junction box, no find AM3359_ICE.

I have test the junction box with other slaves ( ACS, Servotronix, FASTECH slave), TwinCAT can find them all.

Hi,

What about the Link LED status of ICE ? Do you see a successful link negotiated?

I think ICE doesn't negotiate with junction box.

The white cable is connected to PC.

The green cable is connected to servotronix driver slave.

The blue cable is connected to ICE.

Hi,

While running EtherCAT app in ICE, connect over JTAG to Cortex-A8 and open memory window.

Open loation 0x4a332480 (PRU-ICSS MDIO user access0 register). Refer to AM335x TRM, 14.5.10.11 MDIOUSERACCESS0 Register for more details

Write 0x80A1_0000 to read  Auto-Negotiation Link Partner Ability Register (ANLPAR) (BASE Page), address 0x0005

Can you please report  LSW (16-bit) from the same register after writing. This reports the register contents of the PHY.

Is there any option to force auto negotiation for a port of junction box?

 

Hi PratheeshGangadhar,

I think there is no option to force auto negotiation for the "CU1128" EtherCAT junction.

Where is the breakpoint to set is good before view and configure the 0x4a332480 of memory ?

Have you test the "CU1128" EtherCAT junction connect with AM3359_ICE ?

The SDK version for ICE board is 1.1.0.3 now.

Hi,

After connecting ethernet cable to Port0, you can halt the Cortex-A8.  EtherCAT firmware/PRU-ICSS needs to be running before you can access below location

No - we do not have CU1128 available here. But based on the description this appears a link negotiation issue at PHY level.

Hi,

I suspend the ethercat project after it runs for a while, and the memory value show as following after write 0x80A10000.

Hi,

Can you please attach the entire memory window from 0x4a332400 onwards. I assume CU1128 is connected to Port0 when you did above write operation. Correct?

Hi,

Yes, the topology is PC -> junction -> ICE.

Before

after

Hi,

MDIO does not see a link. Link partner register of PHY shows all zeros. Is this possible for you to try with a cross cable? Is this ICE v1 or ICE v2 ?

Can you also check following registers please

0x8021_0000 (BMSR)

0x8121_0000 (SWSCR1)

0x8161_0000 (SWSCR3)

0x8201_0000 (PHYSTS)

Hi,

This is ICE V1. I have tried a lot of cables, but there was not negotiation.

0x8021_0000 (BMSR)

0x8121_0000 (SWSCR1)

0x8161_0000 (SWSCR3)

0x8201_0000 (PHYSTS)

Hi,

You need to write the above values to 0x4a332480 to read from PHY and read back value at 0x4a332480 as first time.

Hi,

Can you also check following registers please

0x8021_0000 (BMSR)

0x8121_0000 (SWSCR1)

0x8161_0000 (SWSCR3)

0x8201_0000 (PHYSTS)

Hi,

I am still wait for the reply, thanks.

Hi,

     You can try disabling the Auto MDIX and do a software MDI/MDIX instead.  Please follow the steps listed below.

1) Disable the Auto MDIX - Write 0 to Auto MDI/X Enable bit (bit 15) of PHY CONTROL REGISTER (offset 0x0019)

2) Write 0 to the Force MDI/X bit (bit 14)of PHY CONTROL REGISTER (offset 0x0019). Wait for sometime (Try 4 seconds) to check whether link is coming up or not. In case there is no link go to step 3.

3) Write 1 to the Force MDI/X bit (bit 14)of PHY CONTROL REGISTER (offset 0x0019). Wait for 4 seconds to check whether link is coming up

Regards,

Prajith

Hi Prajith,

Sorry, I am not sure what you mean.

Where is the MDI/MDIX of memory, and I need to suspend the A8 then write value to memory and then resume?

Can you description detail, thanks.

Hi Louis,

Please follow the below mentioned steps

     1) Read the PHY CONTROL REGISTER(offset 0x19).

          Write the value 0x83210000 to the register 0x4a332480. The last 16 bits will give you the PHY CONTROL REGISTER value. (8021 in my case). 

       2) Change the 14th and 15th bit to 0 (0021)  and write back to PHY CONTROL REGISTER

              Write 0xc3210021,in my case to register 0x4a332480

       3) Check the link is coming up or not. If not Keep the 15th bit to 0 and change 14th bit to 1(4021) and write back to PHY CONTROL REGISTER

              Write 0xc3214021,in my case to register 0x4a332480

Check if link comes up

Regards,

Prajith

Hi Prajith,

I have try that.

The procedure is run the ethercat_slave.out and suspend the program, and then run the three steps, but it seems can not link with the junction.

But I find a situation as following:

After run system Initialization, run ethercat_slave.out not yet.

The junction can link to the IN port of ICE board as following the Term 3 is ICE board:

But there may has a bug with Beckhoff junction because port 6.7.8 of junction can not link with the ICE at above situation, only port 2.3.4.5 can be link when system Initialization.

After run the ethercat_slave.out, It unlink soon.

Hi,

There is a new release of Industrial SDK (http://downloads.ti.com/sitara_indus/esd/AM335x_SYSBIOS_Industrial_SDK/latest/index_FDS.html) which has got a fix for link detection if link partner PHY is in forced mode.  Can you please try this

Hi,

I have tried the prebuilt image, and rebuilt the ethercat_slave project, but still not establish a connection with AM335x_ICE V1 board.

 

 

Louis,

We have now received a CU1128 and tried PC > CU1128 > ICE running 1.1.0.5 on different ports of CU1128. We didn't have this issue, and were able to detect and use the slave from TwinCAT on the PC.

Hi PratheeshGangadhar,

What is your HW version of ICE board, can you used the ICE_V1 to test with CU1128 ?
And what is the version of TwinCAT ?
Does any port of CU1128( revision: 0000-0001 ) can be linked with ICE ?

We tried both ICE V1 and V2, TwinCAT v2, and different ports on the CU1128.

Srikant,

We have the same issue with the junction box and our slave. We are using 1.1.0.4 and it would us take sometime to port to 1.1.0.5. Can you suggest a solution/hint where we need to look into the code and what needs to be fixed/modified to get the link?
Our goal is to port 1.1.0.5 but this is huge effort and needs planning. We need to fix our problem now and confirm that our HW design is sound before the porting.

Thanks,

Srikant,

Thanks for responding.  I was wondering which version of the ICE board you use to test.  We seem to have difficulties with our ICE.  Is there any specific configuration we need to be aware of or we can just run the slave stack out of the box?

regards,

Behzad