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AM2432: ICSSG pru sigma delta freeze when switching between controllers

Yoav Karmi
Prodigy 80 points
Part Number: AM2432


Hi

I have a scenario which i have a network of several drives connected to ethercat controller - omron . all the drives are in OP state and everyting working as expected. 

Now I unplugged the  ethercat cable from the omron controller - and connect it to other controller - beckhoff.  when i do this transition the drives stopping - the PRU get stuck in WAIT_LOOP:

this is a print screen from sdfm.asm:

image.png

My Expectation from transitioning between the controllers is that the drive drop from OP and when connection establlished in the other controller the drive will go to OP again and not stop the PRU.

To get out of this situation we do reset to the state in the beckhoff controller GUI - TWINCAT and the drives "unfreeze" and going to OP. 

I know this is an odd scenario but i wonder if you have any idea what can casue this "freeze" in the PRU or if you can give me the registers that may be related to the triggering of the PRU and why it is stuck on WAIT_LOOP.

Thank You for the support

 

 

  • 0
    TI__Genius 10725 points

    Hi Yoav,

    Can you provide the wireshark log after you connect to the Beckhoff controller.

    Yoav Karmi said:
    when i do this transition the drives stopping - the PRU get stuck in WAIT_LOOP:

    May I know which state the SubDevice is in, when connected to Beckhoff Controller? Also, please provide the ICSS Memory dump, that is, from Register 0x30000000 to 0x30040000 (assuming you are using ICSSG0 instance).

    Yoav Karmi said:
    My Expectation from transitioning between the controllers is that the drive drop from OP and when connection establlished in the other controller the drive will go to OP again and not stop the PRU.

    May I get more background on your implementation. In this case, what input is SDFM waiting for from the EtherCAT SubDevice?

    Regards,
    Aaron

  • 0 in reply to Aaron Thomas
    TI__Mastermind 28184 points

    Yoav

    Can you also share details on timebase controllers and receivers?

    Do you following this sequence, for example,

    EtherCAT SYNC OUT -> EPWM SYNC IN -> EPWM SYNC OUT -> SDFM IEP RESET.

    Can you also share the ICSS Memory Dump for both ICSSG instances (EtherCAT and SDFM) ?

    Regards

    Dhaval