AM6442: Slave is not going into OP State in DC Mode with Beckhoff EtherCAT slave stack code

Upendar Sama

Part Number: AM6442

Tool/software:

Hello,

I am trying to evaluate EtherCAT slave on AM64x EVM. I have built the beckhoff slave demo application but I am facing problem with slave state when DC feature is used.

"DEV# 0: initc#47 tmo=8877 ms retries=0 err=1036 valresult=1 ('check device state for OP' (bad DATA=040000000000 expected == 080000000000 MASK=1F0000000000))
DEV# 0: initc#47 tm=0x10 off= 16 SEND >check device state for OP<"

Number of events for PDI Task and Sync0 Task are not same. I observed that There are 7 sync0 ISR activations for each PDI ISR.

I am using 1ms as the DC cycle time.

Please help me resolve this.

Best Regards,
Upendar Sama

over 1 year ago

0 Aaron Thomas over 1 year ago

TI__Expert 8935 points

Hello Upendar,

Can you share the SDK version of ethercat_slave_beckhoff_ssc_demo you are testing on?

Regards,

Aaron

0 Upendar Sama over 1 year ago in reply to Aaron Thomas

Prodigy 205 points

Hello Aaron,

SDK version:

ind_comms_sdk_am64x_09_02_00_09

Regards,
Upendar

0 Aaron Thomas over 1 year ago in reply to Upendar Sama

TI__Expert 8935 points

Thank you Upendar.

Can you state the EtherCAT MainDevice you are using along with the changes/steps you did to enable DC feature. Also wireshark logs would be useful to understand this issue.

Regards,
Aaron

0 Upendar Sama over 1 year ago in reply to Aaron Thomas

Prodigy 205 points

Hello Aaron,

We are using custom master stack implemented for AM64x.

Using the EtherCAT confuration tool, I have set the synchronization to DC. shift time to 600ns. Cycle time to 2ms.

And writing process data in cyclic task.

I could see PDI_ISR and Sync0 Isr are triggering but out of sync with each other.

bSmSyncSequenceValid is set to FALSE from TRUE during the init phase.

I am unable to take wireshark trace now.

Please provide some insight into why I am getting this problem.

Best Regards,

Upendar

0 Aaron Thomas over 1 year ago in reply to Upendar Sama

TI__Expert 8935 points

Hello Upendar,

Give me some time to look into this. I will get back to you by EOD tomorrow.

Regards,
Aaron

0 Upendar Sama over 1 year ago in reply to Aaron Thomas

Prodigy 205 points

Hi Aaron,

Observation from my side, When the cycle time above 5ms, DC feature is working. At 2ms, 0x001A error code, at other cycle times, 0x002D error code.

0 Aaron Thomas over 1 year ago in reply to Upendar Sama

TI__Expert 8935 points

Thank you Upendar for the observation. I'll look into this and get back to you.

Regards,
Aaron

0 Aaron Thomas over 1 year ago in reply to Aaron Thomas

TI__Expert 8935 points

Hi Upendar, do you have any updates here?

Upendar Sama said:
EtherCAT confuration tool

Is it the Confirmation Tool ?

Regards,
Aaron

0 Upendar Sama over 1 year ago in reply to Aaron Thomas

Prodigy 205 points

Its configuration tool.

I have identified the problem. For this issue, the problem is with the Master stack. Debug logging was adding in real time tasks which is causing delay in sending the sync events to slaves. I will close the issue. I still have some proble with Beckhoff SSC on TI AM64x. But I will create a new post for that.

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AM6442: Slave is not going into OP State in DC Mode with Beckhoff EtherCAT slave stack code