Sitara EtherCAT Master-Slave communication

The EtherCAT experts have been notified. They will respond directly here.

Paula,

I connected to the right ETH0 port. Changing the port to 2(ETH1) also didnt not help by changing ATEMDemoConfig.h.

Error could not be due to faulty EtherCat cable as Im able to control the LEDs of both AM335X and AM437X  using TwinCat 3.

Prebuit binaries of acontis are also not helping.

Just to give an idea, this is how I have set up the network.

1) Ethercat cable connected from Windows PC to Master's ETH0

2) Ethercat cable connected from Master's ETH1 to Slave's ETH(J6).

I tried exporting the eni file using TwinCat 3 and generated MasterENI.c file .

But in the exported ENI file, I dont see the product ID/vendor Id/any slave information in the ENI.xml but State machine information.

I see from the reference document, I have to use EC-Engineer tool to generate the ENI file.  TwinCat will not help in this regard?

If so, could you please help me how to generate ENI using TwinCat. Im not able to download evaluation version of EC-Engineer tool.

Also, both the ETH0 and ETH1 of master should be set to CPSW(J18 and J19 shorted to pin 1 & 2)?

Kindly help.

Thanks

Rohit

Hi Paula,

I m currently trying to set up AM335x as a master and SevoOne Lti motion Junior as a slave over ethercat network.
Here is the list of the software / packages which are installed to run the EcMasterDemo Code.

1. CCS version : Version: 6.1.3.00034
2. Acontis EC-Master V2.9 for SYS/BIOS
3. AM335x SYS/BIOS Industrial SDK v1.1.0.8
4. SYS/BIOS 6.41.04.54
5. XDC v3.31.3.43

The problem which I am facing is that the function "ecatScanBus(ETHERCAT_SCANBUS_TIMEOUT)" is returning the error code 0x9811002D which means to say that ethernet link between slave and master is not in good shape. But, from the hardware we had checked that orange light is stable on Master Ethernet port (we are using Eth0 in this case) and green light is stable on slave port. I am hoping that ethernet connection is proper in this case.

Please let me know if more information is required. I will respond as soon as possible.

Can you please give us some pointers on how we can crack down on this problem?

Thanks for your time.

Regards,
Mohit

Hi Mohit, have you tried another slave? if you have another AM335x you can use it as slave for a quick sanity check. Also, I would suggest you to send an email to acontis support for additional debugging ideas (ecsupport@acontis.com)

thank you,
Paula

Hi Paula,

Thanks for the quick reply.

Also, there is one more problem I am facing while I am loading the program on the board. This error is constantly appearing on the CCS console when I am loading the program.

IcePick_D_0: GEL: Error while executing OnTargetConnect(): identifier not found: CPSR
at (CPSR&=~(0x20)) [TMDXICE3359_v2_1A.gel:310]
at AM335xStartState() [TMDXICE3359_v2_1A.gel:357]
at OnTargetConnect()
CortxA8: Output: **** AM3359_ICE Initialization is in progress ..........
CortxA8: Output: **** AM335x ALL PLL Config for OPP == OPP100 is in progress .........
CortxA8: Output: Input Clock Read from SYSBOOT[15:14]: 24MHz.

The first three lines of the above snapshot. Can you please tell me what the error is and how to resolve it?

Also, we are not using the ethernet console cable between PC and Master instead of that we are using FTDI as a debugger. Hope it will not disturb the Master - slave communication , but only thing is that we cann't able to see the serial console logs. Ryt ?

Thanks and Regards,
Mohit

Hi Paula,

Can you please help me to solve the above issue.

Thanks in advance.

Regards,
Mohit

Mohit, does this error happen even if you do "System Reset", then "suspend" followed by "CPU Reset (HW)" and finally running gel file script AM3359_ICE_Initialization?. Are you using gel file from Industrial SDK package (am335x_sysbios_ind_sdk_1.1.0.8\sdk\tools\gel\ICE\TMDXICE3359_v2_1A.gel)?
About FTDI, I have never used before, so no sure if using it has some side effects.
About UART logs, Could you step in to the code and put breakpoints in a couple of UARTputString() places and see if you get prints in you console? (ex: UARTPutString(uartInstance,"TI Industrial SDK Version : "); in tiescutils.c). Maybe, also test with another USB port in your PC? or another PC? Please also double check your using below serial port settings
Baud rate: 11520, Data:8, Parity:none, Stop:1bit, Flow control:none

thank you,
Paula

Hi Paula,

I am running the system using the .ccxml file by right click on the fie --> Run as Debug Configuration --> in this the program is automatically loaded into the the Core --> In the .ccxml file itself --> Target Configuration --> the same gel file is loaded (am335x_sysbios_ind_sdk_1.1.0.8\sdk\tools\gel\ICE\TMDXICE3359_v2_1A.gel).

Is there any step which I am doing wrong ? or any other method of loading the program ?

Awaiting for your respnse.

Thanks.

Mohit

Hi Mohit, it seems you are using the correct GEL script file. Also, it is OK to use .ccxml for defining Gel's file path . In order to understand better, I summarize below the steps for connecting/running, please let me know in which step or between which steps the error happens in your setup.
1) Target Configurations. your.ccxm,l -> Launch Selected Configuration
2) CortxA8 -> Connect target
3) System Reset
4) Suspend
5) CPU Reset (HW)
6) Scripts -> AM335x System Initialization -> AM3359_ICE_Initialization

Finally, a question, is FTDI debugger connected when the error occurs?

thank you,
Paula

Hi Paula,

Thanks for your quick response.

This error is observed in 2nd step : CortxA8 -> Connect target.

If you can share your email-id I can send you the .ccxml file as well.

Hi Mohit, I am a little bit afraid it can be a HW problem with your board USB port, because it seems you cannot connect core and you also don't see terminal console messages.
One test, just to see if you can connect the core and later run the GEL file scripts, is to delete the GEL path from .ccxml (and save) then after connecting core (assuming it connects) you can go to tools -> gel files. In opened gel files tab, right click and "load gel" search for the correct gel inside Industrial SDK (TMDXICE3359_v2_1A.gel) and run the initialization scripts. I hope this helps.

thank you,
Paula

Hi Paula,

Thanks for the reply. I have found another .ccxml file which is present in path C:/Users/Mohit/ti/CCStargetconfiguration/ICEv2.ccxml.

Can I use the above the .ccxml file for debugging?

If possible, I want to show you the .ccxml file which was created by me so that you can cross check its validity. Is it possible that I can send it to you that file ?

Thanks for your time.

Regards,
Mohit

Mohit, you attached my .ccxml for your reference

https://e2e.ti.com/cfs-file/__key/communityserver-discussions-components-files/791/AM335x_5F00_ICEv2.ccxml

thank you,

Paula

Hi Paula,

Thanks very much for all the help. Now, I am able to run the .ccxml files as well check the console logs as well.
But we are facing this problem of "CPSW INF: PHY link timeout (waiting for auto negotiation completion)." as per the logs.

Please find the logs in this message :

** StarterWare Boot Loader. Build - 1.0.4-NOR BOOT
Copying application image from MMCSD to RAM

TI Industrial SDK Version - IASDK 1.1.0.8
Device name : AM3359
Chip Revision : AM335x ES1.2 [PG2.1]

SYS/BIOS EcMaster Sample application running on ICE V2
Full command line: -auxclk 2000 -v 2 -t 10000 -perf -cpsw 1 1 1 m custom am33XX 1 1 0

001473 : Run demo now with cycle time 2000 usec
001473 : Using AuxClock
001473 : ==========================
001473 : Initialize EtherCAT Master
001473 : ==========================
001473 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technolog ies GmbH @ 2016
001474 : CPSW INF: Port 1, Prio 1, Flags [Polling] [Master], Phy 1, PhyInterface 32, MAC 68:c9:0b:1d:33:a5

001475 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Mino r: 0xc
001476 : CPSW INF: PHY found. Id=0x2000a211
001476 : CPSW INF: Restart PHY auto negotiation
007536 : CPSW INF: PHY link timeout (waiting for auto negotiation completion).
007558 : Unlicensed version, stop sending ethernet frames after 60 minutes!
007560 : Ethernet cable not connected
007568 : ecatScanBus() Error 0x9811002d in McSm state 'SB_DONE' for requested st ate 'SB_DONE'
007569 : Cannot scan bus: ERROR: Ethernet link cable disconnected (0x9811002d)
007569 : EtherCAT network adapter MAC: 68-C9-0B-1D-33-A5

007569 : =====================
007569 : Start EtherCAT Master
007569 : =====================
007598 : ecatSetMasterStateEx() Error 0x9811002d in McSm state 'START' for reque sted state 'START'
007598 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0 x0); ProductCode: Unknown (0x0).
007598 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unk nown (0x20004) / Unknown (0x0)
007598 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0 x0); ProductCode: Unknown (0x0).
007598 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unk nown (0x20004) / Unknown (0x0)
007598 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0 x0); ProductCode: Unknown (0x0).
007598 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unk nown (0x20004) / Unknown (0x0)
007598 : Cannot start set master state to INIT (Result = ERROR: Ethernet link ca ble disconnected (0x9811002d))
007598 : ========================
007598 : Shutdown EtherCAT Master
007598 : ========================
007687 : ecatSetMasterStateEx() Error 0x9811002d in McSm state 'START' for reque sted state 'START'
007687 : Cannot stop EtherCAT-Master! ERROR: Ethernet link cable disconnected (0 x9811002d)
007705 : ================================================================
007705 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]: 0.8/ 11.6
007705 : PerfMsmt 'JOB_SendAllCycFrames ' (avg/max) [usec]: 1.1/ 46.0
007705 : PerfMsmt 'JOB_MasterTimer ' (avg/max) [usec]: 2.5/ 99.1
007705 : PerfMsmt 'JOB_SendAcycFrames ' (avg/max) [usec]: 0.4/ 4.7
007705 : PerfMsmt 'Cycle Time ' (avg/max) [usec]: 969.2/2010.4
007705 : PerfMsmt 'myAppWorkPd ' (avg/max) [usec]: 0.4/ 4.7
008002 : CPSW INF: Disable running RX-DMA
008002 : CPSW INF: RX+TX DMA disabled. Delay 500
008003 : EcMasterDemo stop.

Can you give some pointers on how to debug this problem.

Awaiting for your response.

Thanks and Regards,
Mohit

Mohit, please double check you have the correct jumpers selection (see section 5.1 TI design) and you have connected to right port (see section 7 TI design)
www.ti.com/.../tiduaf8a.pdf

thank you,
Paula

Hi Paula,

It's correct. We have cross verified that.
This thing can also be confirmed from the point that if we connect the slave from Eth1 of Master then these logs will come. In this case CPSW auto negotiation is completed successfully.But Bus Configuration mismatch error is coming (0x9811001e).

Can you help us on this error :

I Industrial SDK Version - IASDK 1.1.0.8
Device name : AM3359
Chip Revision : AM335x ES1.2 [PG2.1]

SYS/BIOS EcMaster Sample application running on ICE V2
Full command line: -auxclk 2000 -v 2 -t 10000 -perf -cpsw 2 1 1 m custom am33XX 1 1 0

001473 : Run demo now with cycle time 2000 usec
001473 : Using AuxClock
001473 : ==========================
001473 : Initialize EtherCAT Master
001473 : ==========================
001473 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technologies GmbH @ 2016
001474 : CPSW INF: Port 2, Prio 1, Flags [Polling] [Master], Phy 1, PhyInterface 32, MAC 68:c9:0b:1d:33:a7

001475 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Minor: 0xc
001476 : CPSW INF: PHY found. Id=0x2000a211
001476 : CPSW INF: Restart PHY auto negotiation
003236 : CPSW INF: PHY auto negotiation completed
003255 : Unlicensed version, stop sending ethernet frames after 60 minutes!
003377 : Retry sending a acyclic frame due to timeout
003377 : EtherCAT command IDX set value=0xdf
003498 : Retry sending a acyclic frame due to timeout
003498 : EtherCAT command IDX set value=0xe0
003741 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
004230 : 1 identical messages skipped
004230 : ecatScanBus() Error 0x9811001e in McSm state 'SB_DONE' for requested state 'SB_DONE'
004347 : EtherCAT network adapter MAC: 68-C9-0B-1D-33-A7

004347 : =====================
004347 : Start EtherCAT Master
004347 : =====================
004833 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
004841 : ecatSetMasterStateEx() Error 0x9811001e in McSm state 'START' for requested state 'START'
004841 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004841 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unknown (0x20004) / Unknown (0x0)
004841 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004841 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unknown (0x20004) / Unknown (0x0)
004841 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004841 : CFG/BUS VendorId: LTi DRiVES GmbH (0x16) / ---- (0x0); ProductCode: Unknown (0x20004) / Unknown (0x0)
004841 : Cannot start set master state to INIT (Result = Bus configuration mismatch (0x9811001e))
004841 : ========================
004841 : Shutdown EtherCAT Master
004841 : ========================
005327 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
005335 : ecatSetMasterStateEx() Error 0x9811001e in McSm state 'START' for requested state 'START'
005335 : Cannot stop EtherCAT-Master! Bus configuration mismatch (0x9811001e)
005353 : ================================================================
005353 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]: 1.7/ 11.7
005353 : PerfMsmt 'JOB_SendAllCycFrames ' (avg/max) [usec]: 4.0/ 11.4
005353 : PerfMsmt 'JOB_MasterTimer ' (avg/max) [usec]: 5.8/ 73.3
005353 : PerfMsmt 'JOB_SendAcycFrames ' (avg/max) [usec]: 1.7/ 29.1
005353 : PerfMsmt 'Cycle Time ' (avg/max) [usec]: 1998.9/2009.3
005353 : PerfMsmt 'myAppWorkPd ' (avg/max) [usec]: 0.8/ 4.2
005650 : CPSW INF: Disable running RX-DMA
005650 : CPSW INF: RX+TX DMA disabled. Delay 500
005651 : EcMasterDemo stop.

Thanks for all the help.

Awaiting for your response.

Thanks and Regards,
Mohit

Mohit, I missed that, ok, so I think what you need to do is to change the ESI files to match your slave bus configuration. Procedure is explained in Section 6 point 3 and Appendix B.
Thank you,
Paula

Hi Paula,

We are following the same procedure mentioned in the section 6 point 3 and Appendix B , but still same error persists .

Any thing more we can check.

Thanks for your time.

Regards,
Mohit

Hi Mohit, are you using AM437x as slave? if so, you can download prebuild binary package from acontis webpage. This prebuild contains a MasterENI.c file for AM437x

http://www.acontis.com/eng/products/downloads/ethercat-for-ti-processors.html

Thank you,

Paula

Hi Paula,

We are not using the AM437x as the slave. Also, we are able to solve the problem .The problem is that we are using the ICE_V2 Rev 2 board in which eth0 port is specified in the Manual. We are putting the ethernet connection to a wrong port i.e eth1.

Thanks very much for your time and help. My problem is resolved through the E2E forum.

Regards,
Mohit

Hi Paula,

Thanks for all the help.

Now I am able to communicate with the slave and downloads and Uploads the different slave Objects as well. Now, I am strucking at the moment in downloading the Control word which corresponds to the object 0x6040 in the slave using the API "ecatCoeSdoDownload()". Although the message which I am getting after calling the above function is success. But, when I check the value of the object 0x6040 using the function "ecatCoeSdoUpload" the value remains to be zero which is the same before modifying the object 0x6040 using the download . That means the value is not updated in the slave. If I am not able to configure this object , that means my slave will never come into operation mode.

I know I am making some basic mistake in doing that, but at the moment I cannot able to understand what is the mistake and how to correct it.

Can you please help me in resolve the same.

Thanks and Regards,
Mohit

Hi Paula,

Can you please help me to resolve the above issue.

Thanks very much for your time.

Awaiting for your response.

Thanks and Regards,
Mohit

Hi Mohit, apologize my delay in replying. I think your API question is for the master side, right? If so, please contact acontis support (ecsupport@acontis.com) they should be able to guide you or point you to the right documentation.

thank you,
Paula

Hi Paula,

Thanks for your reply. My problem is regarding that I am trying to modify the object 0×6040 which is actually the control word to enable the slave using the SDO transfer.

So, my doubt is whether it is correct to modify the control word 0x6040 using the SDO or control word can only be modified using PDO ?

The reason for asking this question is when I am trying to modify the control word using SDO transfer , it is coming to be a success, but it can't be able to modify the control word.

My next doubt is if the control word is to be modify using the PDO in the ENI FILE , then can you help me in how can I modify it ?

Thanks very much for your time. I really appreciate in answering my doubts.

Regards,
Mohit

Hi Paula,

Can you please help me in this .

Thanks for your time.

Regards,
Mohit

Hi Mohit, from TI_ESC.xml file I see we have control word 0x6040 already in the PDO (attached snapshot). If I recall correctly we use this XML to create ENI file.. but please double check, I would suggest to re-create your ENI file following "appendix B" from the TI design document.

About your question on where to correctly change ControlWord6040, I believe it is in the PDO, however, you can post your question on ETG forum for additional guidance.

Thank you,

Paula