ES_Slave_error connecting a CapitanXCR drive

Aleks17

Hi, I've got the ES_Slave_error when I try to engage the drive in the desk. I've read the other discussion "ES_Slave_error when trying to engage the synapticon cia402 drive." and followed the same steps but it doesn't solved my error, I still get the same error.

I get the OP state when typing ethercat slaves.
The errors I get are these ones:

Aleks17

The logs are theses ones:
2023-05-12 09:27:05.310 +0000 [INFO] Real-time mode enabled
2023-05-12 09:27:05.202 +0000 [INFO] Configuration:
Motorcortex-core version: 2.10.3-0-g72109a3f_release
Generic-App version: 2.2.2-4-g5479ac5_release
Motorcortex-control version: 2.3.0-0-gece29fc_release
Motorcortex-math version: 2.2.1-0-g6832a3e_release
Hardware key: 13970340971934215076
List of components: mcx-core2 mcx-math2 mcx-control2 mcx-generic-app2
License is not valid (error type: 128 info: 2), failed to verify. Hardware key does not match.
Configuration file: /etc/motorcortex/config/config.json
{
"App": {
"NumberOfLoops": 6
},
"BNOIMU": {
"Device": "/dev/ttyACM0",
"Enable": true
},
"Drive": "cia402",
"Joystick": {
"Device_0": "/dev/input/js0",
"Device_1": "/dev/input/js1",
"Device_2": "/dev/input/js2",
"Enable": false
},
"Mode": "Production",
"Mode": "Production",
"NumberOfAxis": 6,
"Path": {
"Control": "control/control.xml",
"ExternalReset2": "scripts/r16chksum_workaround_stage1.sh 3 4 5 6 7 8",
"Fieldbus": "io/master.xml",
"License": "license.pem",
"Linking": "linking.json",
"Log": "/var/www/motorcortex/log",
"Mechanism": "mech/mech-parameters.xml",
"MotionPlayer": "/etc/motorcortex/config/motionfiles/",
"Persistence": "control/persistence.bin",
"StartupValues": "startup_values.xml",
"UserParameters": "user/parameters.json"
},
"Realtime": {
"Allocate": 16,
"Isolate": [
0,
1
]
},
"Server": {
"Default": {
"Certificate": "/etc/ssl/certs/motorcortex.pem",
"Direction": "listen",
"Login": "disable",
"URL": "wss://*:5568:5567"
}
},
"SpaceNav": {
"Device": "/dev/input/by-id/usb-3Dconnexion_3Dconnexion_Universal_Receiver-event-joystick",
"Enable": true,
"Device": "/dev/input/by-id/usb-3Dconnexion_SpaceMouse_Wireless_Receiver-event-joystick"
},
"Task": {
"Comm_task": {
"Dt": 1000,
"Sched": "Normal"
},
"Control_task": {
"Cpu": [
0
],
"Dt": 1000,
"Prio": 80,
"Sched": "Realtime"
},
"Fieldbus_task": {
"Cpu": [
1
],
"Dt": 1000,
"Prio": 80,
"Sched": "Realtime"
},
"IO_task": {
"Dt": 1000,
"Sched": "Realtime"
},
"Logger_task": {
"Dt": 1000,
"Sched": "Normal"
},
"Logic_task": {
"Dt": 10000,
"Sched": "Realtime"
},
"Simulator_task": {
"Dt": 1000,
"Sched": "Realtime"
}
},
"XsensIMU": {
"Device": "/dev/ttyUSB0",
"Enable": true
}
}

2023-05-12 09:27:05.203 +0000 [INFO] Task Logger_task stack is 1048576 bytes
2023-05-12 09:27:05.204 +0000 [INFO] Using EtherCAT XML Parser 2.0
2023-05-12 09:27:05.205 +0000 [INFO] EtherCAT module (single system mode), Name: Ethercat, Master Id: 0, System Mode: Production
2023-05-12 09:27:05.233 +0000 [INFO] Task Fieldbus_task stack is 1048576 bytes
2023-05-12 09:27:05.677 +0000 [ERROR] Failed to parse UserParameter, Error: Invalid type string "char[11],parameter_volatile]" for /branch2/subbranch1/branch2subbranch1Param1. Invalid parameter type: parameter_volatile].
2023-05-12 09:27:05.677 +0000 [INFO] Module is enabled: /etc/motorcortex/config/user/parameters.json
2023-05-12 09:27:05.702 +0000 [INFO] Task Control_task stack is 1048576 bytes
2023-05-12 09:27:05.702 +0000 [INFO_SM] Robot State: Initialized state: logic::InitState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::ReferencingState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::SaveConfigurationState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic:😮ffState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic:😮ffToDisengagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic:😃isengagedToOffState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic:😃isengagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic:😃isengagedToEngagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::EngagedToDisengagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::EngagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::RetractState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopResetState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopOffState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::EStopOpenCircState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::ToForcedDisengagedState
2023-05-12 09:27:05.714 +0000 [INFO_SM] Robot State: Initialized state: logic::ForcedDisengagedState
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO] Created drive: Drive1, type: 1, system mode: Production
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO] Created drive: Drive2, type: 1, system mode: Production
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO] Created drive: Drive3, type: 1, system mode: Production
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO] Created drive: Drive4, type: 1, system mode: Production
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.717 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive5: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.718 +0000 [INFO] Created drive: Drive5, type: 1, system mode: Production
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::Transition
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::SwitchOn
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive:😮perationEnable
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::QuickStopActive
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Initialized state: mcx::drive::Fault
2023-05-12 09:27:05.718 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::NotReadyToSwitchOn
2023-05-12 09:27:05.718 +0000 [INFO] Created drive: Drive6, type: 1, system mode: Production
2023-05-12 09:27:05.796 +0000 [INFO] Task Logic_task stack is 1048576 bytes
2023-05-12 09:27:05.806 +0000 [INFO] Task Comm_task stack is 1048576 bytes
2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[0] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop01/torqueWindowDetector/state[0:1], root/Control/actuatorControlLoops/actuatorControlLoop01/torqueW2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[1] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop02/torqueWindowDetector/state[12:1], root/Control/actuatorControlLoops/actuatorControlLoop02/torque2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[2] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop03/torqueWindowDetector/state[24:1], root/Control/actuatorControlLoops/actuatorControlLoop03/torque2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[3] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop04/torqueWindowDetector/state[36:1], root/Control/actuatorControlLoops/actuatorControlLoop04/torque2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[4] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop05/torqueWindowDetector/state[48:1], root/Control/actuatorControlLoops/actuatorControlLoop05/torque2023-05-12 09:27:06.969 +0000 [WARNING] Destination root/Logic/torqueDetectors[5] has multiple sources: root/Control/actuatorControlLoops/actuatorControlLoop06/torqueWindowDetector/state[60:1], root/Control/actuatorControlLoops/actuatorControlLoop06/torque2023-05-12 09:27:07.780 +0000 [INFO] Task Logger_task PID: 994 is running on CPUs: [], Scheduler Policy: SCHED_OTHER, Priority: 0, Offset: 100000 (ns)
2023-05-12 09:27:07.780 +0000 [INFO] Task Comm_task PID: 1000 is running on CPUs: [], Scheduler Policy: SCHED_OTHER, Priority: 0, Offset: 100000 (ns)
2023-05-12 09:27:07.780 +0000 [INFO] Linking PDO Inputs
2023-05-12 09:27:07.780 +0000 [INFO] Linking PDO Outputs
2023-05-12 09:27:07.780 +0000 [INFO] Linking Domain System Mode
2023-05-12 09:27:07.780 +0000 [INFO] Linking SDO
2023-05-12 09:27:07.780 +0000 [INFO] Task Fieldbus_task PID: 995 is running on CPUs: [1], Scheduler Policy: SCHED_FIFO, Priority: 80, Offset: 100000 (ns)
2023-05-12 09:27:07.790 +0000 [INFO] Task Control_task PID: 997 is running on CPUs: [0], Scheduler Policy: SCHED_FIFO, Priority: 80, Offset: 300000 (ns)
2023-05-12 09:27:07.112 +0000 [INFO] Task Logic_task PID: 999 is running on CPUs: [], Scheduler Policy: SCHED_FIFO, Priority: 1, Offset: 1000000 (ns)
2023-05-12 09:27:09.800 +0000 [INFO] MotionPlayer: Found 1 files
2023-05-12 09:27:09.810 +0000 [INFO] MotionPlayer: Loading file: 00_ExampleFile.csv id: 0
2023-05-12 09:27:09.113 +0000 [INFO_SM] Robot State: Enter state: logic::InitState
2023-05-12 09:27:09.113 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-05-12 09:27:09.114 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-05-12 09:27:09.114 +0000 [INFO_SM] Robot State: State: logic::InitState Event: emergencyStop [done]
2023-05-12 09:27:09.114 +0000 [INFO_SM] Robot State: E-Stop id: 501 (0x1f5) subsystem: 0 slave info: 0
2023-05-12 09:27:09.115 +0000 [INFO] MotionPlayer: Loading file: 00_ExampleFile.csv id: 0 [done]
2023-05-12 09:27:09.115 +0000 [INFO] MotionPlayer: Switched to profile with id: 0
2023-05-12 09:27:09.123 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.123 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2023-05-12 09:27:09.123 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 2 slave info: 0
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 3 slave info: 0
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 4 slave info: 0
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 5 slave info: 0
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 6 slave info: 0
2023-05-12 09:27:09.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat]
2023-05-12 09:27:09.124 +0000 [INFO] Drive1 mode: Cyclic Sync. Position
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive1: State: mcx::drive::NotReadyToSwitchOn Event: Switch Mode [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive1: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive2: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive3: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive4: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive5: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Transition
2023-05-12 09:27:09.124 +0000 [INFO_SM] Drive6: State: mcx::drive::NotReadyToSwitchOn Event: Fault Acknowledge [done]
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.133 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.134 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.134 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.134 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:09.134 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:09.233 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2023-05-12 09:27:09.233 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2023-05-12 09:27:09.243 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2023-05-12 09:27:09.253 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:09.753 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2023-05-12 09:27:09.763 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:10.263 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [repeat]
2023-05-12 09:27:10.463 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2023-05-12 09:27:10.473 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:11.473 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2023-05-12 09:27:11.473 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2023-05-12 09:27:11.483 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2023-05-12 09:27:11.983 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:11.993 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2023-05-12 09:27:12.300 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:12.130 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2023-05-12 09:27:12.230 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:24.463 +0000 [INFO] GOTO_ENGAGED_E
2023-05-12 09:27:24.463 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffToDisengagedState
2023-05-12 09:27:24.463 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: gotoEngaged [done]
2023-05-12 09:27:24.473 +0000 [INFO_SM] Robot State: Enter state: logic:😃isengagedState
2023-05-12 09:27:24.473 +0000 [INFO_SM] Robot State: State: logic:😮ffToDisengagedState Event: waitingDisengaged [done]
2023-05-12 09:27:24.474 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-05-12 09:27:24.474 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done]
2023-05-12 09:27:24.474 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [repeat]
2023-05-12 09:27:24.483 +0000 [INFO_SM] Robot State: Enter state: logic:😃isengagedToEngagedState
2023-05-12 09:27:24.483 +0000 [INFO_SM] Robot State: State: logic:😃isengagedState Event: gotoEngaged [done]
2023-05-12 09:27:24.493 +0000 [INFO_SM] Robot State: Enter state: logic::EngagedState
2023-05-12 09:27:24.493 +0000 [INFO_SM] Robot State: State: logic:😃isengagedToEngagedState Event: waitingEngaged [done]
2023-05-12 09:27:25.473 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Fault
2023-05-12 09:27:25.473 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: terminateEvent [done]
2023-05-12 09:27:25.503 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-05-12 09:27:25.503 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-05-12 09:27:25.504 +0000 [INFO_SM] Robot State: State: logic::EngagedState Event: emergencyStop [done]
2023-05-12 09:27:25.504 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2023-05-12 09:27:25.504 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat]
2023-05-12 09:27:26.300 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: savePersistentData [done]
2023-05-12 09:27:30.793 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2023-05-12 09:27:30.794 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2023-05-12 09:27:30.794 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-05-12 09:27:30.794 +0000 [INFO_SM] Drive1: State: mcx::drive::Fault Event: Fault Acknowledge [done]
2023-05-12 09:27:30.794 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled
2023-05-12 09:27:30.794 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [done]
2023-05-12 09:27:30.803 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2023-05-12 09:27:30.813 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:31.313 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2023-05-12 09:27:31.323 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:31.823 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [repeat]
2023-05-12 09:27:32.230 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2023-05-12 09:27:32.330 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-05-12 09:27:33.330 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2023-05-12 09:27:33.330 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2023-05-12 09:27:33.430 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2023-05-12 09:27:33.543 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:33.553 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2023-05-12 09:27:33.563 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:33.573 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2023-05-12 09:27:33.583 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-05-12 09:27:36.830 +0000 [INFO] GOTO_ENGAGED_E
2023-05-12 09:27:36.830 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffToDisengagedState
2023-05-12 09:27:36.830 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: gotoEngaged [done]
2023-05-12 09:27:36.930 +0000 [INFO_SM] Robot State: Enter state: logic:😃isengagedState
2023-05-12 09:27:36.930 +0000 [INFO_SM] Robot State: State: logic:😮ffToDisengagedState Event: waitingDisengaged [done]
2023-05-12 09:27:36.930 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-05-12 09:27:36.930 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done]
2023-05-12 09:27:36.940 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [repeat]
2023-05-12 09:27:36.103 +0000 [INFO_SM] Robot State: Enter state: logic:😃isengagedToEngagedState
2023-05-12 09:27:36.103 +0000 [INFO_SM] Robot State: State: logic:😃isengagedState Event: gotoEngaged [done]
2023-05-12 09:27:36.113 +0000 [INFO_SM] Robot State: Enter state: logic::EngagedState
2023-05-12 09:27:36.113 +0000 [INFO_SM] Robot State: State: logic:😃isengagedToEngagedState Event: waitingEngaged [done]
2023-05-12 09:27:37.930 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Fault
2023-05-12 09:27:37.930 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: terminateEvent [done]
2023-05-12 09:27:37.123 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-05-12 09:27:37.123 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-05-12 09:27:37.124 +0000 [INFO_SM] Robot State: State: logic::EngagedState Event: emergencyStop [done]
2023-05-12 09:27:37.124 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2023-05-12 09:27:37.124 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat]
2023-05-12 09:27:37.623 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: savePersistentData [done]

Aleks17

I also loaded the esi file in the ecat tool and disabled the other axis and the alarms but nothing worked, still get the same error.

philippeH

Hi,

Is the ES_Slave_error the only error in the Error handler?
Can you read you ethercat upload -p0 0x203F 0x1, this is the string feedback (probably results in no fault

Because you don't have a slave error, the reason could be STO is not high.
Did you bridge the drive STO or applied 2x 24V to STO1 and STO2?

philippeH

Can you upload these entries, they should be high else the drive will not engage.

Aleks17

This is what I get when I read "ethercat upload -p0 0x203F 0x1"

And the STO is disabled because I can use the drive with its software.

I uploaded the entries you told me to the rxSDO but nothing changed, I get the same error and it is the only error I get.

philippeH

Aleks17

You need to load sdos first, ethercat -p0 sdos, else you have to specify a data type.
But STO worked, in drive software, so that is fine.

Does the Synapticon device has status lights? Which turn from green to red after this ES_SLAVE_ERROR is Triggert? or does it remain green?

For my understanding, you did not press acknowledge before you uploaded the 0x603F object, correct?

Aleks17

philippeH I did the "ethercat -p0 sdos" but still get the same message as before, failed to determine SDO entry data.
It is not a Synapticon device, but yes it has status lights but do not turn red when the error on the GUI appear, even so usually when I get an error using other software the status LEDs get red too so I don't know why with this error do not turn red.
And yes I did not press acknowledge before uploading the 0x603F object.

philippeH

Aleks17 sorry for the late replay,
I was reading the Title name stating CapitanXCR drive, I thought you were using synapticon cia402 drive as mentioned in your first message.

Could you provide me with the 'dmesg' information:
ssh to controller, and type dmesg

Aleks17

philippeH no the drive I am using is a CapitanXCR as it is written in the title, in my first message I am mentioning another post that I found on the forum that had a similar problem and I tried to use the help from that post but it didn't work for me.
I was able to control the motor using the control word, operation mode and the set-points on the desk tool so the drive is working with Motorcortex, the error I get might be from the GUI.

This is the information you asked for:
[ 0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd083]
[ 0.000000] Linux version 5.4.83-rt45-rpi-preempt-rt-mcx (oe-user@oe-host) (gcc version 9.3.0 (GCC)) #1 SMP PREEMPT Sun Jul 18 19:09:18 UTC 2021
[ 0.000000] Machine model: Raspberry Pi 4 Model B Rev 1.1
[ 0.000000] efi: Getting EFI parameters from FDT:
[ 0.000000] efi: UEFI not found.
[ 0.000000] Reserved memory: created CMA memory pool at 0x000000001ec00000, size 256 MiB
[ 0.000000] OF: reserved mem: initialized node linux,cma, compatible id shared-dma-pool
[ 0.000000] On node 0 totalpages: 242688
[ 0.000000] DMA zone: 3792 pages used for memmap
[ 0.000000] DMA zone: 0 pages reserved
[ 0.000000] DMA zone: 242688 pages, LIFO batch:63
[ 0.000000] percpu: Embedded 26 pages/cpu s67672 r8192 d30632 u106496
[ 0.000000] pcpu-alloc: s67672 r8192 d30632 u106496 alloc=26*4096
[ 0.000000] pcpu-alloc: [0] 0 [0] 1 [0] 2 [0] 3
[ 0.000000] Detected PIPT I-cache on CPU0
[ 0.000000] CPU features: detected: EL2 vector hardening
[ 0.000000] ARM_SMCCC_ARCH_WORKAROUND_1 missing from firmware
[ 0.000000] Built 1 zonelists, mobility grouping on. Total pages: 238896
[ 0.000000] Kernel command line: coherent_pool=1M 8250.nr_uarts=0 snd_bcm2835.enable_compat_alsa=0 snd_bcm2835.enable_hdmi=1 smsc95xx.macaddr=DC:A6:32:16:67:4A vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait quiet logo.nologo net.ifnames=0 cgroup_enable=memory
[ 0.000000] Dentry cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
[ 0.000000] Inode-cache hash table entries: 65536 (order: 7, 524288 bytes, linear)
[ 0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[ 0.000000] Memory: 671608K/970752K available (10172K kernel code, 1100K rwdata, 2872K rodata, 1024K init, 1209K bss, 37000K reserved, 262144K cma-reserved)
[ 0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=4, Nodes=1
[ 0.000000] ftrace: allocating 34085 entries in 134 pages
[ 0.000000] rcu: Preemptible hierarchical RCU implementation.
[ 0.000000] rcu: RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=4.
[ 0.000000] Tasks RCU enabled.
[ 0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 10 jiffies.
[ 0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=4
[ 0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[ 0.000000] GIC: Using split EOI/Deactivate mode
[ 0.000000] rcu: Offload RCU callbacks from CPUs: (none).
[ 0.000000] random: get_random_bytes called from start_kernel+0x324/0x4b4 with crng_init=0
[ 0.000000] arch_timer: cp15 timer(s) running at 54.00MHz (phys).
[ 0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0xc743ce346, max_idle_ns: 440795203123 ns
[ 0.000001] sched_clock: 56 bits at 54MHz, resolution 18ns, wraps every 4398046511102ns
[ 0.000217] Console: colour dummy device 80x25
[ 0.000232] printk: console [tty0] enabled
[ 0.000271] Calibrating delay loop (skipped), value calculated using timer frequency.. 108.00 BogoMIPS (lpj=540000)
[ 0.000281] pid_max: default: 32768 minimum: 301
[ 0.000402] LSM: Security Framework initializing
[ 0.000582] Mount-cache hash table entries: 2048 (order: 2, 16384 bytes, linear)
[ 0.000605] Mountpoint-cache hash table entries: 2048 (order: 2, 16384 bytes, linear)
[ 0.002858] ASID allocator initialised with 32768 entries
[ 0.003056] rcu: Hierarchical SRCU implementation.
[ 0.003677] EFI services will not be available.
[ 0.004093] smp: Bringing up secondary CPUs ...
[ 0.004986] Detected PIPT I-cache on CPU1
[ 0.005045] CPU1: Booted secondary processor 0x0000000001 [0x410fd083]
[ 0.006043] Detected PIPT I-cache on CPU2
[ 0.006081] CPU2: Booted secondary processor 0x0000000002 [0x410fd083]
[ 0.007016] Detected PIPT I-cache on CPU3
[ 0.007054] CPU3: Booted secondary processor 0x0000000003 [0x410fd083]
[ 0.007182] smp: Brought up 1 node, 4 CPUs
[ 0.007190] SMP: Total of 4 processors activated.
[ 0.007197] CPU features: detected: 32-bit EL0 Support
[ 0.007205] CPU features: detected: CRC32 instructions
[ 0.035465] CPU: All CPU(s) started at EL2
[ 0.035516] alternatives: patching kernel code
[ 0.036736] devtmpfs: initialized
[ 0.046517] Enabled cp15_barrier support
[ 0.046545] Enabled setend support
[ 0.046941] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[ 0.046965] futex hash table entries: 1024 (order: 4, 65536 bytes, linear)
[ 0.053512] pinctrl core: initialized pinctrl subsystem
[ 0.054218] DMI not present or invalid.
[ 0.054671] NET: Registered protocol family 16
[ 0.058075] DMA: preallocated 1024 KiB pool for atomic allocations
[ 0.058120] audit: initializing netlink subsys (disabled)
[ 0.058363] audit: type=2000 audit(0.050:1): state=initialized audit_enabled=0 res=1
[ 0.059140] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[ 0.059351] Serial: AMBA PL011 UART driver
[ 0.062733] bcm2835-mbox fe00b880.mailbox: mailbox enabled
[ 0.080057] raspberrypi-firmware soc:firmware: Attached to firmware from 2021-05-27 14:02, variant start
[ 0.090068] raspberrypi-firmware soc:firmware: Firmware hash is 7d9a298cda813f747b51fe17e1e417e7bf5ca94d
[ 0.138034] bcm2835-dma fe007000.dma: DMA legacy API manager, dmachans=0x1
[ 0.141870] vgaarb: loaded
[ 0.142282] SCSI subsystem initialized
[ 0.142502] usbcore: registered new interface driver usbfs
[ 0.142560] usbcore: registered new interface driver hub
[ 0.142667] usbcore: registered new device driver usb
[ 0.142978] usb_phy_generic phy: phy supply vcc not found, using dummy regulator
[ 0.144571] clocksource: Switched to clocksource arch_sys_counter
[ 0.897125] VFS: Disk quotas dquot_6.6.0
[ 0.897219] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[ 0.897579] FS-Cache: Loaded
[ 0.897774] CacheFiles: Loaded
[ 0.906844] thermal_sys: Registered thermal governor 'step_wise'
[ 0.907201] NET: Registered protocol family 2
[ 0.908011] tcp_listen_portaddr_hash hash table entries: 512 (order: 1, 8192 bytes, linear)
[ 0.908039] TCP established hash table entries: 8192 (order: 4, 65536 bytes, linear)
[ 0.908097] TCP bind hash table entries: 8192 (order: 5, 131072 bytes, linear)
[ 0.908217] TCP: Hash tables configured (established 8192 bind 8192)
[ 0.908416] UDP hash table entries: 512 (order: 2, 16384 bytes, linear)
[ 0.908441] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes, linear)
[ 0.908671] NET: Registered protocol family 1
[ 0.909453] RPC: Registered named UNIX socket transport module.
[ 0.909462] RPC: Registered udp transport module.
[ 0.909467] RPC: Registered tcp transport module.
[ 0.909472] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 0.909487] PCI: CLS 0 bytes, default 64
[ 0.911558] hw perfevents: enabled with armv8_cortex_a72 PMU driver, 7 counters available
[ 0.911793] kvm: Limiting the IPA size due to kernel Virtual Address limit
[ 0.911798] kvm [1]: IPA Size Limit: 43bits
[ 0.912485] kvm [1]: vgic interrupt IRQ1
[ 0.912691] kvm [1]: Hyp mode initialized successfully
[ 0.914800] Initialise system trusted keyrings
[ 0.915057] workingset: timestamp_bits=46 max_order=18 bucket_order=0
[ 0.923950] FS-Cache: Netfs 'nfs' registered for caching
[ 0.924711] NFS: Registering the id_resolver key type
[ 0.924750] Key type id_resolver registered
[ 0.924755] Key type id_legacy registered
[ 0.924772] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[ 0.924811] ntfs: driver 2.1.32 [Flags: R/W].
[ 0.926230] Key type asymmetric registered
[ 0.926238] Asymmetric key parser 'x509' registered
[ 0.926279] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 249)
[ 0.926506] io scheduler mq-deadline registered
[ 0.926515] io scheduler kyber registered
[ 0.930137] brcm-pcie fd500000.pcie: host bridge /scb/pcie@7d500000 ranges:
[ 0.930155] brcm-pcie fd500000.pcie: No bus range found for /scb/pcie@7d500000, using [bus 00-ff]
[ 0.930216] brcm-pcie fd500000.pcie: MEM 0x0600000000..0x0603ffffff -> 0x00f8000000
[ 0.930275] brcm-pcie fd500000.pcie: IB MEM 0x0000000000..0x003fffffff -> 0x0400000000
[ 0.986648] brcm-pcie fd500000.pcie: link up, 5 GT/s x1 (SSC)
[ 0.986981] brcm-pcie fd500000.pcie: PCI host bridge to bus 0000:00
[ 0.986993] pci_bus 0000:00: root bus resource [bus 00-ff]
[ 0.987005] pci_bus 0000:00: root bus resource [mem 0x600000000-0x603ffffff] (bus address [0xf8000000-0xfbffffff])
[ 0.987056] pci 0000:00:00.0: [14e4:2711] type 01 class 0x060400
[ 0.987305] pci 0000:00:00.0: PME# supported from D0 D3hot
[ 0.990888] pci 0000:00:00.0: bridge configuration invalid ([bus 00-00]), reconfiguring
[ 0.991149] pci 0000:01:00.0: [1106:3483] type 00 class 0x0c0330
[ 0.991285] pci 0000:01:00.0: reg 0x10: [mem 0x00000000-0x00000fff 64bit]
[ 0.991696] pci 0000:01:00.0: PME# supported from D0 D3cold
[ 0.995230] pci_bus 0000:01: busn_res: [bus 01-ff] end is updated to 01
[ 0.995267] pci 0000:00:00.0: BAR 8: assigned [mem 0x600000000-0x6000fffff]
[ 0.995284] pci 0000:01:00.0: BAR 0: assigned [mem 0x600000000-0x600000fff 64bit]
[ 0.995357] pci 0000:00:00.0: PCI bridge to [bus 01]
[ 0.995373] pci 0000:00:00.0: bridge window [mem 0x600000000-0x6000fffff]
[ 0.995474] pci 0000:00:00.0: enabling device (0000 -> 0002)
[ 0.995527] pci 0000:01:00.0: enabling device (0000 -> 0002)
[ 1.001850] iproc-rng200 fe104000.rng: hwrng registered
[ 1.002223] vc-mem: phys_addr:0x00000000 mem_base=0x3ec00000 mem_size:0x40000000(1024 MiB)
[ 1.003008] gpiomem-bcm2835 fe200000.gpiomem: Initialised: Registers at 0xfe200000
[ 1.003413] cacheinfo: Unable to detect cache hierarchy for CPU 0
[ 1.014033] brd: module loaded
[ 1.026984] loop: module loaded
[ 1.028356] Loading iSCSI transport class v2.0-870.
[ 1.030299] libphy: Fixed MDIO Bus: probed
[ 1.030892] bcmgenet fd580000.ethernet: failed to get enet clock
[ 1.030903] bcmgenet fd580000.ethernet: GENET 5.0 EPHY: 0x0000
[ 1.030920] bcmgenet fd580000.ethernet: failed to get enet-wol clock
[ 1.030933] bcmgenet fd580000.ethernet: failed to get enet-eee clock
[ 1.030952] bcmgenet: Skipping UMAC reset
[ 1.044607] libphy: bcmgenet MII bus: probed
[ 1.124667] unimac-mdio unimac-mdio.-19: Broadcom UniMAC MDIO bus
[ 1.125707] usbcore: registered new interface driver r8152
[ 1.125774] usbcore: registered new interface driver lan78xx
[ 1.125823] usbcore: registered new interface driver smsc95xx
[ 1.126349] xhci_hcd 0000:01:00.0: xHCI Host Controller
[ 1.126375] xhci_hcd 0000:01:00.0: new USB bus registered, assigned bus number 1
[ 1.127216] xhci_hcd 0000:01:00.0: hcc params 0x002841eb hci version 0x100 quirks 0x0000003000000890
[ 1.128524] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.04
[ 1.128537] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.128546] usb usb1: Product: xHCI Host Controller
[ 1.128554] usb usb1: Manufacturer: Linux 5.4.83-rt45-rpi-preempt-rt-mcx xhci-hcd
[ 1.128562] usb usb1: SerialNumber: 0000:01:00.0
[ 1.129145] hub 1-0:1.0: USB hub found
[ 1.129226] hub 1-0:1.0: 1 port detected
[ 1.129736] xhci_hcd 0000:01:00.0: xHCI Host Controller
[ 1.129752] xhci_hcd 0000:01:00.0: new USB bus registered, assigned bus number 2
[ 1.129768] xhci_hcd 0000:01:00.0: Host supports USB 3.0 SuperSpeed
[ 1.130215] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.04
[ 1.130226] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.130234] usb usb2: Product: xHCI Host Controller
[ 1.130242] usb usb2: Manufacturer: Linux 5.4.83-rt45-rpi-preempt-rt-mcx xhci-hcd
[ 1.130249] usb usb2: SerialNumber: 0000:01:00.0
[ 1.130771] hub 2-0:1.0: USB hub found
[ 1.130822] hub 2-0:1.0: 4 ports detected
[ 1.132177] dwc_otg: version 3.00a 10-AUG-2012 (platform bus)
[ 1.132430] dwc_otg: FIQ enabled
[ 1.132436] dwc_otg: NAK holdoff enabled
[ 1.132440] dwc_otg: FIQ split-transaction FSM enabled
[ 1.132448] Module dwc_common_port init
[ 1.132933] usbcore: registered new interface driver uas
[ 1.133033] usbcore: registered new interface driver usb-storage
[ 1.133214] mousedev: PS/2 mouse device common for all mice
[ 1.135366] bcm2835-wdt bcm2835-wdt: Broadcom BCM2835 watchdog timer
[ 1.138856] sdhci: Secure Digital Host Controller Interface driver
[ 1.138863] sdhci: Copyright(c) Pierre Ossman
[ 1.139461] mmc-bcm2835 fe300000.mmcnr: could not get clk, deferring probe
[ 1.139962] sdhci-pltfm: SDHCI platform and OF driver helper
[ 1.143511] ledtrig-cpu: registered to indicate activity on CPUs
[ 1.143792] hidraw: raw HID events driver (C) Jiri Kosina
[ 1.143986] usbcore: registered new interface driver usbhid
[ 1.143993] usbhid: USB HID core driver
[ 1.145538] vchiq: vchiq_init_state: slot_zero = (_ptrval)
[ 1.149449] Initializing XFRM netlink socket
[ 1.149491] NET: Registered protocol family 17
[ 1.149599] Key type dns_resolver registered
[ 1.150328] registered taskstats version 1
[ 1.150393] Loading compiled-in X.509 certificates
[ 1.150683] Key type .fscrypt registered
[ 1.150690] Key type .fscrypt registered
[ 1.162136] uart-pl011 fe201000.serial: cts_event_workaround enabled
[ 1.162225] fe201000.serial: ttyAMA0 at MMIO 0xfe201000 (irq = 14, base_baud = 0) is a PL011 rev2
[ 1.169654] bcm2835-power bcm2835-power: Broadcom BCM2835 power domains driver
[ 1.170041] mmc-bcm2835 fe300000.mmcnr: mmc_debug:0 mmc_debug2:0
[ 1.170045] mmc-bcm2835 fe300000.mmcnr: DMA channel allocated
[ 1.211862] mmc1: queuing unknown CIS tuple 0x80 (2 bytes)
[ 1.213454] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.215044] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.217893] mmc1: queuing unknown CIS tuple 0x80 (7 bytes)
[ 1.219481] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.233825] mmc0: SDHCI controller on fe340000.emmc2 [fe340000.emmc2] using ADMA
[ 1.236971] of_cfs_init
[ 1.237132] of_cfs_init: OK
[ 1.238250] Waiting for root device /dev/mmcblk0p2...
[ 1.257814] random: fast init done
[ 1.276528] mmc1: new high speed SDIO card at address 0001
[ 1.332815] mmc0: new ultra high speed DDR50 SDXC card at address 59b4
[ 1.333336] mmcblk0: mmc0:59b4 USD00 118 GiB
[ 1.334810] mmcblk0: p1 p2
[ 1.370976] EXT4-fs (mmcblk0p2): INFO: recovery required on readonly filesystem
[ 1.370989] EXT4-fs (mmcblk0p2): write access will be enabled during recovery
[ 1.494620] usb 1-1: new high-speed USB device number 2 using xhci_hcd
[ 1.525932] EXT4-fs (mmcblk0p2): recovery complete
[ 1.528025] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[ 1.528107] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[ 1.528705] devtmpfs: mounted
[ 1.532332] Freeing unused kernel memory: 1024K
[ 1.532531] Run /sbin/init as init process
[ 1.677233] usb 1-1: New USB device found, idVendor=2109, idProduct=3431, bcdDevice= 4.21
[ 1.677253] usb 1-1: New USB device strings: Mfr=0, Product=1, SerialNumber=0
[ 1.677263] usb 1-1: Product: USB2.0 Hub
[ 1.678873] hub 1-1:1.0: USB hub found
[ 1.679188] hub 1-1:1.0: 4 ports detected
[ 1.718657] systemd[1]: System time before build time, advancing clock.
[ 1.770767] NET: Registered protocol family 10
[ 1.771752] Segment Routing with IPv6
[ 1.790301] systemd[1]: systemd 244.5+ running in system mode. (+PAM -AUDIT -SELINUX +IMA -APPARMOR -SMACK +SYSVINIT +UTMP -LIBCRYPTSETUP -GCRYPT -GNUTLS +ACL +XZ -LZ4 -SECCOMP +BLKID -ELFUTILS +KMOD -IDN2 -IDN -PCRE2 default-hierarchy=hybrid)
[ 1.790627] systemd[1]: Detected architecture arm64.
[ 1.816798] systemd[1]: Set hostname to <mcx-rpi4>.
[ 2.004580] usb 1-1.3: new full-speed USB device number 3 using xhci_hcd
[ 2.085194] systemd[1]: Unnecessary job for /sys/subsystem/net/devices/wlan0 was removed.
[ 2.085687] random: systemd: uninitialized urandom read (16 bytes read)
[ 2.087749] systemd[1]: Created slice system-getty.slice.
[ 2.087889] random: systemd: uninitialized urandom read (16 bytes read)
[ 2.088528] systemd[1]: Created slice system-serial\x2dgetty.slice.
[ 2.088560] random: systemd: uninitialized urandom read (16 bytes read)
[ 2.089167] systemd[1]: Created slice system-syslog\x2dng.slice.
[ 2.090102] systemd[1]: Created slice system-wpa_supplicant.slice.
[ 2.090789] systemd[1]: Created slice User and Session Slice.
[ 2.091004] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
[ 2.091177] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
[ 2.091308] systemd[1]: Reached target Paths.
[ 2.091359] systemd[1]: Reached target Remote File Systems.
[ 2.091402] systemd[1]: Reached target Slices.
[ 2.091453] systemd[1]: Reached target Swap.
[ 2.091652] systemd[1]: Listening on initctl Compatibility Named Pipe.
[ 2.092132] systemd[1]: Listening on Journal Audit Socket.
[ 2.092411] systemd[1]: Listening on Journal Socket (/dev/log).
[ 2.092726] systemd[1]: Listening on Journal Socket.
[ 2.093086] systemd[1]: Listening on Network Service Netlink Socket.
[ 2.093373] systemd[1]: Listening on udev Control Socket.
[ 2.093560] systemd[1]: Listening on udev Kernel Socket.
[ 2.093850] systemd[1]: Condition check resulted in Huge Pages File System being skipped.
[ 2.096272] systemd[1]: Mounting POSIX Message Queue File System...
[ 2.099144] systemd[1]: Mounting Kernel Debug File System...
[ 2.102339] systemd[1]: Mounting Temporary Directory (/tmp)...
[ 2.105717] systemd[1]: Starting Create list of static device nodes for the current kernel...
[ 2.109009] systemd[1]: Starting Start psplash boot splash screen...
[ 2.111677] systemd[1]: Starting Motorcortex sysinit...
[ 2.114471] systemd[1]: Starting File System Check on Root Device...
[ 2.118375] systemd[1]: Starting Journal Service...
[ 2.122923] systemd[1]: Condition check resulted in Load Kernel Modules being skipped.
[ 2.123242] systemd[1]: Condition check resulted in FUSE Control File System being skipped.
[ 2.126106] systemd[1]: Mounting Kernel Configuration File System...
[ 2.129107] systemd[1]: Starting Load ccat_netdev module when ccat module detected...
[ 2.132431] systemd[1]: Starting Apply Kernel Variables...
[ 2.136214] systemd[1]: Starting udev Coldplug all Devices...
[ 2.140706] systemd[1]: Mounted POSIX Message Queue File System.
[ 2.141216] systemd[1]: Mounted Kernel Debug File System.
[ 2.141673] systemd[1]: Mounted Temporary Directory (/tmp).
[ 2.143451] systemd[1]: Started Create list of static device nodes for the current kernel.
[ 2.144088] systemd[1]: Mounted Kernel Configuration File System.
[ 2.145328] usb 1-1.3: New USB device found, idVendor=413c, idProduct=4503, bcdDevice= 2.28
[ 2.145340] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 2.145344] usb 1-1.3: Product: Dell Universal Receiver
[ 2.145348] usb 1-1.3: Manufacturer: Dell Computer Corp
[ 2.150475] systemd[1]: psplash-start.service: Main process exited, code=exited, status=255/EXCEPTION
[ 2.150847] systemd[1]: psplash-start.service: Failed with result 'exit-code'.
[ 2.152284] systemd[1]: Failed to start Start psplash boot splash screen.
[ 2.152655] systemd[1]: Dependency failed for Start psplash-systemd progress communication helper.
[ 2.152786] systemd[1]: psplash-systemd.service: Job psplash-systemd.service/start failed with result 'dependency'.
[ 2.154697] input: Dell Computer Corp Dell Universal Receiver as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.3/1-1.3:1.0/0003:413C:4503.0001/input/input0
[ 2.157144] systemd[1]: Started Motorcortex sysinit.
[ 2.200326] systemd[1]: Started Journal Service.
[ 2.225400] hid-generic 0003:413C:4503.0001: input,hidraw0: USB HID v1.11 Keyboard [Dell Computer Corp Dell Universal Receiver] on usb-0000:01:00.0-1.3/input0
[ 2.230684] input: Dell Computer Corp Dell Universal Receiver Mouse as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.3/1-1.3:1.1/0003:413C:4503.0002/input/input1
[ 2.230945] input: Dell Computer Corp Dell Universal Receiver Consumer Control as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.3/1-1.3:1.1/0003:413C:4503.0002/input/input2
[ 2.295665] input: Dell Computer Corp Dell Universal Receiver System Control as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.3/1-1.3:1.1/0003:413C:4503.0002/input/input3
[ 2.295847] hid-generic 0003:413C:4503.0002: input,hidraw1: USB HID v1.11 Mouse [Dell Computer Corp Dell Universal Receiver] on usb-0000:01:00.0-1.3/input1
[ 2.301735] hid-generic 0003:413C:4503.0003: hiddev96,hidraw2: USB HID v1.11 Device [Dell Computer Corp Dell Universal Receiver] on usb-0000:01:00.0-1.3/input2
[ 2.313510] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[ 2.334024] systemd-journald[107]: Received client request to flush runtime journal.
[ 2.350278] systemd-journald[107]: File /var/log/journal/72f7b3ecc1c34131b1b4279a13e29d60/system.journal corrupted or uncleanly shut down, renaming and replacing.
[ 2.650574] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[ 2.714366] cfg80211: Loading compiled-in X.509 certificates for regulatory database
[ 2.751569] ------------[ cut here ]------------
[ 2.751581] WARNING: CPU: 0 PID: 140 at pkcs1pad_verify+0x10c/0x160
[ 2.751601] Modules linked in: cfg80211(+) rfkill brcmutil joydev sch_fq_codel ipv6
[ 2.751613] CPU: 0 PID: 140 Comm: systemd-udevd Not tainted 5.4.83-rt45-rpi-preempt-rt-mcx #1
[ 2.751617] Hardware name: Raspberry Pi 4 Model B Rev 1.1 (DT)
[ 2.751619] pstate: 00000005 (nzcv daif -PAN -UAO)
[ 2.751622] pc : pkcs1pad_verify+0x10c/0x160
[ 2.751626] lr : public_key_verify_signature+0x1e0/0x2e8
[ 2.751630] sp : ffffffc011513720
[ 2.751634] x29: ffffffc011513720 x28: ffffffc010ed8640
[ 2.751638] x27: ffffff8036588200 x26: 000000000000010e
[ 2.751642] x25: ffffff8037612600 x24: ffffff8037691100
[ 2.751645] x23: ffffff8037612800 x22: ffffff80374cc740
[ 2.751649] x21: ffffffc0115137d8 x20: ffffff8035e03980
[ 2.751652] x19: ffffff8037612800 x18: 0000000000000000
[ 2.751655] x17: 0000000000000000 x16: ffffffc011513614
[ 2.751658] x15: ffffffc011513600 x14: 0000000000000000
[ 2.751661] x13: ffffffc010ac8ee0 x12: ffffff80376125ff
[ 2.751663] x11: ffffffc0105f2e34 x10: 0000000000000004
[ 2.751666] x9 : 0000000000000002 x8 : 0000000000000100
[ 2.751669] x7 : 0000000000000000 x6 : 0000000000000f00
[ 2.751672] x5 : 0000000000000000 x4 : ffffffff00c09580
[ 2.751675] x3 : 00000000ffe00002 x2 : 0000000000000600
[ 2.751678] x1 : 0000000000000000 x0 : 0000000000000000
[ 2.751680] Call trace:
[ 2.751682] pkcs1pad_verify+0x10c/0x160
[ 2.751685] public_key_verify_signature+0x1e0/0x2e8
[ 2.751688] x509_check_for_self_signed+0xb0/0x128
[ 2.751691] x509_cert_parse+0x164/0x1d8
[ 2.751693] x509_key_preparse+0x24/0x198
[ 2.751696] asymmetric_key_preparse+0x64/0xa0
[ 2.751698] key_create_or_update+0x134/0x3c8
[ 2.751702] regulatory_init+0x190/0x280 [cfg80211]
[ 2.751824] cfg80211_init+0x78/0xdc [cfg80211]
[ 2.751862] do_one_initcall+0x50/0x2b4
[ 2.751867] do_init_module+0x5c/0x248
[ 2.751872] load_module+0x1ee4/0x2588
[ 2.751875] __do_sys_finit_module+0xd0/0xe8
[ 2.751878] __arm64_sys_finit_module+0x28/0x38
[ 2.751881] el0_svc_common.constprop.0+0x7c/0x1a0
[ 2.751886] el0_svc_handler+0x34/0xa0
[ 2.751889] el0_svc+0x8/0x204
[ 2.751892] ---[ end trace bf468fa5cd2480f1 ]---
[ 2.752773] cfg80211: Problem loading in-kernel X.509 certificate (-22)
[ 2.768225] ------------[ cut here ]------------
[ 2.768233] WARNING: CPU: 0 PID: 32 at pkcs1pad_verify+0x10c/0x160
[ 2.768251] Modules linked in: cfg80211 rfkill brcmutil joydev sch_fq_codel ipv6
[ 2.768262] CPU: 0 PID: 32 Comm: kworker/0:1 Tainted: G W 5.4.83-rt45-rpi-preempt-rt-mcx #1
[ 2.768266] Hardware name: Raspberry Pi 4 Model B Rev 1.1 (DT)
[ 2.768275] Workqueue: events request_firmware_work_func
[ 2.768278] pstate: 00000005 (nzcv daif -PAN -UAO)
[ 2.768280] pc : pkcs1pad_verify+0x10c/0x160
[ 2.768284] lr : public_key_verify_signature+0x1e0/0x2e8
[ 2.768288] sp : ffffffc011153970
[ 2.768291] x29: ffffffc011153970 x28: 000000000000004f
[ 2.768295] x27: ffffffc010ad7e40 x26: 000000000000010e
[ 2.768298] x25: ffffff8037612200 x24: ffffff8037691400
[ 2.768301] x23: ffffff8037612400 x22: ffffff8039b78e40
[ 2.768305] x21: ffffffc011153a28 x20: ffffff803677da00
[ 2.768308] x19: ffffff8037612400 x18: 0000000000000000
[ 2.768311] x17: 0000000000000000 x16: ffffffc011153864
[ 2.768313] x15: ffffffc011153850 x14: 0000000000000000
[ 2.768316] x13: ffffffc010ac8ee0 x12: ffffff80376121ff
[ 2.768319] x11: ffffffc0105f2e34 x10: 0000000000000004
[ 2.768322] x9 : 0000000000000002 x8 : 0000000000000100
[ 2.768325] x7 : 0000000000000000 x6 : 0000000000000300
[ 2.768327] x5 : 0000000000000000 x4 : ffffffff00bda440
[ 2.768330] x3 : 00000000ffe00002 x2 : 0000000000000600
[ 2.768333] x1 : 0000000000000000 x0 : 0000000000000000
[ 2.768335] Call trace:
[ 2.768337] pkcs1pad_verify+0x10c/0x160
[ 2.768340] public_key_verify_signature+0x1e0/0x2e8
[ 2.768343] x509_check_for_self_signed+0xb0/0x128
[ 2.768346] x509_cert_parse+0x164/0x1d8
[ 2.768349] pkcs7_extract_cert+0x54/0xa0
[ 2.768352] asn1_ber_decoder+0x42c/0x6a8
[ 2.768356] pkcs7_parse_message+0xc8/0x1b0
[ 2.768358] verify_pkcs7_signature+0x4c/0xa8
[ 2.768364] valid_regdb+0xd0/0x218 [cfg80211]
[ 2.768400] regdb_fw_cb+0x30/0x118 [cfg80211]
[ 2.768411] request_firmware_work_func+0x4c/0x90
[ 2.768414] process_one_work+0x1d0/0x480
[ 2.768418] worker_thread+0x50/0x420
[ 2.768421] kthread+0x118/0x150
[ 2.768424] ret_from_fork+0x10/0x18
[ 2.768428] ---[ end trace bf468fa5cd2480f2 ]---
[ 2.768447] cfg80211: loaded regulatory.db is malformed or signature is missing/invalid
[ 2.791779] brcmfmac: F1 signature read @0x18000000=0x15264345
[ 2.796222] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 2.796728] usbcore: registered new interface driver brcmfmac
[ 3.010973] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 3.029144] brcmfmac: brcmf_c_preinit_dcmds: Firmware: BCM4345/6 wl0: Mar 23 2020 02:19:54 version 7.45.206 (r725000 CY) FWID 01-88ee44ea
[ 3.405116] brcmfmac: brcmf_cfg80211_set_power_mgmt: power save enabled
[ 3.407312] bcmgenet: Skipping UMAC reset
[ 3.409110] bcmgenet fd580000.ethernet: configuring instance for external RGMII
[ 3.409712] bcmgenet fd580000.ethernet eth0: Link is Down
[ 3.685744] ec_master: loading out-of-tree module taints kernel.
[ 3.694234] EtherCAT: Master driver 1.5.2-vecsyn-2 g18c0d6db (with SOE requests)
[ 3.704603] EtherCAT: 1 master waiting for devices.
[ 3.727499] ec_generic: EtherCAT master generic Ethernet device module 1.5.2-vecsyn-2 g18c0d6db
[ 3.727528] EtherCAT: Accepting DC:A6:32:16:67:4A as main device for master 0.
[ 3.727567] ec_generic: Binding socket to interface 2 (eth0).
[ 3.774605] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 5.454602] random: crng init done
[ 5.454614] random: 7 urandom warning(s) missed due to ratelimiting
[ 6.091162] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready
[ 73.341484] usb 1-1.3: USB disconnect, device number 3
[ 107.120217] audit: type=1006 audit(1600598743.389:2): pid=615 uid=0 old-auid=4294967295 auid=1000 tty=(none) old-ses=4294967295 ses=1 res=1
[ 107.278543] audit: type=1006 audit(1600598743.549:3): pid=611 uid=0 old-auid=4294967295 auid=1000 tty=(none) old-ses=4294967295 ses=2 res=1
[ 134.583096] audit: type=1006 audit(1683796653.109:4): pid=661 uid=0 old-auid=4294967295 auid=1000 tty=(none) old-ses=4294967295 ses=3 res=1
[ 245.754670] bcmgenet fd580000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[ 245.754715] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 245.763019] EtherCAT 0: Link state of ecm0 changed to UP.
[ 245.773102] EtherCAT 0: 1 slave(s) responding on main device.
[ 245.773116] EtherCAT 0: Slave states on main device: INIT.
[ 245.773267] EtherCAT 0: Scanning bus.
[ 245.890977] EtherCAT 0: Bus scanning completed in 120 ms.
[ 245.890989] EtherCAT 0: Using slave main-0 as DC reference clock.
[ 245.901042] EtherCAT 0: Slave states on main device: PREOP.
[ 245.941315] EtherCAT 0: Slave states on main device: INIT.
[ 246.001722] EtherCAT 0: Slave states on main device: PREOP.
[ 293.014528] EtherCAT: Requesting master 0...
[ 293.014543] EtherCAT: Successfully requested master 0.
[ 296.904702] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
[ 296.904712] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW at 00000000a08fa429.
[ 296.905472] EtherCAT 0: Master thread exited.
[ 296.905484] EtherCAT 0: Starting EtherCAT-OP thread.
[ 296.937552] EtherCAT 0: Slave states on main device: INIT.
[ 296.949551] EtherCAT 0: Slave states on main device: PREOP.
[ 297.129550] EtherCAT 0: Slave states on main device: SAFEOP.
[ 297.133550] EtherCAT 0: Slave states on main device: OP.

philippeH

I think the slave_error is etherCAT configuration related, (especially the linking between, entries and motorcortex parameters)

I just updated the documentation site. Check out this link below. This provides some information on how to add etherCAT drives to your application.
https://docs.motorcortex.io/docs/applications/robot_app/usage/configure_drive/

Aleks17

philippeH it worked, thanks!!