Details
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Type:
Story
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Status: Done
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Resolution: Done
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Fix Version/s: None
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Component/s: ts_main_telescope
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Labels:
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Story Points:2
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Epic Link:
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Sprint:TSSW Sprint - Apr 11 - Apr 25
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Team:Telescope and Site
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Urgent?:No
Description
Fix the EtherCat warning in rotator:
Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Exiting sys_start
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 144 byte, expected working counter 6.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 144 byte, type LRW.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Master thread exited.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: online.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: State 0x02.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: online.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: exec_max= 26365
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: ethercat setup complete
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40.
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Apr 5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Slave states on main device: OP.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x01.
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Apr 5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.
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I just realized the difference between the fixed and non-fixed PDOs:
Because the Rotator Simulink Model is running the server frequency 4kHz, the fix of map PDO is required.
I create the DM-34529 for this overhaul of PDO mapping.