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  1. Data Management
  2. DM-34605

Fix the Wrong PDO Mappings of 0x1702 and 0x1742 in Phase 1

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    • Story Points:
      1
    • Epic Link:
    • Sprint:
      TSSW Sprint - Apr 25 - May 09, TSSW Sprint - May 09 - May 23
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      Fix the wrong PDO mappings (0x2183 and 0x2983) of 0x1702 and 0x1742 (drive_out_pdos_xe2) in rotator controller in phase 1.

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          is triggered by

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-34529 Rewrite the PDOs Mapping in Rotator Controller

          • To Do
          is triggering

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-34755 Fix the Wrong PDO Mappings of 0x1702 and 0x1742 in Phase 2

          • To Do

            Activity

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            ttsai Te-Wei Tsai added a comment - - edited

            After removing the entries and reset the watchdog, the error message is: debugPdo.txt .
            The errors relate to this ticket is:

            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.
            		 
            Apr 28 20:00:02 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
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.
            		 
            Apr 28 20:00:02 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
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            		 
            Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.

            Show
            ttsai Te-Wei Tsai added a comment - - edited After removing the entries and reset the watchdog, the error message is: debugPdo.txt . The errors relate to this ticket is: Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742. Apr 28 20:00:02 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 Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted. Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702. Apr 28 20:00:02 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 Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 28 20:00:02 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.
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            ttsai Te-Wei Tsai added a comment - - edited

            The above errors do not come from ecrt_master_sdo_download(), which all SDO entries are RW.

            Show
            ttsai Te-Wei Tsai added a comment - - edited The above errors do not come from ecrt_master_sdo_download() , which all SDO entries are RW .
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            ttsai Te-Wei Tsai added a comment - - edited

            I realized the MOOG developers mapped the 0x2183 and 0x2983 in drive_in_pdos. I rearranged the code order to do the PDO mapping after the SOD downloads are done. The assumption is that the execution order might be important. Otherwise, I do not understand the error message of "SDO download 0x1702:00 (1 bytes) aborted.".

            Show
            ttsai Te-Wei Tsai added a comment - - edited I realized the MOOG developers mapped the 0x2183 and 0x2983 in drive_in_pdos . I rearranged the code order to do the PDO mapping after the SOD downloads are done. The assumption is that the execution order might be important. Otherwise, I do not understand the error message of "SDO download 0x1702:00 (1 bytes) aborted.".
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            ttsai Te-Wei Tsai added a comment - - edited

            I still have the same errors:

            [   17.579769] EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.
            		 
            [   17.579772] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            		 
            [   17.579773] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            		 
            [   17.579774] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16
            		 
            [   17.579779] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.
            		 
            [   17.583017] EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.
            		 
            [   17.583018] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            		 
            [   17.583019] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            		 
            [   17.583020] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16
            		 
            [   17.583024] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.

            Because the PDO mapping is after the SDO downloads, I believe the SDO download error message comes from the configuring PDOs. I may need to use the EtherCAT EUI to support the debug (DM-34755).

            Show
            ttsai Te-Wei Tsai added a comment - - edited I still have the same errors: [ 17.579769] EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted. [ 17.579772] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". [ 17.579773] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [ 17.579774] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16 [ 17.579779] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702. [ 17.583017] EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted. [ 17.583018] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". [ 17.583019] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [ 17.583020] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16 [ 17.583024] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742. Because the PDO mapping is after the SDO downloads, I believe the SDO download error message comes from the configuring PDOs. I may need to use the EtherCAT EUI to support the debug ( DM-34755 ).
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            ttsai Te-Wei Tsai added a comment -

            Please help to review the PR:
            https://github.com/lsst-ts/ts_rotator_controller/pull/40

            Thanks!

            Show
            ttsai Te-Wei Tsai added a comment - Please help to review the PR: https://github.com/lsst-ts/ts_rotator_controller/pull/40 Thanks!
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            rowen Russell Owen added a comment -

            Reviewed on github.

            Show
            rowen Russell Owen added a comment - Reviewed on github.

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
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              2 Start watching this issue

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                Updated:
                Resolved:

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