各位好,我正在用EC-Master-V2.9-SYSBIOS-Motor工程作为master,唯一的从机采用的是松下伺服驱动器。在初始化EtherCAT Master的时候老是出错——不管是启用DCM模式还是禁用DCM模式,都报0x9811001e的错误。下面是日志信息:
000133 : Run demo now with cycle time 1000 usec
000133 : Using AuxClock
000133 : ==========================
000133 : Initialize EtherCAT Master
000133 : ==========================
000133 : EC-Master V2.9.0.06 (Protected) for SYSBIOS Copyright acontis technologies GmbH @ 2016
000134 : CPSW INF: Port 1, Prio 1, Flags [Polling] [Master], Phy 0, PhyInterface 32, MAC 10:ce:a9:a8:76:27
000135 : CPSW INF: CPSW3G found. CPSW INF: HW-Id: 0x0019, RTL: 0, Major: 1, Minor: 0xc
000136 : CPSW INF: PHY found. Id=0x00221622
000136 : CPSW INF: Restart PHY auto negotiation
003247 : CPSW INF: PHY auto negotiation completed
003277 : Unlicensed version, stop sending ethernet frames after 60 minutes!
003278 : DCM control loop disabled for diagnosis!
003398 : Retry sending a acyclic frame due to timeout
003398 : EtherCAT command IDX set value=0xdf
003518 : Retry sending a acyclic frame due to timeout
003518 : EtherCAT command IDX set value=0xe0
003759 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
004242 : 1 identical messages skipped
004242 : ecatScanBus() Error 0x9811001e in McSm state 'SB_DONE' for requested state 'SB_DONE'
004355 : EtherCAT network adapter MAC: 10-CE-A9-A8-76-27
004355 : =====================
004355 : Start EtherCAT Master
004355 : =====================
004836 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
004844 : ecatSetMasterStateEx() Error 0x9811001e in McSm state 'START' for requested state 'START'
004844 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004844 : CFG/BUS VendorId: ---- (0x66f) / ---- (0x0); ProductCode: Unknown (0x60380006) / Unknown (0x0)
004844 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004844 : CFG/BUS VendorId: ---- (0x66f) / ---- (0x0); ProductCode: Unknown (0x60380006) / Unknown (0x0)
004844 : Scan bus mismatch for the first slave on the bus! BUS VendorId: ---- (0x0); ProductCode: Unknown (0x0).
004844 : CFG/BUS VendorId: ---- (0x66f) / ---- (0x0); ProductCode: Unknown (0x60380006) / Unknown (0x0)
004844 : Cannot start set master state to INIT (Result = Bus configuration mismatch (0x9811001e))
004844 : ========================
004844 : Shutdown EtherCAT Master
004844 : ========================
005325 : Scan Bus returned with error: Bus configuration mismatch (0x9811001e)
005333 : ecatSetMasterStateEx() Error 0x9811001e in McSm state 'START' for requested state 'START'
005333 : Cannot stop EtherCAT-Master! Bus configuration mismatch (0x9811001e)
005350 : ================================================================
005350 : PerfMsmt 'JOB_ProcessAllRxFrames' (avg/max) [usec]: 1.6/ 11.3
005350 : PerfMsmt 'JOB_SendAllCycFrames ' (avg/max) [usec]: 3.9/ 9.8
005350 : PerfMsmt 'JOB_MasterTimer ' (avg/max) [usec]: 5.3/ 76.7
005350 : PerfMsmt 'JOB_SendAcycFrames ' (avg/max) [usec]: 1.3/ 27.7
005350 : PerfMsmt 'Cycle Time ' (avg/max) [usec]: 1000.3/1433.4
005350 : PerfMsmt 'myAppWorkPd ' (avg/max) [usec]: 0.9/ 6.7
005350 : PerfMsmt 'Write DCM logfile ' (avg/max) [usec]: 0.4/ 12.1
005654 : CPSW INF: Disable running RX-DMA
005654 : CPSW INF: RX+TX DMA disabled. Delay 500
005655 : EcMasterDemoDc stop.
我的问题是:松下伺服驱动器的初始化该如何操作?
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