KRC ROBOTstar 启动过程

KRC ROBOTStar 是 REIS 被 KUKA 收购后推出的一款机器人控制器系统软件,硬件采用99%的原 KRC4硬件,示教盒则将 SmartPAD 替换成了 ReisPad 。

官方网站: https://www.kuka.com/en-us/products/robotics-systems/robot-controllers/krc-robotstar

下面记录了某次启动的过程输出:

Product               : VxWin RT 
VxWorks version       : VxWorks 6.8 SMP.
Made on               : Sep 26 2016, 09:55:22.

VMF version           : 1.29.6.0
VMF descriptor        : @ 0x75400000.
VMF data descriptor   : @ 0x4288840.
bootline = 'none(0,2)pc:vxWorks f=0x400'
+sysHwInit
-sysHwInit
+globalMemHwInit
-globalMemHwInit
+sysHwInit2
-sysHwInit2
WARN   nrkLocalPoolInit() : Initialization skipped as G_dwRsvdPoolBaseAddr is zero.
Target Name: vxTarget 
User: target 
Instantiating /ram as rawFs,  device = 0x1
Formatting /ram for DOSFS
Instantiating /ram as rawFs, device = 0x1
Formatting...Retrieved old volume params with %38 confidence:
Volume Parameters: FAT type: FAT32, sectors per cluster 0
  0 FAT copies, 0 clusters, 0 sectors per FAT
  Sectors reserved 0, hidden 0, FAT sectors 0
  Root dir entries 0, sysId (null)  , serial number 60000
  Label:"           " ...
Disk with 64 sectors of 512 bytes will be formatted with:
Volume Parameters: FAT type: FAT12, sectors per cluster 1
  2 FAT copies, 54 clusters, 1 sectors per FAT
  Sectors reserved 1, hidden 0, FAT sectors 2
  Root dir entries 112, sysId VXDOS12 , serial number 60000
  Label:"           " ...
OK.
'' is not a valid interface name

Adding 8942 symbols for standalone.
 

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 ]]]]]]]]]]]]]]]]]]]]]]]]]]]]]       Development System
 ]]]]]]]]]]]]]]]]]]]]]]]]]]]]
 ]]]]]]]]]]]]]]]]]]]]]]]]]]]       VxWorks 6.8 SMP
 ]]]]]]]]]]]]]]]]]]]]]]]]]]       KERNEL: WIND version 2.13
 ]]]]]]]]]]]]]]]]]]]]]]]]]       Copyright Wind River Systems, Inc., 1984-2009

 CPU: VxWin.  Processor #2.
 Memory Size: 0x3bfeb000.  BSP version 2.0/14.
 Created: Sep 26 2016, 09:55:22
 ED&R Policy Mode: Lab
 WDB Comm Type: WDB_COMM_END
 WDB: Agent configuration failed.

-> INFO   printMemParams: VxWorks Kernel Image ends at :  0x442ff90
INFO   printMemParams: VxWorks Kernel Heap starts at:  0x482ff90, Size: 256.00 MB
INFO   printMemParams: VxWorks User Space starts at : 0x1482ff90, Size: 695.73 MB
INFO   tOSBaseIni 00:00:02.487 : System-Tick tick Global Memory pointer in Shared Data: 0x3ffff000
period [ps]: 1000000000, System-Tick frequency [hz]: 1000
INFO   tOSBaseIni 00:00:02.487 : HPET tick period [fs]: 69841279, HPET frequency [hz]: 14318180
INFO   tOSBaseIni 00:00:02.688 : TSC tick period [fs]: 371239, TSC frequency [hz]: 2693682000
Logger('CIFS'): basic -> error Succeeded 
DEBUG  LogLibThre 01:37:50.709 : virtual int CLoggingLib::Thread(): Got a request to update Loggers
DEBUG  LogLibThre 01:37:50.709 : bool CLoggingLib::updateLoggersFromRegistry(): Updated Logger(3) To: ePureClass  error  0
Logger('CIFS'): error -> basic Succeeded 
DEBUG  LogLibThre 01:37:51.993 : virtual int CLoggingLib::Thread(): Got a request to update Loggers
DEBUG  LogLibThre 01:37:51.993 : bool CLoggingLib::updateLoggersFromRegistry(): Updated Logger(3) To: ePureClass  basic  0
BASIC  tOSBaseIni 01:37:51.994 : CIFS mounting configured shares successful after 1 tries (1s)
ERROR  tOSBaseIni 01:37:52.036 * readRemoteSettings: Could not read /LogManager/RemoteLogging/@ServicesActive
DEBUG  LogLibThre 01:37:52.065 : virtual int CLoggingLib::Thread(): Got a request to update Loggers
WARN   tOSBaseIni 01:37:52.298 : LoadInterfaces: Setting Limits failed.
ERROR  tOSBaseIni 01:37:52.481 : EnableKLIDebug: Getting IP of virtual6 failed. Retry with kukaKLIDebug()
BASIC  tOSBaseIni 01:37:52.496 : BSP Version: 1.2.5
BASIC  tOSBaseIni 01:37:52.496 : Detected Hardware:
BASIC  tOSBaseIni 01:37:52.496 : CPU: Intel Celeron G1820
BASIC  tOSBaseIni 01:37:52.496 : Mainboard: FUJITSU D3236-K1 V4.6.5.4 R1.15.0 for D3236-K1x
BASIC  tOSBaseIni 01:37:52.497 : Networkcard: Intel OnboardNic I350AM2
BASIC  tOSBaseIni 01:37:52.497 : Networkcard: Intel OnboardNic I350AM2
BASIC  tOSBaseIni 01:37:52.497 : Networkcard: Intel OnboardNic I217LM
BASIC  tOSBaseIni 01:37:52.497 : Networkcard: Intel OnboardNic I210AT
BASIC  tOSBaseIni 01:37:52.506 : Global FPU/SSE Unmasked Exceptions:  InvalidOperation, ZeroDivide
BASIC  tOSBaseIni 01:37:52.506 : Global SSE Modes:  FlushToZero, DenormalsAreZero
BASIC  tOSBaseIni 01:37:52.507 : Deactivate FPU for non-FP tasks: yes
BASIC  tOSBaseIni 01:37:52.532 : Module 'ConnectionLib.o' loaded.
BASIC  tOSBaseIni 01:37:52.593 : Module 'BaseLib.o' loaded.
BASIC  tOSBaseIni 01:37:52.633 : Module 'System.o' loaded.
BASIC  tOSBaseIni 01:37:52.651 : Platform Version: 1.0.0Build0060. (30.11.2016 14:38:34)
CXMLSysErrorHandler:: ERROR:
 Attribute 'minOccurs' cannot appear in global element declarations
 SystemID: /CIFSDev/Roboter/Config/System/Common/Schemes/System.xsd
 LineNbr: 30
 Column: 53
ERROR  tSystem    01:37:52.740 : ********************************
***** System Error Message *****
********************************
Typ        : 0
Reaktion   : 0
Drives off : false
Blocking   : false
UniqueId   : 0
Text       : 
Module     : KUKA.SystemManager
Version    : 
Error Id   : 0
Filename   : System.xml
Line       : 30
Timestamp  : 2000.01.01 00:00:00.000000000
Parameters : 1
INFO   tSystem    01:37:52.740 : *****   ErrorDataSet:    *****
   Typ        : AdviceMessage
   Reaktion   : NoReaction
   Drives off : false
   Blocking   : false
   UniqueID   : 0
   Text       : 
   Module     : KUKA.SystemManager
   Version    : 
   Error Id   : 0
   Filename   : System.xml
   Line       : 30
   Timestamp  : 2000.01.01 00:00:00.000000000
   Parameters : 1
    ParameterValue[0] : "Attribute 'minOccurs' cannot appear in global element declarations" XML Parser read error
ERROR  tSystem    01:37:52.740 : SendMessageToPMS not possible!
BASIC  tNameSrvr  01:37:52.740 : startNameServer(): NS successfully inited as MultiServer
INFO   tNetP011   01:37:53.971 : Link up of network interface 'gei0' (100 MBit/s full duplex)
BASIC  tSysBoot   01:37:54.299 : Setting "RSV" as message consumer.
ERROR  miiBusMoni 01:37:54.303 : miiBus: Link status changed. (Dev: '0x43339d8' PhyAddr: '1' Sts: '0x796d' Old: '0x0'
RsvKernel: got INIT state: INITMSG_SENT
RsvKernelModul beim System-Manager erfolgreich angemeldet!
INFO   iRSV       01:37:56.088 : global Memory Pointer: 3ffff000
INFO   iRSV       01:37:56.088 : Version of GlobalSysInfo: 19
INFO   iRSV       01:37:56.088 : gsi_init_sysinfo() for RTP executed. 
BASIC  iRSV       01:37:56.097 : System - rsv_lib_main : RSV_RTP starting up...
RSV: got INIT state: INITMSG_SENT
RSV: Modul beim System-Manager erfolgreich angemeldet!

virtual bool CPNIODrvFactory::OnCreateObjects(const char*)
try to start RTP
BASIC  iRSV       01:37:56.245 : System - rsv_lib_main : RSV_RTP got Sema...
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRactWM.bin to change attributes 
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin to change attributes 
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin to change attributes 
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
deleting file /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
/CIFSDev/Roboter/Reis/temp/SCRactWM.bin: invalid argument
deleting file /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
/CIFSDev/Roboter/Reis/temp/SCRdifWM.bin: invalid argument
deleting file /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
/CIFSDev/Roboter/Reis/temp/SCRnewWM.bin: invalid argument
DEBUG  tErrMsgSen 01:37:56.851 : OSBaseBootMsgHandler: no messages anymore to deliver - terminating.
BASIC  dPNIODrive 01:37:57.868 : __KUKA_FILEINFO__={

Date: Oct  4 2016 VTimer: 17:38:32 PNIO Driver Version info: v4.0.8

}
BASIC  dRSV       01:37:57.881 : readConfig : Segment IpoTakt : 12
WARN   dPNIODrive 01:37:57.986 : PNIODriver: Config/User/Common/PNIODriver.xml not found on RAM drive. Maybe Profinet was removed from WoV configuration.
DEBUG  dRSV       01:37:58.040 : Zustands-Meldung:   Meldungs-Nummer: 13103  Text-Fragment: 'Akku oder Akkusicherung defekt - Puf...' 
 Parameter: Parameter: P0=' '  P1=' '  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'kein Stopp'
 Verr.-Reaktion: 'keine Verriegelung' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 1 
ERROR  dCEvent    01:37:58.056 : StopServer: Thread not spawned.
ERROR  dCEvent    01:37:58.056 : CleanupServer: Thread not spawned.
WARN   CEventQ    01:37:58.292 : Failed to initialize CEvtProtocolReader from Ringbuffer-File /CIFSDev/Roboter/Cevt/2017-03-24_01-31-27-853_00_test.cevt. Error: "Failed to read version information." -> Taking a new one
cProjectHandler::init() : active project: standard
ERROR  lgbStore   01:37:59.619 : Logbook - checkIsFinalized : Foot close tag </foot> not found: </head>
ERROR  lgbStore   01:37:59.623 : Logbook - checkIsFinalized : Foot close tag </foot> not found: </head>
BASIC  dCabCtrl   01:38:00.194 : void CCabCtrlOpProcessSafetySignals::RestoreOpMode(): Restored data from file: OpMode:0x00, Checksumme: 0x00000000
WARN   dCabCtrl   01:38:00.225 : virtual bool CCabCtrlOpCheckPower::PublishTraceData(): Variable msgPower has 4 Bytes, truncated to 2 Bytes!
WARN   tHnfHlp    01:38:00.470 : shmOpenEipBuffer: Error opening eip shm [102]
ERROR  tHnfHlp    01:38:00.470 : shmOpenEipBus: Error opening eip-bus shm [159]
ERROR  tClk_ECAT- 01:38:01.574 : <ECAT-CTRLBUS>: PDI Watchdog expired - Slave KUKA Power Pack 3 20A (KPP3): - EtherCAT address=1002
BASIC  EcInit_ECA 01:38:01.878 : <ECAT-CTRLBUS>: Master-State='OPERATIONAL'
BASIC  DcmInit_EC 01:38:02.585 : <ECAT-CTRLBUS>: DCM in Sync.
BASIC  EcInit_SYS 01:38:05.683 : <SYS-X48>: Master-State='OPERATIONAL'
ERROR  dCabCtrl   01:38:05.757 : <ECat-Registry>: getEcatWrapperService() service for busId SYS-X42 not found!
ERROR  dCabCtrl   01:38:05.757 : bool CCabCtrl::OpenECatBusServices(): EtherCat service for SDO- and info-interface not available: SYS-X42.
ERROR  dCabCtrl   01:38:05.757 : CabCtrl: unknown BOOT_FB::MODULE_ERROR sent
ERROR  dPNIODrive 01:38:05.778 : PNIODriver: Bus instance PNIO-DEV not found!
ERROR  dHNFHLP    01:38:05.778 : HNFHLP: Error connecting application: HNFHLP to bus: PNIO-DEV
WARN   tNameSrvr  01:38:05.778 : findConnectionDataInMap(): Connection(EIPIODriver) is not registered: 
ERROR  dHNFHLP    01:38:05.778 : ConnClient: initialize("EIPIODriver") failed (EConnectionError: -14)
WARN   tNameSrvr  01:38:05.788 : findConnectionDataInMap(): Connection(EIPIODriver) is not registered: 
ERROR  dHNFHLP    01:38:05.788 : ConnClient: initialize("EIPIODriver") failed (EConnectionError: -14)
ERROR  dHNFHLP    01:38:05.798 : HNFHLP: Cannot connect to driver client: EIPIODriver
WARN   tSysBoot   01:38:05.807 : SysBoot: Unexpected Client Request received, sending negative reply
ERROR  tSysBoot   01:38:05.807 : sendMessage(): Error at send(): E_COMMUNICATION__RECV_NEEDED_BEFORE_SEND
init: MsgExtIf is connected to SysBoot
ERROR  dPNIODrive 01:38:05.827 : PNIODriver: Bus instance PNIO-CTRL not found!
ERROR  dRSV       01:38:05.827 : RSV: Error connecting application: RSV to bus: PNIO-CTRL
ERROR  dRSV       01:38:05.827 : ConnectData : error connecting to bus PNIO-CTRL
BASIC  tRsvKernel 01:38:05.832 : virtual int RsvKernel::CBeispielAppl::Thread() : rsvKernelDoResync 
ERROR  dPNIODrive 01:38:05.838 : PNIODriver: Bus instance PNIO-DEV not found!
ERROR  dRSV       01:38:05.838 : RSV: Error connecting application: RSV to bus: PNIO-DEV
ERROR  dRSV       01:38:05.838 : ConnectData : error connecting to bus PNIO-DEV
ERROR  dECatIODri 01:38:05.849 : ECatIODriver: Bus instance SYS-X44 not found!
ERROR  dRSV       01:38:05.849 : RSV: Error connecting application: RSV to bus: SYS-X44
ERROR  dRSV       01:38:05.849 : ConnectData : error connecting to bus SYS-X44
ERROR  dECatIODri 01:38:05.860 : ECatIODriver: Bus instance SYS-X44_PB-Master1 not found!
ERROR  dRSV       01:38:05.860 : RSV: Error connecting application: RSV to bus: SYS-X44_PB-Master1
ERROR  dRSV       01:38:05.860 : ConnectData : error connecting to bus SYS-X44_PB-Master1
ERROR  dECatIODri 01:38:05.871 : ECatIODriver: Bus instance SYS-X44_PB-Slave1 not found!
ERROR  dRSV       01:38:05.871 : RSV: Error connecting application: RSV to bus: SYS-X44_PB-Slave1
ERROR  dRSV       01:38:05.871 : ConnectData : error connecting to bus SYS-X44_PB-Slave1
BASIC  dRSV       01:38:05.934 : VioScrInterface - ConnectBus : OK connecting to bus 'VIO-SC_RS'
BASIC  tDrvCtrl   01:38:07.312 : CNGFoEAccess: Upload of noMames at address 1004 (slave 1) failed (0x80000000, 0x98110061, 0x00000003, 0x98110061, ERROR FoE: Not found, 0x800a8001).
INFO   EBE0       01:38:08.325 : System - changeTakt : wird nicht ausgefuehrt
ERROR  tHnfHlp    01:38:09.320 : read: file CIPSPARA.VAL not found in directory
BASIC  EBE0       01:38:09.330 : Logger - initLoggingSupport : Initialized
BASIC  EBE0       01:38:09.332 : Logger - cycConfigCheck : Modification in config file detected
INFO   EBE0       01:38:09.408 : Network - scGetIfConfig : virtual4.10  0 255.255.255.255
INFO   EBE0       01:38:09.408 : Network - scGetIfConfig : virtual5 172.31.1.147 ffff0000 172.31.255.255
INFO   EBE0       01:38:09.409 : Network - scGetIfConfig : virtual6  0 255.255.255.255
INFO   EBE0       01:38:09.409 : Network - scGetIfConfig : virtual7 192.168.2.1 ffffff00 192.168.2.255
INFO   EBE0       01:38:09.409 : Network - scGetIfConfig : virtual20  0 255.255.255.255
INFO   EBE0       01:38:09.412 : Network - getRealtimeIp : RealtimeIP 172.16.0.1
INFO   EBE0       01:38:09.792 : DrvCtrl - Acyclic : Connecting drive interface successfully
INFO   EBE0       01:38:09.816 : DrvCtrl - Acyclic : Interface version: 5.16
INFO   EBE0       01:38:09.828 : DrvCtrl - Acyclic : Configured number of drives: 6
INFO   EBE0       01:38:09.840 : DrvCtrl - Acyclic : Creating all drives successfully
ERROR  tHnfHlp    01:38:09.862 : CheckSharedMemory NULL-pointer for MGMT-shared memory!
INFO   iHnf1      01:38:10.165 : safeAppl(1): DEBUG is ON
INFO   iHnf1      01:38:10.165 : safeAppl(1): ATTACH_HNF is OFF
INFO   iHnf2      01:38:10.171 : safeAppl(1): DEBUG is ON
INFO   iHnf2      01:38:10.171 : safeAppl(1): ATTACH_HNF is OFF
ERROR  iHnf2      01:38:10.417 : hnfIoStackInit: bus '/SYS-X42' for FSoE device not found.
ERROR  iHnf1      01:38:10.417 : hnfIoStackInit: bus '/SYS-X42' for FSoE device not found.
ERROR  iHnf1      01:38:10.426 : safeAppl(1): sapp_initMainCycle:  Initializing of SWB 
ERROR  iHnf2      01:38:10.426 : safeAppl(1): sapp_initMainCycle:  Initializing of SWB 
ERROR  tHnfHlp    01:38:10.612 : read: file DEVTAB.DAT not found in directory
ERROR  tHnfHlp    01:38:10.612 : Uninitialized: Unable to load DEVTAB.DAT
ERROR  tHnfHlp    01:38:16.918 : Error on reading 0x1018:01 from device 4 (len = 0) <Command not executed (slave not present on bus)>
ERROR  tHnfHlp    01:38:16.918 : Error on reading 0x1018:01 from device 2 (len = 0) <ERROR: Invalid parameter>
WARN   tSysBoot   01:39:05.807 : SysBoot: Timeout occurred in state DATA_CONNECTED
INFO   dRSV       01:39:05.809 : System - Run : RSV received Run
BASIC  dShellCmds 01:39:05.810 : CShellCmdsAtRunningAppl --- Run
ERROR  tHnfIoHlp  01:39:05.812 : cycle: Cyclic call to EIP_CTRL failed with code -104
ERROR  tHnfIoHlp  01:39:05.812 : --------------- EIP Control ---------------
ERROR  tHnfIoHlp  01:39:05.812 : Getting EIP_CTRL info 0x101 failed with code -1
ERROR  tHnfIoHlp  01:39:05.812 : shmHdr.sIn.nErrNo  = 1
ERROR  tHnfIoHlp  01:39:05.812 : shmHdr.sOut.nErrNo = 1
ERROR  tHnfIoHlp  01:39:05.812 : ----------------------------------------
ERROR  iHnf2      01:39:05.814 : hnfIoHelperReadEv missed
WARN   iHnf2      01:39:05.814 : Bus /MainBoardBus has ERROR
WARN   iHnf2      01:39:05.814 : Bus /EIP-CTRL has ERROR
ERROR  iHnf2      01:39:05.814 : hnfSafeOSCycle:820: os_sem_post(hnfCycleValidEvt) failed
DEBUG  dRSV       01:39:06.062 : Zustands-Meldung:   Meldungs-Nummer: 15105  Text-Fragment: 'Sicheres Ger鋞 %1: Fehler an R點kf黨...' 
 Parameter: Parameter: P0='CIB Safety Module (SION-CIB)'  P1='0'  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'Rampenstopp'
 Verr.-Reaktion: 'Verriegelung akt. Kommandos' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 2 
DEBUG  dRSV       01:39:06.062 : Zustands-Meldung:   Meldungs-Nummer: 15105  Text-Fragment: 'Sicheres Ger鋞 %1: Fehler an R點kf黨...' 
 Parameter: Parameter: P0='CIB Safety Module (SION-CIB)'  P1='2'  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'Rampenstopp'
 Verr.-Reaktion: 'Verriegelung akt. Kommandos' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 3 
BASIC  dShellCmds 01:39:06.886 : CShellCmdsAtRunningAppl --- Synchronize
BASIC  dShellCmds 01:39:06.886 : ShellCmdsAtRunningWork spawned
INFO   EBE0       01:39:06.888 : DrvCtrl - RobotInfo : ROBOTINFO: 
INFO   EBE0       01:39:06.888 : DrvCtrl - RobotInfo :  Serial number: 420207 (valid)
INFO   EBE0       01:39:06.889 : DrvCtrl - RobotInfo :  MamesOffsets: 
INFO   EBE0       01:39:06.889 : DrvCtrl - RobotInfo :   Offset[1] = 0.000000 (invalid)
INFO   EBE0       01:39:06.889 : DrvCtrl - RobotInfo :   Offset[2] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[3] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[4] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[5] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[6] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[7] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[8] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[9] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[10] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[11] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[12] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[13] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[14] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[15] = 0.000000 (invalid)
INFO   EBE0       01:39:06.890 : DrvCtrl - RobotInfo :   Offset[16] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[17] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[18] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[19] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[20] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[21] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[22] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[23] = 0.000000 (invalid)
INFO   EBE0       01:39:06.891 : DrvCtrl - RobotInfo :   Offset[24] = 0.000000 (invalid)
ERROR  iHnf1      01:39:06.893 : safeAppl(1): devLayBootStateChangeEventHandler, timeout: forcing bootphase state change
ERROR  iHnf2      01:39:06.893 : safeAppl(1): devLayBootStateChangeEventHandler, timeout: forcing bootphase state change
INFO   EBE0       01:39:06.912 : DrvCtrl - Acyclic : Ready
ERROR  iHnf1      01:39:06.929 : safeAppl(1): SDO_Main_E5: PLC-SerialNumber 420207
ERROR  iHnf1      01:39:06.929 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:39:06.929 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:39:07.337 : hnfFapiLock: os_sem_timedwait(hnfHlpFapiShmMutex, 0) failed
ERROR  iHnf2      01:39:07.337 : hnfFapiUnlock: os_sem_post(hnfHlpFapiShmMutex) failed
ERROR  dRSV       01:39:07.398 : System - init : file: /CIFSDev/Roboter/Reis/user/projects/standard/ethercat/ecat_io.xml
INFO   dRSV       01:39:07.398 : System - Synchronize : RSV received Synchronize
ERROR  iHnf2      01:39:07.446 : hnfCycConfigFileCheck: Entry 0 (file SAFEOP.VAL): Permanently stored checksum (0x9b5b7e86) mismatch to configuration checksum (0x2dc16a8c).
ERROR  iHnf1      01:39:07.446 : hnfCycConfigFileCheck: Entry 0 (file SAFEOP.VAL): Permanently stored checksum (0x9b5b7e86) mismatch to configuration checksum (0x2dc16a8c).
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRactWM.bin to change attributes 
copying file /CIFSDev/Roboter/LOG/GS_UP_DOWN.csv -> /CIFSDev/Roboter/LOG/PowerManagement/GS_UP_DOWN_2017-03-24_01-39-07.csv
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin to change attributes 
ERROR  tSysBoot   01:39:07.548 : SysBoot: CabCtrl failed in State DATA_ATTACHED
DEBUG  dRSV       01:39:07.549 : Zustands-Meldung:   Meldungs-Nummer: 14005  Text-Fragment: 'Boot fehlgeschlagen in Modul: %1' 
 Parameter: Parameter: P0='CabCtrl'  P1=' '  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'Rampenstopp'
 Verr.-Reaktion: 'Verriegelung akt. Kommandos' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 4 
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
traversing directory /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin to change attributes 
changing attributes on /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
deleting file /CIFSDev/Roboter/Reis/temp/SCRactWM.bin
/CIFSDev/Roboter/Reis/temp/SCRactWM.bin: invalid argument
deleting file /CIFSDev/Roboter/Reis/temp/SCRdifWM.bin
/CIFSDev/Roboter/Reis/temp/SCRdifWM.bin: invalid argument
deleting file /CIFSDev/Roboter/Reis/temp/SCRnewWM.bin
/CIFSDev/Roboter/Reis/temp/SCRnewWM.bin: invalid argument
ERROR  iHnf2      01:39:08.214 : hnfCycConfigFileCheck: Entry 1 (file SAFEDEV.VAL): Permanently stored checksum (0xe09f8711) mismatch to configuration checksum (0x5476c5b6).
ERROR  iHnf1      01:39:08.214 : hnfCycConfigFileCheck: Entry 1 (file SAFEDEV.VAL): Permanently stored checksum (0xe09f8711) mismatch to configuration checksum (0x5476c5b6).
DEBUG  dRSV       01:39:08.227 : Zustands-Meldung:   Meldungs-Nummer: 15068  Text-Fragment: 'Pr黤summe der Sicherheitskonfigurati...' 
 Parameter: Parameter: P0=' '  P1=' '  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'Rampenstopp'
 Verr.-Reaktion: 'Verriegelung akt. Kommandos' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 5 
BASIC  EBE0       01:39:08.242 : System - E0F31 : RSV_INIT done
BASIC  ScrFastCom 01:39:08.243 : ScrInterface - ScrFastComTask : Starting ScrFastComTask
BASIC  EBE0       01:39:08.253 : Read: 
   EOF for '/Roboter/Config/User/Common/PersistPC/bsz.dat' reached, even if feof() had an other opinion at first. Buffer of size 4 bytes should be exactly the size of file! Return of additional fread is 0.
BASIC  EBE0       01:39:08.646 : RSV_EDS - BSZ_initialisiere : BSZ: Initialisierung abgeschlossen 0:00
ERROR  iHnf1      01:39:08.765 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:39:08.789 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
BASIC  ScrFastCom 01:39:08.880 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 0 --> 1
BASIC  ScrComTASK 01:39:12.638 : ScrInterface - Job_LoadExistingWorldModel : Loaded existing world model successfully

Ausfuehrung des Kommandos "SetStatus" mit den Parametern (OFanSpeed,SET)

Ausfuehrung des Kommandos "Control" mit den Parametern (OFanSpeed,10)

-> help

help                           Print this list
dbgHelp                        Print debugger help info
edrHelp                        Print ED&R help info
ioHelp                         Print I/O utilities help info
nfsHelp                        Print nfs help info
netHelp                        Print network help info
rtpHelp                        Print process help info
spyHelp                        Print task histogrammer help info
timexHelp                      Print execution timer help info
h         [n]                  Print (or set) shell history
i         [task]               Summary of tasks' TCBs
ti        task                 Complete info on TCB for task
sp        adr,args...          Spawn a task, pri=100, opt=0x19, stk=20000
taskSpawn name,pri,opt,stk,adr,args... Spawn a task
tip       "dev=device1#tag=tagStr1", "dev=device2#tag=tagStr2", ...
                               Connect to one or multiple serial lines
td        task                 Delete a task
ts        task                 Suspend a task
tr        task                 Resume a task

Type <CR> to continue, Q<CR> or q<CR> to stop: BASIC  ComSym0001 01:40:47.335 : User - checkLogin : User 'USER' logged in.
WARN   historySto 01:44:26.794 : ProgHistoryHandler - doStore : RS6 Message #2612
INFO   EBE0       01:44:28.960 : System - changeTakt : wird nicht ausgefuehrt
BASIC  ScrFastCom 01:45:06.396 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 0 --> 1
ERROR  iHnf1      01:45:06.401 : safeAppl(1): SDO_Main_E5: PLC-SerialNumber 420207
ERROR  iHnf1      01:45:06.401 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:45:06.401 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
BASIC  ScrFastCom 01:45:06.468 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 1 --> 0
ERROR  iHnf1      01:45:07.481 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:45:07.505 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
BASIC  ScrFastCom 01:45:07.596 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 0 --> 1
BASIC  ScrComTASK 01:45:09.448 : ScrInterface - Job_LoadExistingWorldModel : Loaded existing world model successfully
BASIC  ComSym0001 01:45:35.507 : User - checkLogin : User 'SERVICE' logged in.
BASIC  ScrFastCom 01:45:42.444 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 0 --> 1
ERROR  iHnf1      01:45:42.449 : safeAppl(1): SDO_Main_E5: PLC-SerialNumber 420207
ERROR  iHnf1      01:45:42.449 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:45:42.449 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
BASIC  ScrFastCom 01:45:42.504 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 1 --> 0
ERROR  iHnf1      01:45:43.553 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:45:43.577 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
BASIC  ScrFastCom 01:45:43.668 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 0 --> 1
WARN   ComSym0001 01:45:43.765 : ScrInterface - Communicator : Can not give size of data for job 'Get World Model Data Count'.. Skipping
ERROR  iHnf1      01:45:43.985 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  iHnf2      01:45:44.009 : safeAppl(1): classVRam: FLASH_DELETE: VfillLevel 0
ERROR  tHnfFApiHl 01:45:44.173 : removeHD: file 0: remove success
ERROR  iHnf2      01:45:44.179 : hnfFapiCycRemoveCommanded: file 0: remove failed
BASIC  ScrComTASK 01:45:44.200 : ScrInterface - Job_WriteNewWM : Done writing new world model
WARN   ComSym0001 01:45:44.200 : ScrInterface - Communicator : Can not give size of data for job 'Write New World Model'.. Skipping
ERROR  tHnfFApiHl 01:45:44.605 : writeHD: file 1: writing 50848 bytes
WARN   ComSym0001 01:45:44.680 : ScrInterface - Communicator : Can not give size of data for job 'Read New World Model'.. Skipping
ERROR  iHnf2      01:45:45.017 : safeAppl(1): classFlashWM: cmd: 1445  size reduced to 788
ERROR  iHnf1      01:45:45.041 : safeAppl(1): classFlashWM: cmd: 1445  size reduced to 788
ERROR  tHnfFApiHl 01:45:45.109 : writeHD: file 2: writing 50848 bytes
WARN   ComSym0001 01:45:45.164 : ScrInterface - Communicator : Can not give size of data for job 'Read Confirmed World Model'.. Skipping
ERROR  tHnfFApiHl 01:45:46.129 : writeHD: file 3: writing 532 bytes
WARN   ComSym0001 01:45:46.173 : ScrInterface - Communicator : Can not give size of data for job 'Read World Model Differences'.. Skipping
ERROR  iHnf2      01:46:13.301 : safeAppl(1): classFlashWM: cmd: 1445  size reduced to 788
ERROR  iHnf1      01:46:13.325 : safeAppl(1): classFlashWM: cmd: 1445  size reduced to 788
ERROR  tHnfFApiHl 01:46:13.394 : writeHD: file 5: writing 50848 bytes
INFO   EBE0       01:47:05.138 : System - PowerDownTest_Cold : trying SPS_FORCECOLD
DEBUG  dRSV       01:47:06.485 : Zustands-Meldung:   Meldungs-Nummer: 14000  Text-Fragment: 'Spannung Antriebsbus abgeschaltet' 
 Parameter: Parameter: P0=' '  P1=' '  P2=' '  
 Meldungsreaktionen: Stopp-Reaktion: 'Rampenstopp'
 Verr.-Reaktion: 'Verriegelung akt. Kommandos' 
 APT-Sig.: 'APT-Signale werde nicht ver鋘dert' 
 Verwaltungsnummer: 6 
WARN   iHnf2      01:47:06.521 : switching timer source to TS_TSC
BASIC  ScrFastCom 01:47:06.576 : VioScrInterface - handleScAliveBit : Change in alive state of safety detected: 1 --> 0
FATAL  tRsvKernel 01:47:07.469 : virtual int RsvKernel::CBeispielAppl::Thread() : AliveToggle missing -> kill PN
ERROR  tECatProcN 01:47:14.486 : <ECAT-CTRLBUS>: ==================================================
ERROR  tECatProcN 01:47:14.486 : <ECAT-CTRLBUS>:         Timeout: Force Stack-Instance to INIT
ERROR  tECatProcN 01:47:14.486 : <ECAT-CTRLBUS>: ==================================================
WARN   iHnf2      01:47:14.681 : Bus /ECAT-CTRLBUS is no longer OPERATIONAL
ERROR  ScrComTASK 01:47:21.577 : ScrInterface - handleSafetyAliveState : Detected safety alive timeout! Raising Message #3644.
WARN   tSysBoot   01:47:31.499 : SysBoot: Timeout occurred in state MOTIONDISABLED
ERROR  tSysBoot   01:47:31.499 : SysBoot: timeout in Transition to BUSPOWEROFF/FROZEN, breaking up
WARN   tSysBoot   01:47:31.499 : Setting TriggerFreezeFile
ERROR  ScrComTASK 01:47:36.580 : ScrInterface - handleSafetyAliveState : Detected safety alive timeout! Raising Message #3644.
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: *******************************************************************************
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: Scan Bus responded an error : Bus configuration mismatch (0x9811001e)
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: Invalid number of slaves: set = 5, act = 3
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: CFG: No Error   Index: 3  EtherCAT Address: 0x0000  Vendor: 0x0 (Unknown Vendor)  Product: 0x0 (Unknown Product Code)  Revision: 0x0
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: CFG: No Error   Index: 4  EtherCAT Address: 0x0000  Vendor: 0x0 (Unknown Vendor)  Product: 0x0 (Unknown Product Code)  Revision: 0x0
ERROR  tECatProcN 01:47:36.693 : <ECAT-CTRLBUS>: *******************************************************************************
WARN   tCycSched0 01:47:36.741 : DoMonitoring: Connection loss:
      CycleCount              = -1719816918
      Failed frames           = 6
      Failed frames threshold = 6
ERROR  tCycSched0 01:47:36.741 : <ECAT-CTRLBUS>: <ECAT-CTRLBUS>: EC_NOTIFY_FRAME_RESPONSE_ERROR
WARN   iHnf2      01:47:36.749 : Bus /ECAT-CTRLBUS has ERROR
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: *******************************************************************************
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: Scan Bus responded an error : Bus configuration mismatch (0x9811001e)
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: Invalid number of slaves: set = 5, act = 2
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: CFG: No Error   Index: 2  EtherCAT Address: 0x0000  Vendor: 0x0 (Unknown Vendor)  Product: 0x0 (Unknown Product Code)  Revision: 0x0
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: CFG: No Error   Index: 3  EtherCAT Address: 0x0000  Vendor: 0x0 (Unknown Vendor)  Product: 0x0 (Unknown Product Code)  Revision: 0x0
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: CFG: No Error   Index: 4  EtherCAT Address: 0x0000  Vendor: 0x0 (Unknown Vendor)  Product: 0x0 (Unknown Product Code)  Revision: 0x0
ERROR  tECatProcN 01:47:36.752 : <ECAT-CTRLBUS>: *******************************************************************************
INFO   tKukaSuspe 01:47:37.402 : kukaSuspendTask: Suspend started (#1).

 

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