That helped a little I am now in OP mode. I turned on DC and the drive goes through SafeOp into OP mode so the sync must be O.K. The realtime behavior is very good I am using a xenomai in kernel mode driver on a 1Ghz AMCC460EX PowerPC processor.
I still have one major problem I still get 0s for the cyclic data even though I am in OP mode!!! SDO's report valid data. I previously used the Copley and Kollmorgen drives and had no problem reading and writing cyclic data. Can you see any mistakes I have from the debug messages? EtherCAT 0: Starting EtherCAT-IDLE thread. EtherCAT DEBUG 0: OPERATION -> IDLE. EtherCAT 0: Released. EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max data si0 EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced). EtherCAT DEBUG 0-0: Configuring... EtherCAT DEBUG 0-0: Now in INIT. EtherCAT DEBUG 0-0: Clearing FMMU configurations... EtherCAT DEBUG 0-0: Clearing sync manager configurations... EtherCAT DEBUG 0-0: Clearing DC assignment... EtherCAT DEBUG 0-0: Configuring mailbox sync managers... EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1 EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1 EtherCAT DEBUG 0-0: Now in PREOP. EtherCAT DEBUG 0-0: Finished configuration. EtherCAT 0: Slave states: PREOP. EtherCAT: Requesting master 0... EtherCAT DEBUG 0: IDLE -> OPERATION. EtherCAT: Successfully requested master 0. EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xafbfb800, send_cb = 0xb91796) EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800) EtherCAT DEBUG 0: Created domain 0. EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800) EtherCAT DEBUG 0: Created domain 1. EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800) EtherCAT DEBUG 0: Created domain 2. EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800) EtherCAT DEBUG 0: Created domain 3. EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos) EtherCAT DEBUG 0: Creating slave configuration for 64:0, 0x00000539/0x02200001. EtherCAT DEBUG 0 64:0: Attached slave 0. Configure n_pdos 0 EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf1f3000, n_syncs = 2, syn) EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000, sync_ind) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 0xaf1f3000, sync) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000, sync_i) EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601. EtherCAT DEBUG 0 64:0: Entry 0x6040:00. EtherCAT DEBUG 0 64:0: Entry 0x607A:00. EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xaf1f3000, pdo) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i) EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000, sync_ind) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 0xaf1f3000, sync) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000, sync_i) EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01. EtherCAT DEBUG 0 64:0: Entry 0x6041:00. EtherCAT DEBUG 0 64:0: Entry 0x6064:00. EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xaf1f3000, pdo) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i) EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i) Configure PDOs on SM2. EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8c80, regs = 0x) EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos) EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =) EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6. EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos) EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =) EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece83c0, regs = 0x) EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos) EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =) EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6. EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos) EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =) EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8900, regs = 0x) EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8600, regs = 0x) EtherCAT DEBUG 0: ecrt_master_activate(master = 0xafbfb800) EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working count. EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 6 byte, type LRD. EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected working count. EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 6 byte, type LWR. EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected working count. EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected working count. EtherCAT DEBUG 0: Stopping master thread. EtherCAT DEBUG 0: Master IDLE thread exiting... EtherCAT 0: Master thread exited. EtherCAT DEBUG 0: FSM datagram is afbfbbe4. EtherCAT 0: Starting EtherCAT-OP thread. EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max dat0 EtherCAT DEBUG 0-0: Changing state from PREOP to OP. EtherCAT DEBUG 0-0: Configuring... EtherCAT DEBUG 0-0: Now in INIT. EtherCAT DEBUG 0-0: Clearing FMMU configurations... EtherCAT DEBUG 0-0: Clearing sync manager configurations... EtherCAT DEBUG 0-0: Clearing DC assignment... EtherCAT DEBUG 0-0: Configuring mailbox sync managers... EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1 EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1 EtherCAT DEBUG 0-0: Now in PREOP. EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1601. EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. En2 EtherCAT DEBUG 0-0: Setting entry count to zero. EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00. EtherCAT DEBUG: 00 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 16 00 00 00 00 00 EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1601:01. EtherCAT DEBUG: 10 00 40 60 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 16 01 10 00 40 60 EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2. EtherCAT DEBUG 0-0: Downloading SDO 0x1601:02. EtherCAT DEBUG: 20 00 7A 60 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 16 02 20 00 7A 60 EtherCAT DEBUG 0-0: Setting number of PDO entries to 2. EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00. EtherCAT DEBUG: 02 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 16 00 02 00 00 00 EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1601. EtherCAT DEBUG 0-0: Setting PDO assignment of SM2: EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. EtherCAT DEBUG: 00 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 EtherCAT DEBUG 0-0: Assigning PDO 0x1601 at position 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01. EtherCAT DEBUG: 01 16 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 12 1C 01 01 16 00 00 EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. EtherCAT DEBUG: 01 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2. EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A01. EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. En2 EtherCAT DEBUG 0-0: Setting entry count to zero. EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00. EtherCAT DEBUG: 00 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 1A 00 00 00 00 00 EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:01. EtherCAT DEBUG: 10 00 41 60 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 1A 01 10 00 41 60 EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2. EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:02. EtherCAT DEBUG: 20 00 64 60 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 1A 02 20 00 64 60 EtherCAT DEBUG 0-0: Setting number of PDO entries to 2. EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00. EtherCAT DEBUG: 02 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 01 1A 00 02 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 01 1A 00 02 00 00 00 EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A01. EtherCAT DEBUG 0-0: Setting PDO assignment of SM3: EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. EtherCAT DEBUG: 00 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 EtherCAT DEBUG 0-0: Assigning PDO 0x1A01 at position 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01. EtherCAT DEBUG: 01 1A EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 13 1C 01 01 1A 00 00 EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. EtherCAT DEBUG: 01 EtherCAT DEBUG 0-0: Expedited download request: EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 EtherCAT DEBUG 0-0: Download response: EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3. EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x74, En 1 EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 6, Ctrl 0x30, En 1 EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000000, Size 6, PhysAddr 0x1400, SM3n EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000006, Size 6, PhysAddr 0x1100, SM2t EtherCAT DEBUG 0-0: Now in SAFEOP. EtherCAT DEBUG 0-0: Now in OP. Finished configuration. EtherCAT 0: Slave states: OP. EtherCAT DEBUG 0: Configuration changed. EtherCAT DEBUG 0: Writing system time offsets... EtherCAT DEBUG 0-0: DC system time offset calculation: system_time=3754851127 (6 EtherCAT DEBUG 0-0: Setting time offset to 195945056 (was 0) EtherCAT DEBUG 0: Writing system time offsets... EtherCAT DEBUG 0: Requesting OP... On Tue, 2010-10-05 at 09:51 +0200, Andreas Stewering-Bone wrote: > Hello Henry, > > > for drives there are some points you have to look for: > - Does the drive require DC? > - Does the DC sync well? > If not the slave will get into Safeop+Err State > - Does the master has good realtime behavior? > If not you will get Mailbox Error and you are not able to get the > drive working > > Normally the Master steps into SafeOP to check if the drive is DC sync. > if it syncs it goes to OP. > > Greatings > > Andreas > > > Henry Bausley schrieb: > > > > When attempting to use the latest Yaskawa drive I cannot get PDO's to > > update with valid data I just get 0s as the slave stays in preop > > after calling ecrt_master_activate. > > > > Is there away to make the master goes through SafeOP? I didn't see > > the what to use in the API. According to Yaskawa the SafeOp state is > > required see the correspondence below: > > > > Also should the Yaskawa interface have SafeOp set in the SII? When I > > do a ethercat slaves -v it comes back with Enable SafeOp: no > > > > Below is the correspondence with Yaskawa where they tell me SafeOp is > > required. > > > > I placed the debugging logs at the end of this email. > > > > _______________________________________________________________________________ > > > > Hi Henry, > > > > This could indicate that the drive is not yet in OP mode. One way to > > verify is to check if the RUN LED is solid green. If it's not solid > > green, it's not in OP mode, so no PDO data is exchanged. The drive > > can send SDO data in certain modes other than OP mode, so being able > > to read SDO information is not a good indicator of the drive's mode. > > > > As for bringing the drive to OP mode, our manual shows the ECAT State > > Machine. Be sure to follow this state machine. There is no way to > > jump from Pre-OP to OP mode without first going through Safe-OP. > > Perhaps that is what your master is trying to do? You might be able > > to verify this by reading a wireshark trace. > > > > > > > > Derek Lee > > Motion Product Engineer > > Yaskawa America Inc. > > 2121 Norman Dr. S. > > Waukegan, IL 60085 > > > > Phone: 847-887-7235 > > Fax: 847-887-7280 > > > > > > *Henry Bausley <[email protected]>* > > > > 09/29/2010 04:06 PM > > > > > > > > To > > [email protected] > > cc > > > > Subject > > Re: Fw: Ethercat Module > > > > > > > > > > > > > > > > Thank you for sending another drive it arrived at my desk this morning. > > > > I do have a question for the developers. > > > > What would cause 0's to always be sent for the Process Data > > communication? > > If I read objects of the Service Dictionary Object via mailbox > > communication I can read index=$6064 subindex=0 and I get the encoder > > position. > > However if I use the default PDO mapping 0 is always returned for > > objects $6064 and $6041. In addition I cannot set the output objects > > $607a and $6040 > > they always get overwritten to 0. > > > > Is there a special sequence I need to perform to make cyclic Process > > data communication possible? > > > > _____________________________________________________________________________________ > > > > EtherCAT: Master driver devel unknown > > EtherCAT: 1 master waiting for devices. > > ec_r8169 Gigabit Ethernet driver 2.3LK-NAPI loaded > > ec_r8169 0000:81:00.0: no MSI. Back to INTx. > > EtherCAT: Accepting device 00:0A:CD:17:F3:7D for master 0. > > ec0: RTL8168b/8111b at 0xb91f8000, 00:0a:cd:17:f3:7d, XID 38000000 IRQ 18 > > EtherCAT 0: Starting EtherCAT-IDLE thread. > > EtherCAT 0: Link state changed to UP. > > EtherCAT 0: 1 slave(s) responding. > > EtherCAT 0: Slave states: PREOP. > > EtherCAT 0: Scanning bus. > > EtherCAT 0: Bus scanning completed in 9 ms. > > EtherCAT ERROR 0-0: Corrupt mailbox response received! > > EtherCAT DEBUG: 8F 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00 > > EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72 > > EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60 > > EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60 > > EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60 > > EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60 > > EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60 > > EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60 > > EtherCAT 0: Master debug level set to 1. > > EtherCAT: Requesting master 0... > > EtherCAT DEBUG 0: IDLE -> OPERATION. > > EtherCAT: Successfully requested master 0. > > EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xaf33f000, send_cb = > > 0xb917963c, receive_cb = 0xb91795c4, cb_data = 0xaf33f000) > > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000) > > EtherCAT DEBUG 0: Created domain 0. > > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000) > > EtherCAT DEBUG 0: Created domain 1. > > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000) > > EtherCAT DEBUG 0: Created domain 2. > > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000) > > EtherCAT DEBUG 0: Created domain 3. > > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias > > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) > > EtherCAT DEBUG 0: Creating slave configuration for 64:0, > > 0x00000539/0x02200001. > > EtherCAT DEBUG 0 64:0: Attached slave 0. > > Configure n_pdos 0 > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf0e4000, n_syncs > > = 2, syncs = 0xbcee87e0) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000, > > sync_index = 2, dir = 1, watchdog_mode = 0) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = > > 0xaf0e4000, sync_index = 2) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = > > 0xaf0e4000, sync_index = 2, pdo_index = 0x1601) > > EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601. > > EtherCAT DEBUG 0 64:0: Entry 0x6040:00. > > EtherCAT DEBUG 0 64:0: Entry 0x607A:00. > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = > > 0xaf0e4000, pdo_index = 0x1601) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = > > 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = > > 0x00, entry_bit_length = 16) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = > > 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = > > 0x00, entry_bit_length = 32) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000, > > sync_index = 3, dir = 2, watchdog_mode = 0) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = > > 0xaf0e4000, sync_index = 3) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = > > 0xaf0e4000, sync_index = 3, pdo_index = 0x1A01) > > EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01. > > EtherCAT DEBUG 0 64:0: Entry 0x6041:00. > > EtherCAT DEBUG 0 64:0: Entry 0x6064:00. > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = > > 0xaf0e4000, pdo_index = 0x1A01) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = > > 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = > > 0x00, entry_bit_length = 16) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = > > 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = > > 0x00, entry_bit_length = 32) > > Configure PDOs on SM2. > > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca640, > > regs = 0xbcf7b50c) > > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias > > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = > > 0xaf0e4000, index = 0x6041, subindex = 0x00, domain = 0xaf3ca640, > > bit_position = 0xbcf6b560) > > EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6. > > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias > > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = > > 0xaf0e4000, index = 0x6064, subindex = 0x00, domain = 0xaf3ca640, > > bit_position = 0xbcf6b580) > > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca740, > > regs = 0xbcf8750c) > > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias > > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = > > 0xaf0e4000, index = 0x6040, subindex = 0x00, domain = 0xaf3ca740, > > bit_position = 0xbcf6b520) > > EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6. > > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias > > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) > > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = > > 0xaf0e4000, index = 0x607A, subindex = 0x00, domain = 0xaf3ca740, > > bit_position = 0xbcf6b540) > > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca600, > > regs = 0xbcfa3510) > > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3caf80, > > regs = 0xbcfaf510) > > EtherCAT DEBUG 0: ecrt_master_activate(master = 0xaf33f000) > > EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected > > working counter 1. > > EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 6 byte, > > type LRD. > > EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected > > working counter 1. > > EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 6 byte, > > type LWR. > > EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected > > working counter 0. > > EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected > > working counter 0. > > EtherCAT DEBUG 0: Stopping master thread. > > EtherCAT DEBUG 0: Master IDLE thread exiting... > > EtherCAT 0: Master thread exited. > > EtherCAT DEBUG 0: FSM datagram is af33f3e4. > > EtherCAT 0: Starting EtherCAT-OP thread. > > EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 > > us, max data size=11250 > > [email protected]:/opt/ppmac# > > > > > > > > > > ------------------------------------------------------------------------ > > > > _______________________________________________ > > etherlab-users mailing list > > [email protected] > > http://lists.etherlab.org/mailman/listinfo/etherlab-users > > > > ********************************************************** Outbound scan for Spam or Virus by Barracuda at Delta Tau **********************************************************
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