I've attached the output from some of the ethercat commands from my amp. Note,
my slave is configured to alias 12, so the -a12 just filters to only show
information for the yaskawa amp.
Prior to starting the app:
(see attached: Before running app.txt)
On power up, the struct command shows the amps default PDO configuration. In
my case it shows:
0x6040 : control word
0x607a : target position
0x6041 : status word
0x6064 : actual position
The xml command reflects the same information.
After starting the app:
(see attached: After running app.txt)
After running the app the struct command now shows my selected PDO
configuration. The xml command also now reflects this information.
In "Before running app.txt" I also sent the ethercat slaves –v command (–v =
verbose, gives more information about the slave(s)). Under the COE details
section you can see that both "Enable PDO Assign" and "Enable PDO
Configuration" are yes. This means you can choose to use a different PDO
configuration from the default.
Re your question: I was getting you to run the struct command to see if there
was any default configuration in there for your amp. You can use this
configuration (as per mine above) as a starting point for simple amp operation,
setting some of the configuration parameters via SDO's. I wanted more
functionality than the default configuration so have changed my PDO
configuration to suit.
Since you do not have any PDO's configured by default, it means you are either
(1) running the command after the amp is being configured (and failing); or (2)
the failed configuration has been saved to the EEPROM at some stage; or (3) it
doesn't have any default PDO configuration.
If its case #2 then you can try resetting the amp back to its default
parameters with the command (replacing –a12 with your appropriate slave alias
or position information):
ethercat download –a12 0x1011 0x01 0x64616F6C
The 0x1011:01 parameter is "Restore all default parameters". The 0x64616F6C
value is a special value to ensure you don't call it by mistake. This value
actually represents the bytes for the ASCII characters "load" (where l is the
LSB). You will then need to repower the amp.
I have also attached the dmesg commands and output of what I would expect to
happen as the app configures the amp. It may help you pin down where it starts
to deviate.
Also check that the amp can be configured and run in TwinCAT. You can download
a copy of TwinCAT and run in trial mode for a month or so (TwinCAT 2 might be
easier than TwinCAT 3?). If it does work then you might be able to see if
there's any special configuration options required for you amp.
Beyond that, if you can confirm everything else in your app is working, you can
contact Yaskawa support. They won't help you with anything beyond that amp,
but can be very helpful with setting up the amp.
Regards,
Graeme.
-----Original Message-----
From: Rahul Deshpande [mailto:rahulg...@gmail.com]
Sent: Saturday, 26 August 2017 9:04 a.m.
To: Graeme Foot <graeme.f...@touchcut.com>
Cc: etherlab-users <etherlab-users@etherlab.org>
Subject: Re: problem with ethercat xml
Hi Graeme,
I updated the eeprom from twincat. And it did not have any details in the xml
apart from version and product code. Only after I ran the application which had
the code to configure sync managers it populated the xmlwith those values.
I was a little confused when in previous mail you said that get the pdo config
from ethercat struct and then put it in the application.
Can you please clarify on that ?.
Thank you,
Rahul
On 8/25/17, Rahul Deshpande <rahulg...@gmail.com> wrote:
> Hi Graeme,
>
> I was going through the ethercat commands. I came across 'ethercat
> struct' and 'ethercat xml'. When I used the 'ethercat xml' in pre-op
> and op mode I got the following xml (PFA).
>
> Before and after running the application(In which we have configured
> the pdos from the example you had sent), the 'ethercat struct' and
> 'ethercat xml' produce the same data which does not consist of PDO
> config settings.
>
> Is this a case of corrupt EEPROM or that we are unable to configure
> PDOs in our application ?
>
> Regards,
> Rahul
>
# ethercat struct -a12
/* Master 0, Slave 7
* Vendor ID: 0x00000539
* Product code: 0x02200001
* Revision number: 0x00030001
*/
ec_pdo_entry_info_t slave_7_pdo_entries[] = {
{0x6040, 0x00, 16}, /* Comm */
{0x607a, 0x00, 32}, /* Comm */
{0x6041, 0x00, 16}, /* Repl */
{0x6064, 0x00, 32}, /* Repl */
};
ec_pdo_info_t slave_7_pdos[] = {
{0x1601, 2, slave_7_pdo_entries + 0}, /* 2nd Receive PDO mappingersion */
{0x1a01, 2, slave_7_pdo_entries + 2}, /* 2nd Transmit PDO mapping??ion */
};
ec_sync_info_t slave_7_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_7_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, slave_7_pdos + 1, EC_WD_DISABLE},
{0xff}
};
# ethercat xml -a12
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 7 -->
<Vendor>
<Id>1337</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x02200001" RevisionNo="#x00030001"></Type>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x36"
DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x32"
DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x74" DefaultSize="6"
/>
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x30" DefaultSize="6"
/>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1601</Index>
<Name>2nd Receive PDO mappingersion</Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Comm</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x607a</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Comm</Name>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name>2nd Transmit PDO mapping??ion</Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Repl</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Repl</Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
# ethercat slaves -v -a12
=== Master 0, Slave 7 ===
Alias: 12
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000539
Product code: 0x02200001
Revision number: 0x00030001
Serial number: 0x00000000
DL information:
FMMU bit operation: yes
Distributed clocks: yes, 32 bit
DC system time transmission delay: 2795 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc
[ns]
0 MII up open yes 1 2053468900 0 820
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0034/32, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1080/128
Supported protocols: CoE
General:
Group:
Image name:
Order number:
Device name:
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: yes
Current consumption: 0 mA
# ethercat struct -a12
/* Master 0, Slave 7
* Vendor ID: 0x00000539
* Product code: 0x02200001
* Revision number: 0x00030001
*/
ec_pdo_entry_info_t slave_7_pdo_entries[] = {
{0x6040, 0x00, 16},
{0x607a, 0x00, 32},
{0x60b1, 0x00, 32},
{0x6072, 0x00, 16},
{0x60fe, 0x01, 32},
{0x60b8, 0x00, 16},
{0x6060, 0x00, 8},
{0x6041, 0x00, 16},
{0x6064, 0x00, 32},
{0x606c, 0x00, 32},
{0x6077, 0x00, 16},
{0x60f4, 0x00, 32},
{0x60fd, 0x00, 32},
{0x60ba, 0x00, 32},
{0x60b9, 0x00, 16},
{0x6061, 0x00, 8},
{0x6098, 0x00, 8},
{0x603f, 0x00, 16},
{0x6062, 0x00, 32},
};
ec_pdo_info_t slave_7_pdos[] = {
{0x1600, 7, slave_7_pdo_entries + 0},
{0x1a00, 8, slave_7_pdo_entries + 7},
{0x1a01, 4, slave_7_pdo_entries + 15}, /* 2nd Transmit PDO mapping??ion */
};
ec_sync_info_t slave_7_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 1, slave_7_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 2, slave_7_pdos + 1, EC_WD_DISABLE},
{0xff}
};
# ethercat xml -a12
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 7 -->
<Vendor>
<Id>1337</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x02200001" RevisionNo="#x00030001"></Type>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x36"
DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x32"
DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x74" DefaultSize="6"
/>
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x30" DefaultSize="6"
/>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name></Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x607a</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x60b1</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6072</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x60fe</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x60b8</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name></Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x606c</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x60f4</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x60fd</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x60ba</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x60b9</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name>2nd Transmit PDO mapping??ion</Name>
<Entry>
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x6098</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x603f</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6062</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
# ethercat debug 1
# ./start
# ./stop
# dmesg > /tmp/dmesg.log
# cat /tmp/dmesg.log
snipped output of dmesg.log, from the ethercat debug 1 command...
Note: I have other slaves on my bus. Only slaves 0 (EK1110) and 7 (Yaskawa
amp) are being used for the test app.
[ 2519.064469] EtherCAT 0: Master debug level set to 1.
[ 2529.159825] EtherCAT: Requesting master 0...
[ 2529.167848] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 2529.167852] EtherCAT: Successfully requested master 0.
[ 2529.175930] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf7140000)
[ 2529.175934] EtherCAT DEBUG 0: Created domain 0.
[ 2529.175940] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf7140000)
[ 2529.175943] EtherCAT DEBUG 0: Created domain 1.
[ 2529.175947] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf7140000)
[ 2529.175950] EtherCAT DEBUG 0: Created domain 2.
[ 2529.175976] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf7140000,
alias = 10001, position = 0, vendor_id = 0x00000002, product_code = 0x04562c52)
[ 2529.175981] EtherCAT DEBUG 0: Creating slave configuration for 10001:0,
0x00000002/0x04562C52.
[ 2529.175986] EtherCAT DEBUG 0 10001:0: Attached slave 0.
[ 2529.176014] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf7140000,
alias = 12, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
[ 2529.176019] EtherCAT DEBUG 0: Creating slave configuration for 12:0,
0x00000539/0x02200001.
[ 2529.176023] EtherCAT DEBUG 0 12:0: Attached slave 7.
[ 2529.176040] EtherCAT DEBUG 0 12:0: ecrt_slave_config_sync_manager(sc =
0xf7348400, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 2529.176046] EtherCAT DEBUG 0 12:0: ecrt_slave_config_sync_manager(sc =
0xf7348400, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 2529.176052] EtherCAT DEBUG 0 12:0: ecrt_slave_config_sync_manager(sc =
0xf7348400, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 2529.176059] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_assign_clear(sc =
0xf7348400, sync_index = 2)
[ 2529.176067] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_assign_add(sc =
0xf7348400, sync_index = 2, pdo_index = 0x1600)
[ 2529.176071] EtherCAT DEBUG 0 12:0: Loading default mapping for PDO 0x1600.
[ 2529.176076] EtherCAT DEBUG 0 12:0: Entry 0x6040:00.
[ 2529.176079] EtherCAT DEBUG 0 12:0: Entry 0x607A:00.
[ 2529.176082] EtherCAT DEBUG 0 12:0: Entry 0x60B1:00.
[ 2529.176084] EtherCAT DEBUG 0 12:0: Entry 0x6072:00.
[ 2529.176087] EtherCAT DEBUG 0 12:0: Entry 0x60FE:01.
[ 2529.176090] EtherCAT DEBUG 0 12:0: Entry 0x60B8:00.
[ 2529.176093] EtherCAT DEBUG 0 12:0: Entry 0x6060:00.
[ 2529.176099] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xf7348400, pdo_index = 0x1600)
[ 2529.176107] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176115] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176122] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x60B1, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176129] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x6072, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176136] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x60FE, entry_subindex = 0x01,
entry_bit_length = 32)
[ 2529.176143] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x60B8, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176151] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00,
entry_bit_length = 8)
[ 2529.176158] EtherCAT DEBUG 0 12:0: ecrt_slave_config_sync_manager(sc =
0xf7348400, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 2529.176163] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_assign_clear(sc =
0xf7348400, sync_index = 3)
[ 2529.176170] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_assign_add(sc =
0xf7348400, sync_index = 3, pdo_index = 0x1A00)
[ 2529.176174] EtherCAT DEBUG 0 12:0: Loading default mapping for PDO 0x1A00.
[ 2529.176179] EtherCAT DEBUG 0 12:0: Entry 0x6041:00.
[ 2529.176181] EtherCAT DEBUG 0 12:0: Entry 0x6064:00.
[ 2529.176184] EtherCAT DEBUG 0 12:0: Entry 0x606C:00.
[ 2529.176187] EtherCAT DEBUG 0 12:0: Entry 0x6077:00.
[ 2529.176190] EtherCAT DEBUG 0 12:0: Entry 0x60F4:00.
[ 2529.176192] EtherCAT DEBUG 0 12:0: Entry 0x60FD:00.
[ 2529.176195] EtherCAT DEBUG 0 12:0: Entry 0x60BA:00.
[ 2529.176198] EtherCAT DEBUG 0 12:0: Entry 0x60B9:00.
[ 2529.176202] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xf7348400, pdo_index = 0x1A00)
[ 2529.176209] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176216] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176223] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176231] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176238] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x60F4, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176245] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x60FD, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176252] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x60BA, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176259] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A00, entry_index = 0x60B9, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176266] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_assign_add(sc =
0xf7348400, sync_index = 3, pdo_index = 0x1A01)
[ 2529.176270] EtherCAT DEBUG 0 12:0: Loading default mapping for PDO 0x1A01.
[ 2529.176273] EtherCAT DEBUG 0 12:0: Found PDO name "2nd Transmit PDO
mapping\xffffffff\xffffffffion".
[ 2529.176277] EtherCAT DEBUG 0 12:0: Entry 0x6061:00.
[ 2529.176280] EtherCAT DEBUG 0 12:0: Entry 0x6098:00.
[ 2529.176283] EtherCAT DEBUG 0 12:0: Entry 0x603F:00.
[ 2529.176286] EtherCAT DEBUG 0 12:0: Entry 0x6062:00.
[ 2529.176290] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xf7348400, pdo_index = 0x1A01)
[ 2529.176297] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A01, entry_index = 0x6061, entry_subindex = 0x00,
entry_bit_length = 8)
[ 2529.176304] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A01, entry_index = 0x6098, entry_subindex = 0x00,
entry_bit_length = 8)
[ 2529.176311] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A01, entry_index = 0x603F, entry_subindex = 0x00,
entry_bit_length = 16)
[ 2529.176318] EtherCAT DEBUG 0 12:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf7348400, pdo_index = 0x1A01, entry_index = 0x6062, entry_subindex = 0x00,
entry_bit_length = 32)
[ 2529.176328] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6040, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176333] EtherCAT DEBUG 0: Domain 2: Added 19 bytes, total 19.
[ 2529.176339] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x607A, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176346] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60B1, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176352] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6072, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176359] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60FE, subindex = 0x01, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176366] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60B8, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176373] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6060, subindex = 0x00, domain = 0xdee064c0, bit_position
= 0xdec55d68)
[ 2529.176380] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6041, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176385] EtherCAT DEBUG 0: Domain 1: Added 34 bytes, total 34.
[ 2529.176390] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6064, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176397] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x606C, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176404] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6077, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176410] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60F4, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176417] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60FD, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176424] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60BA, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176431] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x60B9, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176438] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6061, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176444] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x6098, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176451] EtherCAT DEBUG 0 12:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf7348400, index = 0x603F, subindex = 0x00, domain = 0xdee06600, bit_position
= 0xdec55d68)
[ 2529.176472] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xdee062c0, mem = 0xf87ba000)
[ 2529.176476] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xdee06600, mem = 0xf87ba000)
[ 2529.176480] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
0xdee064c0, mem = 0xf87ba022)
[ 2529.176512] EtherCAT 0: Application selected DC reference clock config
(12-0) set by application.
[ 2529.184529] EtherCAT 0: Using slave 7 as application selected DC reference
clock.
[ 2529.192541] EtherCAT 0: Using slave 7 as DC reference clock.
[ 2529.202256] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf7140000)
[ 2529.202260] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte,
expected working counter 0.
[ 2529.210318] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 2529.210322] EtherCAT 0: Domain1: Logical address 0x00000000, 34 byte,
expected working counter 1.
[ 2529.218263] EtherCAT 0: Datagram domain1-0-main: Logical offset
0x00000000, 34 byte, type LRD.
[ 2529.226317] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
[ 2529.226321] EtherCAT 0: Domain2: Logical address 0x00000022, 19 byte,
expected working counter 1.
[ 2529.234406] EtherCAT 0: Datagram domain2-34-main: Logical offset
0x00000022, 19 byte, type LWR.
[ 2529.242609] EtherCAT DEBUG 0: Stopping master thread.
[ 2529.242720] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 2529.242815] EtherCAT 0: Master thread exited.
[ 2529.250876] EtherCAT DEBUG 0: FSM datagram is f7140430.
[ 2529.250879] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2529.270531] EtherCAT DEBUG 0: Operation thread running with fsm interval =
10000 us, max data size=112500
[ 2529.270536] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 2529.310187] APP: EtherCAT Master: 8 slave(s).
[ 2529.317955] APP: EtherCAT Master: AL states: 0x02.
[ 2529.325682] APP: EtherCAT Master: Link is up.
[ 2529.333333] EtherCAT ERROR: Failed to get reference clock time: Input/output
error
[ 2529.341206] APP: Failed to get Reference clock time: Input/output error
[ 2529.349325] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[ 2529.349329] EtherCAT DEBUG 0-0: Checking system time offset.
[ 2529.360484] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation:
system_time=2542079822360, app_time=2542051013755, diff=-28808605
[ 2529.360489] EtherCAT DEBUG 0-0: Setting time offset to 18446744067374090841
(was 18446744067402899446)
[ 2529.370525] EtherCAT DEBUG 0-1: Checking system time offset.
[ 2529.380496] EtherCAT DEBUG 0-1: DC 64 bit system time offset calculation:
system_time=2542057748787, app_time=2542072012010, diff=14263223
[ 2529.380501] EtherCAT DEBUG 0-1: Setting time offset to 18446744067484027013
(was 18446744067469763790)
[ 2529.390512] EtherCAT DEBUG 0-2: Checking system time offset.
[ 2529.400488] EtherCAT DEBUG 0-2: DC 64 bit system time offset calculation:
system_time=2542089717075, app_time=2542092012356, diff=2295281
[ 2529.400492] EtherCAT DEBUG 0-2: Setting time offset to 18446744067467905499
(was 18446744067465610218)
[ 2529.410513] EtherCAT DEBUG 0-3: Checking system time offset.
[ 2529.420475] EtherCAT DEBUG 0-3: DC 64 bit system time offset calculation:
system_time=2542097710268, app_time=2542112012676, diff=14302408
[ 2529.420480] EtherCAT DEBUG 0-3: Setting time offset to 18446744067403541796
(was 18446744067389239388)
[ 2529.430490] EtherCAT DEBUG 0-4: Checking system time offset.
[ 2529.440467] EtherCAT DEBUG 0-4: DC 64 bit system time offset calculation:
system_time=2542121788523, app_time=2542132012378, diff=10223855
[ 2529.440471] EtherCAT DEBUG 0-4: Setting time offset to 18446744067482645909
(was 18446744067472422054)
[ 2529.450480] EtherCAT DEBUG 0-5: Checking system time offset.
[ 2529.460453] EtherCAT DEBUG 0-5: DC 64 bit system time offset calculation:
system_time=2542139089975, app_time=2542152012355, diff=12922380
[ 2529.460458] EtherCAT DEBUG 0-5: Setting time offset to 18446744067402614308
(was 18446744067389691928)
[ 2529.470471] EtherCAT DEBUG 0-6: Checking system time offset.
[ 2529.480443] EtherCAT DEBUG 0-6: DC 64 bit system time offset calculation:
system_time=2542157359513, app_time=2542172012369, diff=14652856
[ 2529.480447] EtherCAT DEBUG 0-6: Setting time offset to 18446744067403591224
(was 18446744067388938368)
[ 2529.490461] EtherCAT DEBUG 0-7: Checking system time offset.
[ 2529.500437] EtherCAT DEBUG 0-7: DC 32 bit system time offset calculation:
system_time=3868527358, app_time=2542192012435, diff=-2186859
[ 2529.500441] EtherCAT DEBUG 0-7: Setting time offset to 1320424745 (was
1322611604)
[ 2529.510450] EtherCAT DEBUG 0: Requesting OP...
[ 2529.512049] APP: Reference clock time resumed
[ 2529.520107] APP: first master diff: 2562.
[ 2529.530387] EtherCAT DEBUG 0-0: Unready for requests.
[ 2529.530392] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 2529.530395] EtherCAT DEBUG 0-0: Configuring...
[ 2529.534032] EtherCAT DEBUG 0-0: Now in INIT.
[ 2529.534034] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 2529.536030] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 2529.538029] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 2529.540029] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ 2529.544026] EtherCAT DEBUG 0-0: Now in PREOP.
[ 2529.550024] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 2529.554021] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 2529.620340] EtherCAT DEBUG 0-7: Unready for requests.
[ 2529.620344] EtherCAT DEBUG 0-7: Changing state from PREOP to OP.
[ 2529.620347] EtherCAT DEBUG 0-7: Configuring...
[ 2529.623984] EtherCAT DEBUG 0-7: Now in INIT.
[ 2529.623986] EtherCAT DEBUG 0-7: Clearing FMMU configurations...
[ 2529.625983] EtherCAT DEBUG 0-7: Clearing sync manager configurations...
[ 2529.627981] EtherCAT DEBUG 0-7: Clearing DC assignment...
[ 2529.629980] EtherCAT DEBUG 0-7: Configuring mailbox sync managers...
[ 2529.629985] EtherCAT DEBUG 0-7: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
[ 2529.629989] EtherCAT DEBUG 0-7: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
[ 2529.635978] EtherCAT DEBUG 0-7: Now in PREOP.
[ 2529.635986] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1600.
[ 2529.635988] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6040:00/16
0x607A:00/32 0x60B1:00/32 0x6072:00/16 0x60FE:01/32 0x60B8:00/16 0x6060:00/8.
Entries to map: 0x6040:00/16 0x607A:00/32 0x60B1:00/32 0x6072:00/16
0x60FE:01/32 0x60B8:00/16 0x6060:00/8
[ 2529.636016] EtherCAT DEBUG 0-7: Setting entry count to zero.
[ 2529.636020] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:00.
[ 2529.636023] EtherCAT DEBUG: 00
[ 2529.636027] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.636029] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ 2529.641975] EtherCAT DEBUG 0-7: Download response:
[ 2529.641978] EtherCAT DEBUG: 00 30 62 00 16 00 00 00 00 00
[ 2529.641988] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6040:00 (16 bit) at
position 1.
[ 2529.641992] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:01.
[ 2529.641994] EtherCAT DEBUG: 10 00 40 60
[ 2529.641999] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.642002] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[ 2529.647971] EtherCAT DEBUG 0-7: Download response:
[ 2529.647973] EtherCAT DEBUG: 00 30 62 00 16 01 10 00 40 60
[ 2529.647983] EtherCAT DEBUG 0-7: Mapping PDO entry 0x607A:00 (32 bit) at
position 2.
[ 2529.647986] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:02.
[ 2529.647988] EtherCAT DEBUG: 20 00 7A 60
[ 2529.647994] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.647996] EtherCAT DEBUG: 00 20 23 00 16 02 20 00 7A 60
[ 2529.653968] EtherCAT DEBUG 0-7: Download response:
[ 2529.653970] EtherCAT DEBUG: 00 30 62 00 16 02 20 00 7A 60
[ 2529.653980] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60B1:00 (32 bit) at
position 3.
[ 2529.653984] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:03.
[ 2529.653986] EtherCAT DEBUG: 20 00 B1 60
[ 2529.653991] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.653994] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 B1 60
[ 2529.659965] EtherCAT DEBUG 0-7: Download response:
[ 2529.659967] EtherCAT DEBUG: 00 30 62 00 16 03 20 00 B1 60
[ 2529.659977] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6072:00 (16 bit) at
position 4.
[ 2529.659980] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:04.
[ 2529.659983] EtherCAT DEBUG: 10 00 72 60
[ 2529.659988] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.659990] EtherCAT DEBUG: 00 20 23 00 16 04 10 00 72 60
[ 2529.665962] EtherCAT DEBUG 0-7: Download response:
[ 2529.665964] EtherCAT DEBUG: 00 30 62 00 16 04 10 00 72 60
[ 2529.665974] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60FE:01 (32 bit) at
position 5.
[ 2529.665978] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:05.
[ 2529.665980] EtherCAT DEBUG: 20 01 FE 60
[ 2529.665986] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.665988] EtherCAT DEBUG: 00 20 23 00 16 05 20 01 FE 60
[ 2529.671959] EtherCAT DEBUG 0-7: Download response:
[ 2529.671961] EtherCAT DEBUG: 00 30 62 00 16 05 20 01 FE 60
[ 2529.671971] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60B8:00 (16 bit) at
position 6.
[ 2529.671975] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:06.
[ 2529.671977] EtherCAT DEBUG: 10 00 B8 60
[ 2529.671982] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.671984] EtherCAT DEBUG: 00 20 23 00 16 06 10 00 B8 60
[ 2529.677955] EtherCAT DEBUG 0-7: Download response:
[ 2529.677957] EtherCAT DEBUG: 00 30 62 00 16 06 10 00 B8 60
[ 2529.677967] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6060:00 (8 bit) at
position 7.
[ 2529.677970] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:07.
[ 2529.677972] EtherCAT DEBUG: 08 00 60 60
[ 2529.677978] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.677980] EtherCAT DEBUG: 00 20 23 00 16 07 08 00 60 60
[ 2529.683952] EtherCAT DEBUG 0-7: Download response:
[ 2529.683954] EtherCAT DEBUG: 00 30 62 00 16 07 08 00 60 60
[ 2529.683964] EtherCAT DEBUG 0-7: Setting number of PDO entries to 7.
[ 2529.683968] EtherCAT DEBUG 0-7: Downloading SDO 0x1600:00.
[ 2529.683970] EtherCAT DEBUG: 07
[ 2529.683973] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.683976] EtherCAT DEBUG: 00 20 2F 00 16 00 07 00 00 00
[ 2529.689949] EtherCAT DEBUG 0-7: Download response:
[ 2529.689951] EtherCAT DEBUG: 00 30 62 00 16 00 07 00 00 00
[ 2529.689961] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO
0x1600.
[ 2529.689964] EtherCAT DEBUG 0-7: Setting PDO assignment of SM2:
[ 2529.689967] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1600. PDOs to
assign: 0x1600
[ 2529.689974] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero.
[ 2529.689977] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00.
[ 2529.689979] EtherCAT DEBUG: 00
[ 2529.689983] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.689985] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ 2529.695946] EtherCAT DEBUG 0-7: Download response:
[ 2529.695949] EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00
[ 2529.695960] EtherCAT DEBUG 0-7: Assigning PDO 0x1600 at position 1.
[ 2529.695963] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:01.
[ 2529.695965] EtherCAT DEBUG: 00 16
[ 2529.695970] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.695972] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
[ 2529.701943] EtherCAT DEBUG 0-7: Download response:
[ 2529.701945] EtherCAT DEBUG: 00 30 62 12 1C 01 00 16 00 00
[ 2529.701955] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 1.
[ 2529.701958] EtherCAT DEBUG 0-7: Downloading SDO 0x1C12:00.
[ 2529.701960] EtherCAT DEBUG: 01
[ 2529.701964] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.701966] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[ 2529.707939] EtherCAT DEBUG 0-7: Download response:
[ 2529.707941] EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00
[ 2529.707952] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of
SM2.
[ 2529.707961] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1A00.
[ 2529.707964] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6041:00/16
0x6064:00/32 0x606C:00/32 0x6077:00/16 0x60F4:00/32 0x60FD:00/32 0x60BA:00/32
0x60B9:00/16. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32
0x6077:00/16 0x60F4:00/32 0x60FD:00/32 0x60BA:00/32 0x60B9:00/16
[ 2529.707993] EtherCAT DEBUG 0-7: Setting entry count to zero.
[ 2529.707997] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:00.
[ 2529.707999] EtherCAT DEBUG: 00
[ 2529.708002] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.708004] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ 2529.713936] EtherCAT DEBUG 0-7: Download response:
[ 2529.713939] EtherCAT DEBUG: 00 30 62 00 1A 00 00 00 00 00
[ 2529.713949] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6041:00 (16 bit) at
position 1.
[ 2529.713953] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:01.
[ 2529.713955] EtherCAT DEBUG: 10 00 41 60
[ 2529.713960] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.713962] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[ 2529.719934] EtherCAT DEBUG 0-7: Download response:
[ 2529.719936] EtherCAT DEBUG: 00 30 62 00 1A 01 10 00 41 60
[ 2529.719946] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6064:00 (32 bit) at
position 2.
[ 2529.719949] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:02.
[ 2529.719951] EtherCAT DEBUG: 20 00 64 60
[ 2529.719956] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.719959] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60
[ 2529.725930] EtherCAT DEBUG 0-7: Download response:
[ 2529.725932] EtherCAT DEBUG: 00 30 62 00 1A 02 20 00 64 60
[ 2529.725942] EtherCAT DEBUG 0-7: Mapping PDO entry 0x606C:00 (32 bit) at
position 3.
[ 2529.725946] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:03.
[ 2529.725948] EtherCAT DEBUG: 20 00 6C 60
[ 2529.725953] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.725955] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 6C 60
[ 2529.731927] EtherCAT DEBUG 0-7: Download response:
[ 2529.731930] EtherCAT DEBUG: 00 30 62 00 1A 03 20 00 6C 60
[ 2529.731939] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6077:00 (16 bit) at
position 4.
[ 2529.731943] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:04.
[ 2529.731945] EtherCAT DEBUG: 10 00 77 60
[ 2529.731951] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.731953] EtherCAT DEBUG: 00 20 23 00 1A 04 10 00 77 60
[ 2529.737923] EtherCAT DEBUG 0-7: Download response:
[ 2529.737925] EtherCAT DEBUG: 00 30 62 00 1A 04 10 00 77 60
[ 2529.737935] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60F4:00 (32 bit) at
position 5.
[ 2529.737938] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:05.
[ 2529.737940] EtherCAT DEBUG: 20 00 F4 60
[ 2529.737946] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.737948] EtherCAT DEBUG: 00 20 23 00 1A 05 20 00 F4 60
[ 2529.743920] EtherCAT DEBUG 0-7: Download response:
[ 2529.743923] EtherCAT DEBUG: 00 30 62 00 1A 05 20 00 F4 60
[ 2529.743932] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60FD:00 (32 bit) at
position 6.
[ 2529.743936] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:06.
[ 2529.743938] EtherCAT DEBUG: 20 00 FD 60
[ 2529.743943] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.743946] EtherCAT DEBUG: 00 20 23 00 1A 06 20 00 FD 60
[ 2529.749918] EtherCAT DEBUG 0-7: Download response:
[ 2529.749920] EtherCAT DEBUG: 00 30 62 00 1A 06 20 00 FD 60
[ 2529.749930] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60BA:00 (32 bit) at
position 7.
[ 2529.749933] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:07.
[ 2529.749935] EtherCAT DEBUG: 20 00 BA 60
[ 2529.749941] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.749943] EtherCAT DEBUG: 00 20 23 00 1A 07 20 00 BA 60
[ 2529.755914] EtherCAT DEBUG 0-7: Download response:
[ 2529.755916] EtherCAT DEBUG: 00 30 62 00 1A 07 20 00 BA 60
[ 2529.755926] EtherCAT DEBUG 0-7: Mapping PDO entry 0x60B9:00 (16 bit) at
position 8.
[ 2529.755930] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:08.
[ 2529.755932] EtherCAT DEBUG: 10 00 B9 60
[ 2529.755937] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.755939] EtherCAT DEBUG: 00 20 23 00 1A 08 10 00 B9 60
[ 2529.761912] EtherCAT DEBUG 0-7: Download response:
[ 2529.761914] EtherCAT DEBUG: 00 30 62 00 1A 08 10 00 B9 60
[ 2529.761924] EtherCAT DEBUG 0-7: Setting number of PDO entries to 8.
[ 2529.761927] EtherCAT DEBUG 0-7: Downloading SDO 0x1A00:00.
[ 2529.761929] EtherCAT DEBUG: 08
[ 2529.761933] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.761935] EtherCAT DEBUG: 00 20 2F 00 1A 00 08 00 00 00
[ 2529.767908] EtherCAT DEBUG 0-7: Download response:
[ 2529.767910] EtherCAT DEBUG: 00 30 62 00 1A 00 08 00 00 00
[ 2529.767919] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO
0x1A00.
[ 2529.767924] EtherCAT DEBUG 0-7: Changing mapping of PDO 0x1A01.
[ 2529.767927] EtherCAT DEBUG 0-7: Currently mapped PDO entries: 0x6061:00/8
0x6098:00/8 0x603F:00/16 0x6062:00/32. Entries to map: 0x6061:00/8 0x6098:00/8
0x603F:00/16 0x6062:00/32
[ 2529.767944] EtherCAT DEBUG 0-7: Setting entry count to zero.
[ 2529.767947] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00.
[ 2529.767949] EtherCAT DEBUG: 00
[ 2529.767952] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.767955] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00
[ 2529.773905] EtherCAT DEBUG 0-7: Download response:
[ 2529.773907] EtherCAT DEBUG: 00 30 62 01 1A 00 00 00 00 00
[ 2529.773917] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6061:00 (8 bit) at
position 1.
[ 2529.773921] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:01.
[ 2529.773923] EtherCAT DEBUG: 08 00 61 60
[ 2529.773928] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.773931] EtherCAT DEBUG: 00 20 23 01 1A 01 08 00 61 60
[ 2529.779902] EtherCAT DEBUG 0-7: Download response:
[ 2529.779904] EtherCAT DEBUG: 00 30 62 01 1A 01 08 00 61 60
[ 2529.779914] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6098:00 (8 bit) at
position 2.
[ 2529.779917] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:02.
[ 2529.779919] EtherCAT DEBUG: 08 00 98 60
[ 2529.779924] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.779926] EtherCAT DEBUG: 00 20 23 01 1A 02 08 00 98 60
[ 2529.785898] EtherCAT DEBUG 0-7: Download response:
[ 2529.785901] EtherCAT DEBUG: 00 30 62 01 1A 02 08 00 98 60
[ 2529.785911] EtherCAT DEBUG 0-7: Mapping PDO entry 0x603F:00 (16 bit) at
position 3.
[ 2529.785914] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:03.
[ 2529.785916] EtherCAT DEBUG: 10 00 3F 60
[ 2529.785922] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.785924] EtherCAT DEBUG: 00 20 23 01 1A 03 10 00 3F 60
[ 2529.791895] EtherCAT DEBUG 0-7: Download response:
[ 2529.791898] EtherCAT DEBUG: 00 30 62 01 1A 03 10 00 3F 60
[ 2529.791908] EtherCAT DEBUG 0-7: Mapping PDO entry 0x6062:00 (32 bit) at
position 4.
[ 2529.791911] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:04.
[ 2529.791913] EtherCAT DEBUG: 20 00 62 60
[ 2529.791919] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.791921] EtherCAT DEBUG: 00 20 23 01 1A 04 20 00 62 60
[ 2529.797892] EtherCAT DEBUG 0-7: Download response:
[ 2529.797894] EtherCAT DEBUG: 00 30 62 01 1A 04 20 00 62 60
[ 2529.797903] EtherCAT DEBUG 0-7: Setting number of PDO entries to 4.
[ 2529.797906] EtherCAT DEBUG 0-7: Downloading SDO 0x1A01:00.
[ 2529.797908] EtherCAT DEBUG: 04
[ 2529.797912] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.797914] EtherCAT DEBUG: 00 20 2F 01 1A 00 04 00 00 00
[ 2529.803889] EtherCAT DEBUG 0-7: Download response:
[ 2529.803891] EtherCAT DEBUG: 00 30 62 01 1A 00 04 00 00 00
[ 2529.803901] EtherCAT DEBUG 0-7: Successfully configured mapping for PDO
0x1A01.
[ 2529.803904] EtherCAT DEBUG 0-7: Setting PDO assignment of SM3:
[ 2529.803907] EtherCAT DEBUG 0-7: Currently assigned PDOs: 0x1A00 0x1A01. PDOs
to assign: 0x1A00 0x1A01
[ 2529.803916] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to zero.
[ 2529.803920] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00.
[ 2529.803922] EtherCAT DEBUG: 00
[ 2529.803925] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.803927] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ 2529.809887] EtherCAT DEBUG 0-7: Download response:
[ 2529.809890] EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00
[ 2529.809901] EtherCAT DEBUG 0-7: Assigning PDO 0x1A00 at position 1.
[ 2529.809904] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:01.
[ 2529.809906] EtherCAT DEBUG: 00 1A
[ 2529.809910] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.809912] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
[ 2529.815882] EtherCAT DEBUG 0-7: Download response:
[ 2529.815885] EtherCAT DEBUG: 00 30 62 13 1C 01 00 1A 00 00
[ 2529.815895] EtherCAT DEBUG 0-7: Assigning PDO 0x1A01 at position 2.
[ 2529.815898] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:02.
[ 2529.815900] EtherCAT DEBUG: 01 1A
[ 2529.815904] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.815906] EtherCAT DEBUG: 00 20 2B 13 1C 02 01 1A 00 00
[ 2529.822087] EtherCAT DEBUG 0-7: Download response:
[ 2529.822090] EtherCAT DEBUG: 00 30 62 13 1C 02 01 1A 00 00
[ 2529.822101] EtherCAT DEBUG 0-7: Setting number of assigned PDOs to 2.
[ 2529.822105] EtherCAT DEBUG 0-7: Downloading SDO 0x1C13:00.
[ 2529.822107] EtherCAT DEBUG: 02
[ 2529.822111] EtherCAT DEBUG 0-7: Expedited download request:
[ 2529.822113] EtherCAT DEBUG: 00 20 2F 13 1C 00 02 00 00 00
[ 2529.828881] EtherCAT DEBUG 0-7: Download response:
[ 2529.828885] EtherCAT DEBUG: 00 30 62 13 1C 00 02 00 00 00
[ 2529.828900] EtherCAT DEBUG 0-7: Successfully configured PDO assignment of
SM3.
[ 2529.828909] EtherCAT DEBUG 0-7: SM2: Addr 0x1100, Size 19, Ctrl 0x74, En 1
[ 2529.828914] EtherCAT DEBUG 0-7: SM3: Addr 0x1400, Size 34, Ctrl 0x30, En 1
[ 2529.830882] EtherCAT DEBUG 0 12:0: FMMU: LogAddr 0x00000022, Size 19,
PhysAddr 0x1100, SM2, Dir out
[ 2529.830887] EtherCAT DEBUG 0 12:0: FMMU: LogAddr 0x00000000, Size 34,
PhysAddr 0x1400, SM3, Dir in
[ 2529.835895] EtherCAT 0: Domain 1: Working counter changed to 1/1.
[ 2529.843838] EtherCAT 0: Domain 2: Working counter changed to 1/1.
[ 2529.851612] APP: EtherCAT Master: Domain 1: WC 1.
[ 2529.859369] APP: EtherCAT Master: Domain 1: State 2.
[ 2529.866981] APP: EtherCAT Master: Domain 2: WC 1.
[ 2529.874590] APP: EtherCAT Master: Domain 2: State 2.
[ 2529.882915] EtherCAT DEBUG 0-7: Now in SAFEOP.
[ 2529.886845] EtherCAT DEBUG 0-7: Now in OP. Finished configuration.
[ 2529.886849] EtherCAT DEBUG 0-0: Ready for requests.
[ 2529.886852] EtherCAT DEBUG 0-7: Ready for requests.
[ 2529.890292] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 2529.899846] APP: EtherCAT Master: AL states: 0x0A.
[ 2540.462793] APP: Shutting down
[ 2540.471239] EtherCAT DEBUG 0: ecrt_master_deactivate_slaves(master =
0xf7140000)
[ 2540.471260] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xf7140000)
[ 2540.471299] EtherCAT DEBUG 0: Stopping master thread.
[ 2540.471307] EtherCAT DEBUG 0: Master OP thread exiting...
[ 2540.471325] EtherCAT 0: Master thread exited.
[ 2540.478999] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 2540.486896] EtherCAT 0: Releasing master...
[ 2540.494479] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ 2540.494481] EtherCAT 0: Released.
[ 2540.503525] EtherCAT DEBUG 0: Idle thread running with send interval = 10000
us, max data size=112500
[ 2540.503534] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 2540.503537] EtherCAT DEBUG: 0A 10 00 00 00 00 22 80 00 00 40 02 F9 FF FF FF
[ 2540.503550] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 2540.503563] EtherCAT DEBUG: 00 00 00 00 00 23 00 00 F9 FF FF FF 01 00
[ 2540.503575] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 2540.503577] EtherCAT DEBUG: 0B 11 22 00 00 00 13 80 00 00 00 00 00 00 00 00
[ 2540.503589] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00
[ 2540.503603] EtherCAT ERROR 0-5: Failed to receive AL state datagram:
Datagram initialized.
[ 2540.511453] EtherCAT DEBUG 0: Datagram f7140430 already queued (skipping).
[ 2540.531234] EtherCAT DEBUG 0-0: Unready for requests.
[ 2540.531239] EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).
[ 2540.531242] EtherCAT DEBUG 0-0: Configuring...
[ 2540.531289] EtherCAT DEBUG 0-0: Now in INIT.
[ 2540.531292] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 2540.531319] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 2540.531345] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 2540.531372] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ 2540.531422] EtherCAT DEBUG 0-0: Now in PREOP.
[ 2540.531424] EtherCAT DEBUG 0-0: Finished configuration.
[ 2540.541390] EtherCAT DEBUG 0-1: Unready for requests.
[ 2540.541394] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced).
[ 2540.541397] EtherCAT DEBUG 0-1: Configuring...
[ 2540.541446] EtherCAT DEBUG 0-1: Now in INIT.
[ 2540.541449] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[ 2540.541482] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[ 2540.541508] EtherCAT DEBUG 0-1: Clearing DC assignment...
[ 2540.541528] EtherCAT DEBUG 0-1: Slave does not support mailbox communication.
[ 2540.541577] EtherCAT DEBUG 0-1: Now in PREOP.
[ 2540.541579] EtherCAT DEBUG 0-1: Finished configuration.
[ 2540.551377] EtherCAT DEBUG 0-2: Unready for requests.
[ 2540.551381] EtherCAT DEBUG 0-2: Changing state from PREOP to PREOP (forced).
[ 2540.551384] EtherCAT DEBUG 0-2: Configuring...
[ 2540.551433] EtherCAT DEBUG 0-2: Now in INIT.
[ 2540.551436] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[ 2540.551462] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[ 2540.551488] EtherCAT DEBUG 0-2: Clearing DC assignment...
[ 2540.551512] EtherCAT DEBUG 0-2: Slave does not support mailbox communication.
[ 2540.551561] EtherCAT DEBUG 0-2: Now in PREOP.
[ 2540.551563] EtherCAT DEBUG 0-2: Finished configuration.
[ 2540.561369] EtherCAT DEBUG 0-3: Unready for requests.
[ 2540.561372] EtherCAT DEBUG 0-3: Changing state from PREOP to PREOP (forced).
[ 2540.561375] EtherCAT DEBUG 0-3: Configuring...
[ 2540.561424] EtherCAT DEBUG 0-3: Now in INIT.
[ 2540.561427] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[ 2540.561450] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[ 2540.561475] EtherCAT DEBUG 0-3: Clearing DC assignment...
[ 2540.561500] EtherCAT DEBUG 0-3: Slave does not support mailbox communication.
[ 2540.561547] EtherCAT DEBUG 0-3: Now in PREOP.
[ 2540.561550] EtherCAT DEBUG 0-3: Finished configuration.
[ 2540.571372] EtherCAT DEBUG 0-4: Unready for requests.
[ 2540.571376] EtherCAT DEBUG 0-4: Changing state from PREOP to PREOP (forced).
[ 2540.571379] EtherCAT DEBUG 0-4: Configuring...
[ 2540.571427] EtherCAT DEBUG 0-4: Now in INIT.
[ 2540.571430] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[ 2540.571455] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[ 2540.571479] EtherCAT DEBUG 0-4: Clearing DC assignment...
[ 2540.571503] EtherCAT DEBUG 0-4: Slave does not support mailbox communication.
[ 2540.571549] EtherCAT DEBUG 0-4: Now in PREOP.
[ 2540.571552] EtherCAT DEBUG 0-4: Finished configuration.
[ 2540.581359] EtherCAT DEBUG 0-5: Unready for requests.
[ 2540.581363] EtherCAT DEBUG 0-5: Changing state from PREOP to PREOP (forced).
[ 2540.581365] EtherCAT DEBUG 0-5: Configuring...
[ 2540.581413] EtherCAT DEBUG 0-5: Now in INIT.
[ 2540.581415] EtherCAT DEBUG 0-5: Clearing FMMU configurations...
[ 2540.581439] EtherCAT DEBUG 0-5: Clearing sync manager configurations...
[ 2540.581464] EtherCAT DEBUG 0-5: Clearing DC assignment...
[ 2540.581489] EtherCAT DEBUG 0-5: Slave does not support mailbox communication.
[ 2540.581536] EtherCAT DEBUG 0-5: Now in PREOP.
[ 2540.581538] EtherCAT DEBUG 0-5: Finished configuration.
[ 2540.591352] EtherCAT DEBUG 0-6: Unready for requests.
[ 2540.591355] EtherCAT DEBUG 0-6: Changing state from PREOP to PREOP (forced).
[ 2540.591358] EtherCAT DEBUG 0-6: Configuring...
[ 2540.591405] EtherCAT DEBUG 0-6: Now in INIT.
[ 2540.591407] EtherCAT DEBUG 0-6: Clearing FMMU configurations...
[ 2540.591432] EtherCAT DEBUG 0-6: Clearing sync manager configurations...
[ 2540.591456] EtherCAT DEBUG 0-6: Clearing DC assignment...
[ 2540.591481] EtherCAT DEBUG 0-6: Slave does not support mailbox communication.
[ 2540.591528] EtherCAT DEBUG 0-6: Now in PREOP.
[ 2540.591530] EtherCAT DEBUG 0-6: Finished configuration.
[ 2540.601369] EtherCAT DEBUG 0-7: OP -> SAFEOP + ERROR.
[ 2540.601396] EtherCAT ERROR 0-7: AL status message 0x001B: "Sync manager
watchdog".
[ 2540.609455] EtherCAT 0-7: Acknowledged state SAFEOP.
[ 2540.617377] EtherCAT DEBUG 0-7: Unready for requests.
[ 2540.617381] EtherCAT DEBUG 0-7: Changing state from SAFEOP to PREOP (forced).
[ 2540.617384] EtherCAT DEBUG 0-7: Configuring...
[ 2540.617624] EtherCAT DEBUG 0-7: Now in INIT.
[ 2540.617627] EtherCAT DEBUG 0-7: Clearing FMMU configurations...
[ 2540.617650] EtherCAT DEBUG 0-7: Clearing sync manager configurations...
[ 2540.617674] EtherCAT DEBUG 0-7: Clearing DC assignment...
[ 2540.617698] EtherCAT DEBUG 0-7: Configuring mailbox sync managers...
[ 2540.617703] EtherCAT DEBUG 0-7: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
[ 2540.617707] EtherCAT DEBUG 0-7: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
[ 2540.618110] EtherCAT DEBUG 0-7: Now in PREOP.
[ 2540.618112] EtherCAT DEBUG 0-7: Finished configuration.
[ 2540.618115] EtherCAT DEBUG 0-0: Ready for requests.
[ 2540.618117] EtherCAT DEBUG 0-1: Ready for requests.
[ 2540.618120] EtherCAT DEBUG 0-2: Ready for requests.
[ 2540.618122] EtherCAT DEBUG 0-3: Ready for requests.
[ 2540.618125] EtherCAT DEBUG 0-4: Ready for requests.
[ 2540.618127] EtherCAT DEBUG 0-5: Ready for requests.
[ 2540.618129] EtherCAT DEBUG 0-6: Ready for requests.
[ 2540.618132] EtherCAT DEBUG 0-7: Ready for requests.
[ 2540.621451] EtherCAT 0: Slave states on main device: PREOP.
[ 2540.881052] EtherCAT WARNING: Datagram f7140430 (master-fsm) was SKIPPED 1
time.
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