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<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">Hi Scott,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">When I investigated this issue I saw only bad addresses for the tx memory, which was a perfect fit for the startup stall.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">But of course you are right, before the patch we played roulette and the same could happen to the rx memory, which would turn our game into Russian roulette…<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">Thanks for reporting and discussing this serious bug!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">Best regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US">Patrick<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> Tillman, Scott [mailto:Scott.Tillman@bhemail.com]
<br>
<b>Sent:</b> Montag, 26. Oktober 2015 15:37<br>
<b>To:</b> Patrick Brünn <P.Bruenn@beckhoff.com>; etherlab-dev@etherlab.org<br>
<b>Subject:</b> RE: CCAT startup failures<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Hi Patrick,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Initial results are very good. I’ve been through about 20 reboot cycles so far without the stall occurring. Before applying this patch the stalls occurred on about 2/3 of my reboots. I’ll keep
looking but that seems to have resolved it. <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">The hard lock I reported only occurred when trying to unload the ec_ccat driver after a stalled startup, and even then, only on occasion. Beyond that, no reliable reproduction was found. Given
that this patch appears to fix a bug in the DMA mapping passed to the ccat hardware I would guess that was the root cause of the occasional hangs? Wouldn’t the prior behavior cause the ccat hardware to write data into the wrong physical pages of memory?
If you’re lucky that’s an “unimportant” data page, if not it’s some block of code that someone eventually calls. Very ugly.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Thanks again for the patch and the quick response.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">-Scott<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> Patrick Brünn [<a href="mailto:P.Bruenn@beckhoff.com">mailto:P.Bruenn@beckhoff.com</a>]
<br>
<b>Sent:</b> Monday, October 26, 2015 4:22 AM<br>
<b>To:</b> Tillman, Scott <<a href="mailto:Scott.Tillman@bhemail.com">Scott.Tillman@bhemail.com</a>>;
<a href="mailto:etherlab-dev@etherlab.org">etherlab-dev@etherlab.org</a><br>
<b>Subject:</b> RE: CCAT startup failures<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Hi Scott,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">To fix the startup stall, please try the appended patch.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">I tested it over the weekend and found no more “BUG! Tx Ring full” in the kernel log this morning.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">However, I cannot reproduce the hard lockups. Do you have any hint on how to provoke them?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">My setup:<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-US" style="color:#1F497D">Beckhoff CX5130<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-US" style="color:#1F497D">Ubuntu 14.04<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:35.4pt"><span lang="EN-US" style="color:#1F497D">Kernel 4.1.7-rt8<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent:35.4pt"><span lang="EN-US" style="color:#1F497D">Stable 1.5.2 Etherlab with recent CCAT v0.13 bundle<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">My test script:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">while :<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">do<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> /etc/init.d/ethercat restart<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> sleep 5<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">done<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">The patch:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># HG changeset patch<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># User Patrick Bruenn <</span><span lang="EN-US"><a href="mailto:p.bruenn@beckhoff.com">p.bruenn@beckhoff.com</a><span style="color:#1F497D">><o:p></o:p></span></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># Date 1445844490 -3600<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># Mon Oct 26 08:28:10 2015 +0100<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># Branch stable-1.5<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># Node ID 1d9be5716deec3c7e6a21dae85a8ad2ef8825b92<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"># Parent 0613017547feee7a2189fe71724ca5bcd1fcb61f<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">fix ccat startup stall. In case the dma memory was allocated above 4 GB limit, CCAT is unable to access it.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> -> limit the dma_mask to 32-bit to omit this situation<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">diff -r 0613017547fe -r 1d9be5716dee devices/ccat/module.c<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">--- a/devices/ccat/module.c Tue Oct 13 12:24:16 2015 +0200<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">+++ b/devices/ccat/module.c Mon Oct 26 08:28:10 2015 +0100<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">@@ -288,9 +288,8 @@<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> goto cleanup_pci_device;<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">- if (!dma_set_mask_and_coherent(&pdev->dev, DMA_BIT_MASK(64))) {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">- pr_debug("64 bit DMA supported, pci rev: %u\n", revision);<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">- } else if (!dma_set_mask_and_coherent(&pdev->dev, DMA_BIT_MASK(32))) {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">+ /* CCAT is unable to access memory above 4 GB */<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">+ if (!dma_set_mask_and_coherent(&pdev->dev, DMA_BIT_MASK(32))) {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> pr_debug("32 bit DMA supported, pci rev: %u\n", revision);<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> } else {<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"> pr_warn("No suitable DMA available, pci rev: %u\n", revision);<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">Patrick<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> etherlab-dev [<a href="mailto:etherlab-dev-bounces@etherlab.org">mailto:etherlab-dev-bounces@etherlab.org</a>]
<b>On Behalf Of </b>Tillman, Scott<br>
<b>Sent:</b> Freitag, 23. Oktober 2015 05:52<br>
<b>To:</b> <a href="mailto:etherlab-dev@etherlab.org">etherlab-dev@etherlab.org</a><br>
<b>Subject:</b> [etherlab-dev] CCAT startup failures<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">I am having problems with the startup of the CCAT driver (both v12 to the new v13). When I boot up the driver is loading (ccat shows via lsmod). When I start the master it swaps over to ec_ccat, but sometimes the master
never begins communicating on the bus. In these situations I can often remove and reinsert the ec_ccat module and the master will start up. Occasionally I get a hard lockup of the system (Alt-SysRq-B won’t reboot) when trying to unload or reload the module,
but that’s possibly unrelated. I’m looking for solutions to both problems (startup stall and hard lockups).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">System details:<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent:36.0pt"><span lang="EN-US">Beckhoff CX5130<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Ubuntu 14.04 (Server) with ubuntu-desktop installed<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Kernel 3.16.7 with RTAI 4.1 ipipe patch<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Stable 1.5.2 Etherlab with recent CCAT v0.13 bundle<o:p></o:p></span></p>
<p class="MsoNormal" style="text-indent:36.0pt"><span lang="EN-US">Some changes that are included in the bundle I’ve already posted<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I am accessing the master via the user space library and using the LXRT library for accessing RTAI.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">At this point I’m looking for suggestions on how to try to establish the root cause of these problems. I don’t have much experience debugging kernel crashes, and what experience I do have is 15 years out of date. I
have no prior exposure to the linux network subsystem.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Any help would be appreciated. Below are snippets of the syslog around various interesting conditions. Let me know if I can provide any other possibly useful data.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">-Scott Tillman<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Advisory Software Engineer<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">Bell + Howell<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US">919-767-6745<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">What I know so far:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I occasionally see this constantly repeating in my syslog during the stalled state:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 21 10:58:03 ubuntu kernel: [ 17.184386] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 21 10:58:03 ubuntu kernel: [ 17.237043] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 21 10:58:03 ubuntu kernel: [ 17.289702] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 21 10:58:03 ubuntu kernel: [ 17.342599] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">etc. This continues until I rmmod ec_ccat.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Relevant logs on initial startup try in stalled state:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu dhclient: DHCPDISCOVER on CX5130_x001 to 255.255.255.255 port 67 interval 3 (xid=0x730db6c3)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.476197] EtherCAT: Master driver 1.5.2 71593adce088+<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.481558] EtherCAT 0: Registering RTDM device EtherCAT.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.481586] EtherCAT: 1 master waiting for devices.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu avahi-daemon[623]: Interface CX5130_ebus.IPv6 no longer relevant for mDNS.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu avahi-daemon[623]: Leaving mDNS multicast group on interface CX5130_ebus.IPv6 with address fe80::201:5ff:fe1a:d56d.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu avahi-daemon[623]: Withdrawing address record for fe80::201:5ff:fe1a:d56d on CX5130_ebus.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu avahi-daemon[623]: Withdrawing workstation service for CX5130_ebus.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu NetworkManager[964]: SCPlugin-Ifupdown: devices removed (path: /sys/devices/virtual/net/CX5130_ebus, iface: CX5130_ebus)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.603567] ec_ccat: registered ec_ccat as gpio chip with #12 GPIOs.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.603770] EtherCAT: Accepting 00:01:05:1A:D5:6D as main device for master 0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.603794] EtherCAT 0: Starting EtherCAT-IDLE thread.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.603846] (unregistered net_device): NIC Link is Up<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.603870] EtherCAT 0: Link state of ecm0 changed to UP.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.608008] ec_ccat: registered ccat_update0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.608031] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:58 ubuntu kernel: [ 12.655994] EtherCAT WARNING 0: 1 datagram TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:59 ubuntu NetworkManager[964]: <warn> error monitoring device for netlink events: error processing netlink message: Object busy<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:59 ubuntu avahi-daemon[623]: Joining mDNS multicast group on interface CX5130_x001.IPv6 with address fe80::201:5ff:fe1d:7dac.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:59 ubuntu avahi-daemon[623]: New relevant interface CX5130_x001.IPv6 for mDNS.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:59 ubuntu avahi-daemon[623]: Registering new address record for fe80::201:5ff:fe1d:7dac on CX5130_x001.*.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:25:59 ubuntu kernel: [ 13.706520] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:00 ubuntu kernel: [ 14.748575] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:01 ubuntu dbus[443]: [system] Activating service name='org.freedesktop.UPower' (using servicehelper)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:01 ubuntu dbus[443]: [system] Successfully activated service 'org.freedesktop.UPower'<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:01 ubuntu dhclient: DHCPDISCOVER on CX5130_x001 to 255.255.255.255 port 67 interval 5 (xid=0x730db6c3)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:02 ubuntu kernel: [ 15.790895] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:02 ubuntu kernel: [ 15.893849] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:02 ubuntu kernel: [ 15.946642] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:26:02 ubuntu kernel: [ 16.000730] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">At this time the ‘ethercat master’ command returns something like this:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Master0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Phase: Idle<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Active: no<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Slaves: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Ethernet devices:<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Main: 00:01:05:1a:d5:6d (attached)<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Link: UP<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx frames: 63<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx bytes: 3780<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx frames: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx bytes: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx errors: 1294<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx frame rate [1/s]: 0 0 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx rate [KByte/s]: 0.0 0.0 0.1<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx frame rate [1/s]: 0 0 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx rate [KByte/s]: 0.0 0.0 0.0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Common:<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx frames: 63<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx bytes: 3780<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx frames: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx bytes: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Lost frames: 63<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx frame rate [1/s]: 0 0 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Tx rate [KByte/s]: 0.0 0.0 0.1<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx frame rate [1/s]: 0 4 2405<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Rx rate [KByte/s]: 0.0 4.7 1455.5<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Loss rate [1/s]: 0 0 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Frame loss [%]: 0.0 100.0 100.0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Distributed clocks:<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Reference clock: None<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> Application time: 0<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New""> 2000-01-01 00:00:00.000000000<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">On an unsuccessful unload/reload of ec_ccat:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:33 ubuntu kernel: [ 287.196371] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:33 ubuntu kernel: [ 287.249216] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:33 ubuntu kernel: [ 287.301650] EtherCAT 0: Master thread exited.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:33 ubuntu kernel: [ 287.301675] EtherCAT 0: Releasing main device 00:01:05:1A:D5:6D.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.382320] ec_ccat: registered ec_ccat as gpio chip with #12 GPIOs.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.382606] EtherCAT: Accepting 00:01:05:1A:D5:6D as main device for master 0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.382624] EtherCAT 0: Starting EtherCAT-IDLE thread.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.382691] (unregistered net_device): NIC Link is Up<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.382715] EtherCAT 0: Link state of ecm0 changed to UP.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.384380] EtherCAT WARNING 0: 8 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.386028] ec_ccat: registered ccat_update0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:40 ubuntu kernel: [ 293.386073] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:41 ubuntu kernel: [ 294.431521] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:42 ubuntu kernel: [ 295.472201] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:43 ubuntu kernel: [ 296.511475] EtherCAT WARNING 0: 20 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:43 ubuntu kernel: [ 296.669281] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:43 ubuntu kernel: [ 296.721893] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:30:43 ubuntu kernel: [ 296.774468] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">On a successful unload and reload of ec_ccat:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:34 ubuntu kernel: [ 408.038227] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:34 ubuntu kernel: [ 408.090745] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:34 ubuntu kernel: [ 408.143279] (unregistered net_device): BUG! Tx Ring full when queue awake!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:34 ubuntu kernel: [ 408.188016] EtherCAT 0: Master thread exited.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:34 ubuntu kernel: [ 408.188049] EtherCAT 0: Releasing main device 00:01:05:1A:D5:6D.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.085382] ec_ccat: registered ec_ccat as gpio chip with #12 GPIOs.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.085704] EtherCAT: Accepting 00:01:05:1A:D5:6D as main device for master 0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.085726] EtherCAT 0: Starting EtherCAT-IDLE thread.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.085788] (unregistered net_device): NIC Link is Up<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.085809] EtherCAT 0: Link state of ecm0 changed to UP.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.086907] ec_ccat: registered ccat_update0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.086995] ec_ccat: ccat_sram_probe: 0x0016 rev: 0x0000<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.090003] EtherCAT WARNING 0: 2 datagrams TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.090014] EtherCAT WARNING 0: 1 datagram UNMATCHED!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.094116] EtherCAT 0: 14 slave(s) responding on main device.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.094128] EtherCAT 0: Slave states on main device: PREOP.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:37 ubuntu kernel: [ 411.094226] EtherCAT 0: Scanning bus.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.698595] EtherCAT 0: Bus scanning completed in 1604 ms.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.698606] EtherCAT 0: Using slave 0 as DC reference clock.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.700210] EtherCAT: Requesting master 0...<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.700226] EtherCAT: Successfully requested master 0.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.709429] EtherCAT 0: Domain0: Logical address 0x00000000, 114 byte, expected working counter 32.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.709440] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 114 byte, type LRW.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.709833] EtherCAT 0: Master thread exited.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.709858] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.710010] EtherCAT WARNING 0: 1 datagram TIMED OUT!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.742278] EtherCAT WARNING 0: No app_time received up to now, but master already active.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.784239] EtherCAT 0: Domain 0: Working counter changed to 1/32.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.895474] EtherCAT WARNING 0-2: Slave does not support changing the PDO mapping!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 412.895484] EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x7010:01/1 0x7010:02/1 0x7010:03/1 0x7010:04/1 0x0000:00/4
0x0000:00/8 0x7010:11/32. Entries to map: 0x7010:01/1 0x7010:02/1 0x7010:03/1 0x7010:04/1 0x0000:00/12 0x7010:11/32<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 413.102650] EtherCAT WARNING 0-3: Slave does not support changing the PDO mapping!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:39 ubuntu kernel: [ 413.102660] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/2 0x6000:05/2 0x6000:07/1
0x0000:00/1 0x0000:00/6 0x1800:07/1 0x1800:09/1 0x6000:11/16. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/2 0x6000:05/2 0x6000:07/1 0x0000:01/1 0x0000:02/6 0x1800:07/1 0x1800:09/1 0x6000:11/16<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:40 ubuntu kernel: [ 413.714330] EtherCAT WARNING 0: 6 datagrams UNMATCHED!<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:40 ubuntu kernel: [ 413.715135] EtherCAT WARNING: Datagram ffff880096230d98 (domain0-0-main) was SKIPPED 6 times.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:40 ubuntu kernel: [ 413.787102] EtherCAT 0: Domain 0: 7 working counter changes - now 13/32.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:40 ubuntu kernel: [ 414.508889] EtherCAT 0: Slave states on main device: OP.<o:p></o:p></span></p>
<p class="MsoNormal" style="text-autospace:none"><span lang="EN-US" style="font-family:"Courier New"">Oct 22 23:32:41 ubuntu kernel: [ 414.792978] EtherCAT 0: Domain 0: 5 working counter changes - now 21/32.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I am aware of the PDO mapping warnings displayed (this system happened to have a new type of slice), but the stalls were occurring well before I added that device’s support, plus the stalls are before any comms with the
slaves anyway.<o:p></o:p></span></p>
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</span><span style="font-size:8.0pt;font-family:"Arial",sans-serif">Beckhoff Automation GmbH & Co. KG | Managing Director: Dipl. Phys. Hans Beckhoff<br>
Registered office: Verl, Germany | Register court: Guetersloh HRA 7075</span><span style="font-size:12.0pt;font-family:"Times New Roman",serif">
<o:p></o:p></span></p>
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<br>
<span style="FONT-FAMILY: Arial, Helvetica, sans-serif; FONT-SIZE: 8pt">Beckhoff Automation GmbH & Co. KG | Managing Director: Dipl. Phys. Hans Beckhoff<br>
Registered office: Verl, Germany | Register court: Guetersloh HRA 7075</span> <br>
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