[ 7.575432] EtherCAT: Master driver 1.5.2 33b922ec1871+ [ 7.586546] EtherCAT 0: Registering RTDM device EtherCAT. [ 7.594290] EtherCAT: 1 master waiting for devices. [ 7.610017] ec_cx2100: EtherCAT-capable Beckhoff CX2100 EtherCAT Network Driver (Revision 2) [ 7.617587] ec_cx2100: CX2100 Verbose Mode Off [ 7.624910] ec_cx2100 0000:04:00.0: PCI->APIC IRQ transform: INT A -> IRQ 18 [ 7.632436] ec_cx2100 0000:04:00.0: setting latency timer to 64 [ 7.632484] ec_cx2100: Found EtherCAT Master (0x0014), Revision: 0x0000, txDMA: 0x01, rxDMA: 0x00 [ 7.640070] ec_cx2100: EtherCAT Master, MAC address: 00:01:05:13:7e:d0, Link: Connected [ 7.647742] EtherCAT: Accepting 00:01:05:13:7E:D0 as main device for master 0. [ 7.655585] ec_cx2100: Link Status change: Connected [ 7.655795] EtherCAT 0: Link state of ecm0 changed to UP. [ 7.670821] EtherCAT 0: Adding EOE iface "eoe0a36000" for master 0, alias 36000, ring position 0. [ 7.678724] EtherCAT 0: eoe0a36000 MAC address derived from NIC part of ecm0 MAC address [ 7.688857] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 7.696815] ec_cx2100: module inited [ 7.705319] EtherCAT 0: 2 slave(s) responding on main device. [ 7.713297] EtherCAT 0: Slave states on main device: PREOP. [ 7.730230] EtherCAT 0: Scanning bus. [ 7.738958] ec_e1000e: Ethercat-capable Intel(R) PRO/1000 Network Driver - 1.0.2-k2(ethercat) [ 7.747190] ec_e1000e: Copyright (c) 1999-2008 Intel Corporation. [ 7.755490] ec_e1000e 0000:02:00.0: PCI->APIC IRQ transform: INT A -> IRQ 16 [ 7.763821] ec_e1000e 0000:02:00.0: setting latency timer to 64 [ 7.763989] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 7.772639] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 7.831752] EtherCAT 0: Bus scanning completed in 110 ms. [ 7.840618] EtherCAT 0: Using slave main-0 as DC reference clock. [ 7.849539] EtherCAT 0: Starting EoE thread. [ 7.898077] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 7.935186] EtherCAT 0: Slave states on main device: INIT. [ 7.965165] EtherCAT 0: Slave states on main device: PREOP. [ 7.985806] ec_0000:02:00.0: eth0: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bc [ 7.994769] ec_0000:02:00.0: eth0: Intel(R) PRO/1000 Network Connection [ 8.003869] ec_0000:02:00.0: eth0: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.012855] ec_e1000e 0000:03:00.0: PCI->APIC IRQ transform: INT A -> IRQ 17 [ 8.021782] ec_e1000e 0000:03:00.0: setting latency timer to 64 [ 8.021952] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 8.031245] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 8.206777] ec_0000:03:00.0: eth1: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bd [ 8.216310] ec_0000:03:00.0: eth1: Intel(R) PRO/1000 Network Connection [ 8.226057] ec_0000:03:00.0: eth1: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.245405] Intel(R) PRO/1000 Network Driver - version 7.3.21-k5-NAPI [ 8.255375] Copyright (c) 1999-2006 Intel Corporation. [ 8.455902] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 8.595821] ADDRCONF(NETDEV_UP): eth1: link is not ready [ 8.709119] ADDRCONF(NETDEV_UP): eoe0a36000: link is not ready [ 8.721020] device eth0 entered promiscuous mode [ 8.729985] device eth1 entered promiscuous mode [ 8.738812] device eoe0a36000 entered promiscuous mode [ 8.785721] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 8.815707] ADDRCONF(NETDEV_UP): eth1: link is not ready [ 8.825317] ADDRCONF(NETDEV_UP): eoe0a36000: link is not ready [ 11.174573] e1000e: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX [ 11.181204] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 11.187873] br0: port 1(eth0) entering forwarding state [ 11.638621] kmcclient used greatest stack depth: 5888 bytes left [ 11.676361] kmcclient used greatest stack depth: 5732 bytes left [ 14.556553] KMC: +-------------------------------+ [ 14.562742] KMC: | LOADING CONFIG FILE: | [ 14.568873] KMC: +-------------------------------+ [ 14.576955] EtherCAT: Requesting master 0... [ 14.583045] EtherCAT: Successfully requested master 0. [ 14.596718] KMC: +-------------------------------+ [ 14.602833] KMC: | LOADING CONFIG FILE COMPLETE. | [ 14.608904] KMC: +-------------------------------+ [ 14.615144] KMC: Slave Request processing thread starting for Master 0 [ 14.621928] KMC: EoE processing thread starting for Master 0 [ 14.631857] KMC: Module module0 (ec), Distributed Clock reference slave set to: device0 (a10001p0, device0) [ 14.638500] KMC: Module module0 (ec), Distributed Clock initial application time: 0 [ 14.644968] EtherCAT 0: Application selected DC reference clock config (10001-0) set by application. [ 14.651774] EtherCAT 0: Using slave main-0 as application selected DC reference clock. [ 14.658697] EtherCAT 0: Using slave main-0 as DC reference clock. [ 14.665537] EtherCAT 0: Domain0: Logical address 0x00000000, 56 byte, expected working counter 3. [ 14.672702] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 56 byte, type LRW at f71c808c. [ 14.680073] EtherCAT 0: Domain1: Logical address 0x00000038, 0 byte, expected working counter 0. [ 14.687521] EtherCAT 0: Domain2: Logical address 0x00000038, 0 byte, expected working counter 0. [ 14.694829] EtherCAT 0: Master thread exited. [ 14.702142] EtherCAT 0: Stopping EoE thread. [ 14.709452] EtherCAT 0: EoE thread exited. [ 14.716616] EtherCAT WARNING 0: EoE External processing required! [ 14.723948] EtherCAT 0: Starting EtherCAT-OP thread. [ 14.731806] KMC: [ 14.739053] KMC: #============================================= [ 14.746565] KMC: # KMC [ 14.754109] KMC: #============================================= [ 14.761828] KMC: # version: CX2020.1.10.940 - 0.91.1198 [ 14.769669] KMC: # period: 1000000 ns [ 14.777497] KMC: # base cpu freq: 1398139151 cnts/sec [ 14.785454] KMC: # timer mode: oneshot [ 14.793269] KMC: #============================================= [ 14.801133] KMC: [ 14.858309] KMC: Module ec: 2 slave(s). [ 14.866534] KMC: Module ec: AL states: 0x02. [ 14.874807] KMC: Module ec: Link is up. [ 14.883060] KMC: Failed to get Reference clock time: Input/output error [ 14.891533] EtherCAT 0: Application selected to process slave request by the application. [ 14.899864] KMC: Slave Requests processing thread started for Master 0 [ 14.908239] KMC: EoE processing thread started for Master 0 [ 14.963195] KMC: Reference clock time resumed [ 14.971553] KMC: first master diff: 2919. [ 15.031655] EtherCAT 0: Slave states on main device: PREOP, OP. [ 15.040065] KMC: Module ec: AL states: 0x0A. [ 15.675652] kmcclient used greatest stack depth: 5428 bytes left [ 19.149597] br0: no IPv6 routers present [ 21.548395] eth0: no IPv6 routers present [ 22.713194] ps used greatest stack depth: 5396 bytes left [ 43.430170] EtherCAT 0: Master debug level set to 1. [ 47.815319] EtherCAT 0: 5 slave(s) responding on main device. [ 47.823914] KMC: Module ec: 5 slave(s). [ 47.832482] EtherCAT 0: Slave states on main device: INIT, PREOP, OP. [ 47.841145] KMC: Module ec: AL states: 0x0B. [ 47.849699] EtherCAT DEBUG 0: eoe0a36000: carrier off. [ 47.849704] EtherCAT DEBUG 0-main-0: Unready for requests. [ 47.849710] EtherCAT DEBUG 0-main-1: Unready for requests. [ 47.849718] EtherCAT DEBUG 0: Reading old port receive times... [ 47.850139] KMC: Failed to get Reference clock time: No such device or address [ 47.863134] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. [ 47.864585] EtherCAT DEBUG 0: 5 slaves responded to delay measuring on main link. [ 47.864588] EtherCAT 0: Scanning bus. [ 47.873103] EtherCAT DEBUG 0-main-0: Ready for requests. [ 47.873107] EtherCAT DEBUG 0-main-1: Ready for requests. [ 47.873109] EtherCAT DEBUG 0-main-2: Ready for requests. [ 47.873112] EtherCAT DEBUG 0-main-3: Ready for requests. [ 47.873115] EtherCAT DEBUG 0-main-4: Ready for requests. [ 47.873130] EtherCAT DEBUG 0-main-0: Scanning slave 0 on main link. [ 47.873134] EtherCAT DEBUG 0-main-1: Scanning slave 1 on main link. [ 47.873137] EtherCAT DEBUG 0-main-2: Scanning slave 2 on main link. [ 47.873140] EtherCAT DEBUG 0-main-3: Scanning slave 3 on main link. [ 47.873143] EtherCAT DEBUG 0-main-4: Scanning slave 4 on main link. [ 47.881109] EtherCAT DEBUG 0-main-0: Slave has the System Time register. [ 47.881113] EtherCAT DEBUG 0-main-1: Slave has the System Time register. [ 47.881117] EtherCAT DEBUG 0-main-2: Slave has the System Time register. [ 47.881120] EtherCAT WARNING 0-main-3: Slave did not respond to System Time register request, retrying... [ 47.889822] EtherCAT WARNING 0-main-4: Slave did not respond to System Time register request, retrying... [ 47.901099] EtherCAT DEBUG 0-main-0: Port 0 link status changed to up. [ 47.901103] EtherCAT DEBUG 0-main-0: Port 0 loop status changed to open. [ 47.901107] EtherCAT DEBUG 0-main-0: Port 0 signal status changed to yes. [ 47.901110] EtherCAT DEBUG 0-main-0: Port 1 link status changed to up. [ 47.901113] EtherCAT DEBUG 0-main-0: Port 1 loop status changed to open. [ 47.901117] EtherCAT DEBUG 0-main-0: Port 1 signal status changed to yes. [ 47.901121] EtherCAT DEBUG 0-main-1: Port 0 link status changed to up. [ 47.901125] EtherCAT DEBUG 0-main-1: Port 0 loop status changed to open. [ 47.901128] EtherCAT DEBUG 0-main-1: Port 0 signal status changed to yes. [ 47.901131] EtherCAT DEBUG 0-main-1: Port 1 link status changed to up. [ 47.901134] EtherCAT DEBUG 0-main-1: Port 1 loop status changed to open. [ 47.901138] EtherCAT DEBUG 0-main-1: Port 1 signal status changed to yes. [ 47.901141] EtherCAT DEBUG 0-main-2: Port 0 link status changed to up. [ 47.901144] EtherCAT DEBUG 0-main-2: Port 0 loop status changed to open. [ 47.901148] EtherCAT DEBUG 0-main-2: Port 0 signal status changed to yes. [ 47.901151] EtherCAT DEBUG 0-main-2: Port 1 link status changed to up. [ 47.901154] EtherCAT DEBUG 0-main-2: Port 1 loop status changed to open. [ 47.901157] EtherCAT DEBUG 0-main-2: Port 1 signal status changed to yes. [ 47.905098] EtherCAT DEBUG 0-main-0: Alias: 10001 [ 47.905102] EtherCAT DEBUG 0-main-1: Alias: 20000 [ 47.905105] EtherCAT WARNING 0-main-2: SII Read Error, EEPROM not loaded. Retrying... [ 47.916092] EtherCAT DEBUG 0-main-0: Revision: 0x00110000 [ 47.916096] EtherCAT DEBUG 0-main-0: Slave can re-use SII image data stored. Identified by alias 10001. [ 47.916100] EtherCAT DEBUG 0-main-1: Revision: 0x00110000 [ 47.916103] EtherCAT DEBUG 0-main-1: Slave can re-use SII image data stored. Identified by alias 20000. [ 47.948074] EtherCAT 0-main-2: SII EEPROM loaded. Continuing. [ 47.956443] EtherCAT 0-main-3: Slave has the System Time register. [ 47.964656] EtherCAT 0-main-4: Slave has the System Time register. [ 47.975059] EtherCAT DEBUG 0-main-3: Port 0 link status changed to up. [ 47.975063] EtherCAT DEBUG 0-main-3: Port 0 loop status changed to open. [ 47.975066] EtherCAT DEBUG 0-main-3: Port 0 signal status changed to yes. [ 47.975070] EtherCAT DEBUG 0-main-3: Port 1 link status changed to up. [ 47.975073] EtherCAT DEBUG 0-main-3: Port 1 loop status changed to open. [ 47.975076] EtherCAT DEBUG 0-main-3: Port 1 signal status changed to yes. [ 47.977058] EtherCAT DEBUG 0-main-2: Alias: 0 [ 47.977062] EtherCAT DEBUG 0-main-4: Port 0 link status changed to up. [ 47.977065] EtherCAT DEBUG 0-main-4: Port 0 loop status changed to open. [ 47.977068] EtherCAT DEBUG 0-main-4: Port 0 signal status changed to yes. [ 47.979055] EtherCAT DEBUG 0-main-3: Alias: 47000 [ 47.981054] EtherCAT DEBUG 0-main-2: Serial Number: 0x00000000 [ 47.981057] EtherCAT DEBUG 0-main-2: Slave cannot be uniquely identified. SII image data cannot be re-used! [ 47.981061] EtherCAT DEBUG 0: Creating slave SII image for 2 [ 47.981065] EtherCAT DEBUG 0-main-4: Alias: 15000 [ 47.983054] EtherCAT DEBUG 0-main-3: Revision: 0x00170000 [ 47.983057] EtherCAT DEBUG 0: Creating slave SII image for 3 [ 47.985052] EtherCAT DEBUG 0-main-4: Revision: 0x03fc0000 [ 47.985055] EtherCAT DEBUG 0: Creating slave SII image for 4 [ 48.013044] EtherCAT DEBUG 0-main-2: Trying to load SII firmware: ethercat/ec_00000002_25683052_00150000.bin [ 48.013048] EtherCAT DEBUG 0-main-2: then: ethercat/ec_00000002_25683052.bin [ 48.014799] EtherCAT DEBUG 0-main-2: request_firmware_direct: ethercat/ec_00000002_25683052_00150000.bin. [ 48.015042] EtherCAT DEBUG 0-main-3: Trying to load SII firmware: ethercat/ec_00000002_1cae3052_00170000.bin [ 48.015046] EtherCAT DEBUG 0-main-3: then: ethercat/ec_00000002_1cae3052.bin [ 48.016490] EtherCAT DEBUG 0-main-3: request_firmware_direct: ethercat/ec_00000002_1cae3052_00170000.bin. [ 48.016742] EtherCAT DEBUG 0-main-2: request_firmware_direct: ethercat/ec_00000002_25683052.bin. [ 48.017040] EtherCAT DEBUG 0-main-2: SII firmware file not found; reading SII data from slave. [ 48.017047] EtherCAT DEBUG 0-main-4: Trying to load SII firmware: ethercat/ec_00000002_13ed3052_03fc0000.bin [ 48.017051] EtherCAT DEBUG 0-main-4: then: ethercat/ec_00000002_13ed3052.bin [ 48.017862] EtherCAT DEBUG 0-main-3: request_firmware_direct: ethercat/ec_00000002_1cae3052.bin. [ 48.018378] EtherCAT DEBUG 0-main-4: request_firmware_direct: ethercat/ec_00000002_13ed3052_03fc0000.bin. [ 48.020125] EtherCAT DEBUG 0-main-4: request_firmware_direct: ethercat/ec_00000002_13ed3052.bin. [ 48.021036] EtherCAT DEBUG 0-main-3: SII firmware file not found; reading SII data from slave. [ 48.021040] EtherCAT DEBUG 0-main-4: SII firmware file not found; reading SII data from slave. [ 48.400841] EtherCAT DEBUG 0-main-3: Unknown category type 0x003C. [ 48.400848] EtherCAT DEBUG 0-main-3: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 48.400852] EtherCAT DEBUG 0-main-3: Configuring... [ 48.404827] EtherCAT DEBUG 0-main-3: Now in INIT. [ 48.404831] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 48.404835] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 48.406831] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 48.408828] EtherCAT DEBUG 0-main-3: Clearing DC assignment... [ 48.410832] EtherCAT DEBUG 0-main-3: Configuring mailbox sync managers... [ 48.410839] EtherCAT DEBUG 0-main-3: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 48.410843] EtherCAT DEBUG 0-main-3: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 48.416831] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 48.416836] EtherCAT DEBUG 0-main-3: Finished configuration. [ 48.418815] EtherCAT DEBUG 0-main-3: Scanning PDO assignment and mapping. [ 48.418820] EtherCAT DEBUG 0-main-3: Reading PDO assignment of SM2. [ 48.418824] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:00. [ 48.418828] EtherCAT DEBUG 0-main-3: Upload request: [ 48.418830] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ 48.424822] EtherCAT DEBUG 0-main-3: Upload response: [ 48.424826] EtherCAT DEBUG: 00 30 4F 12 1C 00 06 00 00 00 [ 48.424839] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.424841] EtherCAT DEBUG: 06 [ 48.424845] EtherCAT DEBUG 0-main-3: 6 PDOs assigned. [ 48.424849] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:01. [ 48.424852] EtherCAT DEBUG 0-main-3: Upload request: [ 48.424854] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ 48.430811] EtherCAT DEBUG 0-main-3: Upload response: [ 48.430815] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 [ 48.430827] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.430829] EtherCAT DEBUG: 00 16 [ 48.430835] EtherCAT DEBUG 0-main-3: PDO 0x1600. [ 48.430839] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:00. [ 48.430843] EtherCAT DEBUG 0-main-3: Upload request: [ 48.430845] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ 48.436809] EtherCAT DEBUG 0-main-3: Upload response: [ 48.436812] EtherCAT DEBUG: 00 30 4F 00 16 00 07 00 00 00 [ 48.436824] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.436826] EtherCAT DEBUG: 07 [ 48.436831] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 48.436834] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:01. [ 48.436838] EtherCAT DEBUG 0-main-3: Upload request: [ 48.436840] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ 48.442819] EtherCAT DEBUG 0-main-3: Upload response: [ 48.442822] EtherCAT DEBUG: 00 30 43 00 16 01 01 00 00 00 [ 48.442834] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.442837] EtherCAT DEBUG: 01 00 00 00 [ 48.442844] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.442849] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:02. [ 48.442852] EtherCAT DEBUG 0-main-3: Upload request: [ 48.442854] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ 48.448807] EtherCAT DEBUG 0-main-3: Upload response: [ 48.448811] EtherCAT DEBUG: 00 30 43 00 16 02 01 02 00 70 [ 48.448823] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.448825] EtherCAT DEBUG: 01 02 00 70 [ 48.448833] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:02, 1 bit, "???". [ 48.448837] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:03. [ 48.448840] EtherCAT DEBUG 0-main-3: Upload request: [ 48.448842] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ 48.454809] EtherCAT DEBUG 0-main-3: Upload response: [ 48.454813] EtherCAT DEBUG: 00 30 43 00 16 03 01 03 00 70 [ 48.454824] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.454827] EtherCAT DEBUG: 01 03 00 70 [ 48.454834] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:03, 1 bit, "???". [ 48.454839] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:04. [ 48.454842] EtherCAT DEBUG 0-main-3: Upload request: [ 48.454844] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 [ 48.460795] EtherCAT DEBUG 0-main-3: Upload response: [ 48.460798] EtherCAT DEBUG: 00 30 43 00 16 04 01 04 00 70 [ 48.460810] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.460813] EtherCAT DEBUG: 01 04 00 70 [ 48.460820] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:04, 1 bit, "???". [ 48.460825] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:05. [ 48.460828] EtherCAT DEBUG 0-main-3: Upload request: [ 48.460830] EtherCAT DEBUG: 00 20 40 00 16 05 00 00 00 00 [ 48.466800] EtherCAT DEBUG 0-main-3: Upload response: [ 48.466803] EtherCAT DEBUG: 00 30 43 00 16 05 04 00 00 00 [ 48.466814] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.466817] EtherCAT DEBUG: 04 00 00 00 [ 48.466825] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 48.466829] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:06. [ 48.466832] EtherCAT DEBUG 0-main-3: Upload request: [ 48.466834] EtherCAT DEBUG: 00 20 40 00 16 06 00 00 00 00 [ 48.472787] EtherCAT DEBUG 0-main-3: Upload response: [ 48.472791] EtherCAT DEBUG: 00 30 43 00 16 06 08 00 00 00 [ 48.472803] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.472805] EtherCAT DEBUG: 08 00 00 00 [ 48.472813] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 48.472817] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:07. [ 48.472820] EtherCAT DEBUG 0-main-3: Upload request: [ 48.472822] EtherCAT DEBUG: 00 20 40 00 16 07 00 00 00 00 [ 48.478784] EtherCAT DEBUG 0-main-3: Upload response: [ 48.478787] EtherCAT DEBUG: 00 30 43 00 16 07 10 11 00 70 [ 48.478798] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.478800] EtherCAT DEBUG: 10 11 00 70 [ 48.478808] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:11, 16 bit, "???". [ 48.478812] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:02. [ 48.478815] EtherCAT DEBUG 0-main-3: Upload request: [ 48.478817] EtherCAT DEBUG: 00 20 40 12 1C 02 00 00 00 00 [ 48.484779] EtherCAT DEBUG 0-main-3: Upload response: [ 48.484782] EtherCAT DEBUG: 00 30 4B 12 1C 02 02 16 00 00 [ 48.484793] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.484795] EtherCAT DEBUG: 02 16 [ 48.484800] EtherCAT DEBUG 0-main-3: PDO 0x1602. [ 48.484804] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:00. [ 48.484807] EtherCAT DEBUG 0-main-3: Upload request: [ 48.484809] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00 [ 48.490795] EtherCAT DEBUG 0-main-3: Upload response: [ 48.490799] EtherCAT DEBUG: 00 30 4F 02 16 00 07 00 00 00 [ 48.490811] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.490814] EtherCAT DEBUG: 07 [ 48.490818] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 48.490822] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:01. [ 48.490825] EtherCAT DEBUG 0-main-3: Upload request: [ 48.490827] EtherCAT DEBUG: 00 20 40 02 16 01 00 00 00 00 [ 48.496787] EtherCAT DEBUG 0-main-3: Upload response: [ 48.496790] EtherCAT DEBUG: 00 30 43 02 16 01 01 00 00 00 [ 48.496802] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.496804] EtherCAT DEBUG: 01 00 00 00 [ 48.496812] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.496816] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:02. [ 48.496820] EtherCAT DEBUG 0-main-3: Upload request: [ 48.496822] EtherCAT DEBUG: 00 20 40 02 16 02 00 00 00 00 [ 48.502785] EtherCAT DEBUG 0-main-3: Upload response: [ 48.502789] EtherCAT DEBUG: 00 30 43 02 16 02 01 02 10 70 [ 48.502801] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.502804] EtherCAT DEBUG: 01 02 10 70 [ 48.502811] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:02, 1 bit, "???". [ 48.502815] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:03. [ 48.502819] EtherCAT DEBUG 0-main-3: Upload request: [ 48.502821] EtherCAT DEBUG: 00 20 40 02 16 03 00 00 00 00 [ 48.508781] EtherCAT DEBUG 0-main-3: Upload response: [ 48.508784] EtherCAT DEBUG: 00 30 43 02 16 03 01 03 10 70 [ 48.508796] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.508798] EtherCAT DEBUG: 01 03 10 70 [ 48.508806] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:03, 1 bit, "???". [ 48.508810] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:04. [ 48.508814] EtherCAT DEBUG 0-main-3: Upload request: [ 48.508816] EtherCAT DEBUG: 00 20 40 02 16 04 00 00 00 00 [ 48.514765] EtherCAT DEBUG 0-main-3: Upload response: [ 48.514769] EtherCAT DEBUG: 00 30 43 02 16 04 01 04 10 70 [ 48.514780] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.514782] EtherCAT DEBUG: 01 04 10 70 [ 48.514790] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:04, 1 bit, "???". [ 48.514793] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:05. [ 48.514797] EtherCAT DEBUG 0-main-3: Upload request: [ 48.514799] EtherCAT DEBUG: 00 20 40 02 16 05 00 00 00 00 [ 48.520763] EtherCAT DEBUG 0-main-3: Upload response: [ 48.520766] EtherCAT DEBUG: 00 30 43 02 16 05 04 00 00 00 [ 48.520778] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.520781] EtherCAT DEBUG: 04 00 00 00 [ 48.520789] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 48.520793] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:06. [ 48.520796] EtherCAT DEBUG 0-main-3: Upload request: [ 48.520799] EtherCAT DEBUG: 00 20 40 02 16 06 00 00 00 00 [ 48.526758] EtherCAT DEBUG 0-main-3: Upload response: [ 48.526761] EtherCAT DEBUG: 00 30 43 02 16 06 08 00 00 00 [ 48.526772] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.526774] EtherCAT DEBUG: 08 00 00 00 [ 48.526782] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 48.526786] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:07. [ 48.526789] EtherCAT DEBUG 0-main-3: Upload request: [ 48.526791] EtherCAT DEBUG: 00 20 40 02 16 07 00 00 00 00 [ 48.532752] EtherCAT DEBUG 0-main-3: Upload response: [ 48.532755] EtherCAT DEBUG: 00 30 43 02 16 07 10 11 10 70 [ 48.532767] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.532769] EtherCAT DEBUG: 10 11 10 70 [ 48.532776] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:11, 16 bit, "???". [ 48.532781] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:03. [ 48.532784] EtherCAT DEBUG 0-main-3: Upload request: [ 48.532786] EtherCAT DEBUG: 00 20 40 12 1C 03 00 00 00 00 [ 48.538766] EtherCAT DEBUG 0-main-3: Upload response: [ 48.538770] EtherCAT DEBUG: 00 30 4B 12 1C 03 04 16 00 00 [ 48.538782] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.538784] EtherCAT DEBUG: 04 16 [ 48.538790] EtherCAT DEBUG 0-main-3: PDO 0x1604. [ 48.538794] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:00. [ 48.538797] EtherCAT DEBUG 0-main-3: Upload request: [ 48.538799] EtherCAT DEBUG: 00 20 40 04 16 00 00 00 00 00 [ 48.544747] EtherCAT DEBUG 0-main-3: Upload response: [ 48.544750] EtherCAT DEBUG: 00 30 4F 04 16 00 06 00 00 00 [ 48.544762] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.544764] EtherCAT DEBUG: 06 [ 48.544768] EtherCAT DEBUG 0-main-3: 6 PDO entries mapped. [ 48.544772] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:01. [ 48.544775] EtherCAT DEBUG 0-main-3: Upload request: [ 48.544777] EtherCAT DEBUG: 00 20 40 04 16 01 00 00 00 00 [ 48.550744] EtherCAT DEBUG 0-main-3: Upload response: [ 48.550747] EtherCAT DEBUG: 00 30 43 04 16 01 01 01 20 70 [ 48.550758] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.550760] EtherCAT DEBUG: 01 01 20 70 [ 48.550768] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:01, 1 bit, "???". [ 48.550772] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:02. [ 48.550775] EtherCAT DEBUG 0-main-3: Upload request: [ 48.550777] EtherCAT DEBUG: 00 20 40 04 16 02 00 00 00 00 [ 48.556746] EtherCAT DEBUG 0-main-3: Upload response: [ 48.556749] EtherCAT DEBUG: 00 30 43 04 16 02 01 02 20 70 [ 48.556760] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.556762] EtherCAT DEBUG: 01 02 20 70 [ 48.556769] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:02, 1 bit, "???". [ 48.556773] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:03. [ 48.556776] EtherCAT DEBUG 0-main-3: Upload request: [ 48.556779] EtherCAT DEBUG: 00 20 40 04 16 03 00 00 00 00 [ 48.562740] EtherCAT DEBUG 0-main-3: Upload response: [ 48.562743] EtherCAT DEBUG: 00 30 43 04 16 03 01 03 20 70 [ 48.562755] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.562757] EtherCAT DEBUG: 01 03 20 70 [ 48.562764] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:03, 1 bit, "???". [ 48.562768] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:04. [ 48.562771] EtherCAT DEBUG 0-main-3: Upload request: [ 48.562773] EtherCAT DEBUG: 00 20 40 04 16 04 00 00 00 00 [ 48.568733] EtherCAT DEBUG 0-main-3: Upload response: [ 48.568736] EtherCAT DEBUG: 00 30 43 04 16 04 01 04 20 70 [ 48.568747] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.568749] EtherCAT DEBUG: 01 04 20 70 [ 48.568756] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:04, 1 bit, "???". [ 48.568760] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:05. [ 48.568763] EtherCAT DEBUG 0-main-3: Upload request: [ 48.568766] EtherCAT DEBUG: 00 20 40 04 16 05 00 00 00 00 [ 48.574730] EtherCAT DEBUG 0-main-3: Upload response: [ 48.574733] EtherCAT DEBUG: 00 30 43 04 16 05 04 00 00 00 [ 48.574744] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.574747] EtherCAT DEBUG: 04 00 00 00 [ 48.574755] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 48.574759] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:06. [ 48.574762] EtherCAT DEBUG 0-main-3: Upload request: [ 48.574764] EtherCAT DEBUG: 00 20 40 04 16 06 00 00 00 00 [ 48.580727] EtherCAT DEBUG 0-main-3: Upload response: [ 48.580730] EtherCAT DEBUG: 00 30 43 04 16 06 08 00 00 00 [ 48.580742] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.580744] EtherCAT DEBUG: 08 00 00 00 [ 48.580752] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 48.580756] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:04. [ 48.580759] EtherCAT DEBUG 0-main-3: Upload request: [ 48.580761] EtherCAT DEBUG: 00 20 40 12 1C 04 00 00 00 00 [ 48.586724] EtherCAT DEBUG 0-main-3: Upload response: [ 48.586727] EtherCAT DEBUG: 00 30 4B 12 1C 04 06 16 00 00 [ 48.586738] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.586741] EtherCAT DEBUG: 06 16 [ 48.586746] EtherCAT DEBUG 0-main-3: PDO 0x1606. [ 48.586750] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1606:00. [ 48.586753] EtherCAT DEBUG 0-main-3: Upload request: [ 48.586755] EtherCAT DEBUG: 00 20 40 06 16 00 00 00 00 00 [ 48.588726] EtherCAT DEBUG 0-main-2: Unknown category type 0x002B. [ 48.588739] EtherCAT DEBUG 0-main-2: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 48.588743] EtherCAT DEBUG 0-main-2: Configuring... [ 48.592717] EtherCAT DEBUG 0-main-2: Now in INIT. [ 48.592720] EtherCAT DEBUG 0-main-2: Clearing FMMU configurations... [ 48.592723] EtherCAT DEBUG 0-main-2: Clearing mailbox check flag... [ 48.592727] EtherCAT DEBUG 0-main-3: Upload response: [ 48.592729] EtherCAT DEBUG: 00 30 4F 06 16 00 01 00 00 00 [ 48.592739] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.592741] EtherCAT DEBUG: 01 [ 48.592745] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 48.592749] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1606:01. [ 48.592752] EtherCAT DEBUG 0-main-3: Upload request: [ 48.592754] EtherCAT DEBUG: 00 20 40 06 16 01 00 00 00 00 [ 48.594716] EtherCAT DEBUG 0-main-2: Clearing sync manager configurations... [ 48.596719] EtherCAT DEBUG 0-main-2: Clearing DC assignment... [ 48.598715] EtherCAT DEBUG 0-main-2: Configuring mailbox sync managers... [ 48.598720] EtherCAT DEBUG 0-main-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 48.598725] EtherCAT DEBUG 0-main-2: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 48.598730] EtherCAT DEBUG 0-main-3: Upload response: [ 48.598732] EtherCAT DEBUG: 00 30 43 06 16 01 10 21 20 70 [ 48.598743] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.598746] EtherCAT DEBUG: 10 21 20 70 [ 48.598753] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:21, 16 bit, "???". [ 48.598757] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:05. [ 48.598760] EtherCAT DEBUG 0-main-3: Upload request: [ 48.598762] EtherCAT DEBUG: 00 20 40 12 1C 05 00 00 00 00 [ 48.604712] EtherCAT DEBUG 0-main-3: Upload response: [ 48.604714] EtherCAT DEBUG: 00 30 4B 12 1C 05 07 16 00 00 [ 48.604725] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.604727] EtherCAT DEBUG: 07 16 [ 48.604731] EtherCAT DEBUG 0-main-3: PDO 0x1607. [ 48.604735] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:00. [ 48.604738] EtherCAT DEBUG 0-main-3: Upload request: [ 48.604740] EtherCAT DEBUG: 00 20 40 07 16 00 00 00 00 00 [ 48.610709] EtherCAT DEBUG 0-main-3: Upload response: [ 48.610711] EtherCAT DEBUG: 00 30 4F 07 16 00 06 00 00 00 [ 48.610722] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.610724] EtherCAT DEBUG: 06 [ 48.610728] EtherCAT DEBUG 0-main-3: 6 PDO entries mapped. [ 48.610731] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:01. [ 48.610734] EtherCAT DEBUG 0-main-3: Upload request: [ 48.610736] EtherCAT DEBUG: 00 20 40 07 16 01 00 00 00 00 [ 48.616709] EtherCAT DEBUG 0-main-3: Upload response: [ 48.616712] EtherCAT DEBUG: 00 30 43 07 16 01 01 01 30 70 [ 48.616723] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.616725] EtherCAT DEBUG: 01 01 30 70 [ 48.616732] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:01, 1 bit, "???". [ 48.616736] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:02. [ 48.616739] EtherCAT DEBUG 0-main-3: Upload request: [ 48.616741] EtherCAT DEBUG: 00 20 40 07 16 02 00 00 00 00 [ 48.622705] EtherCAT DEBUG 0-main-3: Upload response: [ 48.622708] EtherCAT DEBUG: 00 30 43 07 16 02 01 02 30 70 [ 48.622720] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.622722] EtherCAT DEBUG: 01 02 30 70 [ 48.622730] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:02, 1 bit, "???". [ 48.622734] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:03. [ 48.622737] EtherCAT DEBUG 0-main-3: Upload request: [ 48.622740] EtherCAT DEBUG: 00 20 40 07 16 03 00 00 00 00 [ 48.628704] EtherCAT DEBUG 0-main-3: Upload response: [ 48.628708] EtherCAT DEBUG: 00 30 43 07 16 03 01 03 30 70 [ 48.628719] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.628721] EtherCAT DEBUG: 01 03 30 70 [ 48.628728] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:03, 1 bit, "???". [ 48.628732] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:04. [ 48.628736] EtherCAT DEBUG 0-main-3: Upload request: [ 48.628738] EtherCAT DEBUG: 00 20 40 07 16 04 00 00 00 00 [ 48.634719] EtherCAT DEBUG 0-main-3: Upload response: [ 48.634723] EtherCAT DEBUG: 00 30 43 07 16 04 01 04 30 70 [ 48.634735] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.634737] EtherCAT DEBUG: 01 04 30 70 [ 48.634745] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:04, 1 bit, "???". [ 48.634749] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:05. [ 48.634752] EtherCAT DEBUG 0-main-3: Upload request: [ 48.634754] EtherCAT DEBUG: 00 20 40 07 16 05 00 00 00 00 [ 48.640698] EtherCAT DEBUG 0-main-3: Upload response: [ 48.640701] EtherCAT DEBUG: 00 30 43 07 16 05 04 00 00 00 [ 48.640714] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.640716] EtherCAT DEBUG: 04 00 00 00 [ 48.640724] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 48.640729] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:06. [ 48.640732] EtherCAT DEBUG 0-main-3: Upload request: [ 48.640734] EtherCAT DEBUG: 00 20 40 07 16 06 00 00 00 00 [ 48.646690] EtherCAT DEBUG 0-main-3: Upload response: [ 48.646693] EtherCAT DEBUG: 00 30 43 07 16 06 08 00 00 00 [ 48.646704] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.646706] EtherCAT DEBUG: 08 00 00 00 [ 48.646714] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 48.646718] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:06. [ 48.646721] EtherCAT DEBUG 0-main-3: Upload request: [ 48.646723] EtherCAT DEBUG: 00 20 40 12 1C 06 00 00 00 00 [ 48.652693] EtherCAT DEBUG 0-main-3: Upload response: [ 48.652696] EtherCAT DEBUG: 00 30 4B 12 1C 06 09 16 00 00 [ 48.652707] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.652710] EtherCAT DEBUG: 09 16 [ 48.652715] EtherCAT DEBUG 0-main-3: PDO 0x1609. [ 48.652719] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1609:00. [ 48.652722] EtherCAT DEBUG 0-main-3: Upload request: [ 48.652725] EtherCAT DEBUG: 00 20 40 09 16 00 00 00 00 00 [ 48.658701] EtherCAT DEBUG 0-main-3: Upload response: [ 48.658705] EtherCAT DEBUG: 00 30 4F 09 16 00 01 00 00 00 [ 48.658717] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.658719] EtherCAT DEBUG: 01 [ 48.658723] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 48.658727] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1609:01. [ 48.658731] EtherCAT DEBUG 0-main-3: Upload request: [ 48.658733] EtherCAT DEBUG: 00 20 40 09 16 01 00 00 00 00 [ 48.664700] EtherCAT DEBUG 0-main-3: Upload response: [ 48.664703] EtherCAT DEBUG: 00 30 43 09 16 01 10 21 30 70 [ 48.664714] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.664716] EtherCAT DEBUG: 10 21 30 70 [ 48.664724] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:21, 16 bit, "???". [ 48.664740] EtherCAT DEBUG 0-main-3: Reading PDO assignment of SM3. [ 48.664744] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:00. [ 48.664747] EtherCAT DEBUG 0-main-3: Upload request: [ 48.664749] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ 48.670679] EtherCAT DEBUG 0-main-3: Upload response: [ 48.670682] EtherCAT DEBUG: 00 30 4F 13 1C 00 04 00 00 00 [ 48.670694] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.670697] EtherCAT DEBUG: 04 [ 48.670701] EtherCAT DEBUG 0-main-3: 4 PDOs assigned. [ 48.670705] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:01. [ 48.670708] EtherCAT DEBUG 0-main-3: Upload request: [ 48.670710] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ 48.676674] EtherCAT DEBUG 0-main-3: Upload response: [ 48.676678] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ 48.676689] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.676691] EtherCAT DEBUG: 00 1A [ 48.676697] EtherCAT DEBUG 0-main-3: PDO 0x1A00. [ 48.676701] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:00. [ 48.676704] EtherCAT DEBUG 0-main-3: Upload request: [ 48.676706] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 48.682671] EtherCAT DEBUG 0-main-3: Upload response: [ 48.682674] EtherCAT DEBUG: 00 30 4F 00 1A 00 10 00 00 00 [ 48.682685] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.682687] EtherCAT DEBUG: 10 [ 48.682691] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 48.682695] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:01. [ 48.682698] EtherCAT DEBUG 0-main-3: Upload request: [ 48.682700] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 48.688668] EtherCAT DEBUG 0-main-3: Upload response: [ 48.688671] EtherCAT DEBUG: 00 30 43 00 1A 01 01 00 00 00 [ 48.688682] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.688684] EtherCAT DEBUG: 01 00 00 00 [ 48.688692] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.688696] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:02. [ 48.688699] EtherCAT DEBUG 0-main-3: Upload request: [ 48.688702] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 48.694667] EtherCAT DEBUG 0-main-3: Upload response: [ 48.694670] EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60 [ 48.694681] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.694684] EtherCAT DEBUG: 01 02 00 60 [ 48.694691] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:02, 1 bit, "???". [ 48.694695] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:03. [ 48.694698] EtherCAT DEBUG 0-main-3: Upload request: [ 48.694700] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 48.700660] EtherCAT DEBUG 0-main-3: Upload response: [ 48.700663] EtherCAT DEBUG: 00 30 43 00 1A 03 01 03 00 60 [ 48.700674] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.700676] EtherCAT DEBUG: 01 03 00 60 [ 48.700683] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:03, 1 bit, "???". [ 48.700687] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:04. [ 48.700690] EtherCAT DEBUG 0-main-3: Upload request: [ 48.700693] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 48.706665] EtherCAT DEBUG 0-main-3: Upload response: [ 48.706668] EtherCAT DEBUG: 00 30 43 00 1A 04 01 04 00 60 [ 48.706680] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.706682] EtherCAT DEBUG: 01 04 00 60 [ 48.706690] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:04, 1 bit, "???". [ 48.706694] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:05. [ 48.706697] EtherCAT DEBUG 0-main-3: Upload request: [ 48.706699] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 48.712655] EtherCAT DEBUG 0-main-3: Upload response: [ 48.712658] EtherCAT DEBUG: 00 30 43 00 1A 05 01 05 00 60 [ 48.712669] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.712671] EtherCAT DEBUG: 01 05 00 60 [ 48.712679] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:05, 1 bit, "???". [ 48.712683] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:06. [ 48.712686] EtherCAT DEBUG 0-main-3: Upload request: [ 48.712688] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 48.718655] EtherCAT DEBUG 0-main-3: Upload response: [ 48.718658] EtherCAT DEBUG: 00 30 43 00 1A 06 02 00 00 00 [ 48.718669] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.718671] EtherCAT DEBUG: 02 00 00 00 [ 48.718679] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 48.718683] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:07. [ 48.718686] EtherCAT DEBUG 0-main-3: Upload request: [ 48.718688] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 48.724666] EtherCAT DEBUG 0-main-3: Upload response: [ 48.724669] EtherCAT DEBUG: 00 30 43 00 1A 07 01 08 00 60 [ 48.724681] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.724684] EtherCAT DEBUG: 01 08 00 60 [ 48.724691] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:08, 1 bit, "???". [ 48.724695] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:08. [ 48.724699] EtherCAT DEBUG 0-main-3: Upload request: [ 48.724701] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 [ 48.730648] EtherCAT DEBUG 0-main-3: Upload response: [ 48.730651] EtherCAT DEBUG: 00 30 43 00 1A 08 01 09 00 60 [ 48.730663] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.730665] EtherCAT DEBUG: 01 09 00 60 [ 48.730673] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:09, 1 bit, "???". [ 48.730677] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:09. [ 48.730680] EtherCAT DEBUG 0-main-3: Upload request: [ 48.730683] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 [ 48.736641] EtherCAT DEBUG 0-main-3: Upload response: [ 48.736644] EtherCAT DEBUG: 00 30 43 00 1A 09 01 0A 00 60 [ 48.736656] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.736658] EtherCAT DEBUG: 01 0A 00 60 [ 48.736665] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0A, 1 bit, "???". [ 48.736669] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0A. [ 48.736672] EtherCAT DEBUG 0-main-3: Upload request: [ 48.736674] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00 [ 48.742642] EtherCAT DEBUG 0-main-3: Upload response: [ 48.742645] EtherCAT DEBUG: 00 30 43 00 1A 0A 02 00 00 00 [ 48.742656] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.742658] EtherCAT DEBUG: 02 00 00 00 [ 48.742665] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 48.742669] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0B. [ 48.742672] EtherCAT DEBUG 0-main-3: Upload request: [ 48.742674] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00 [ 48.748637] EtherCAT DEBUG 0-main-3: Upload response: [ 48.748640] EtherCAT DEBUG: 00 30 43 00 1A 0B 01 0D 00 60 [ 48.748651] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.748653] EtherCAT DEBUG: 01 0D 00 60 [ 48.748660] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0D, 1 bit, "???". [ 48.748664] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0C. [ 48.748667] EtherCAT DEBUG 0-main-3: Upload request: [ 48.748669] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00 [ 48.754643] EtherCAT DEBUG 0-main-3: Upload response: [ 48.754646] EtherCAT DEBUG: 00 30 43 00 1A 0C 01 0E 00 60 [ 48.754657] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.754659] EtherCAT DEBUG: 01 0E 00 60 [ 48.754666] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0E, 1 bit, "???". [ 48.754670] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0D. [ 48.754673] EtherCAT DEBUG 0-main-3: Upload request: [ 48.754675] EtherCAT DEBUG: 00 20 40 00 1A 0D 00 00 00 00 [ 48.760627] EtherCAT DEBUG 0-main-3: Upload response: [ 48.760630] EtherCAT DEBUG: 00 30 43 00 1A 0D 01 00 00 00 [ 48.760640] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.760642] EtherCAT DEBUG: 01 00 00 00 [ 48.760650] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.760654] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0E. [ 48.760657] EtherCAT DEBUG 0-main-3: Upload request: [ 48.760659] EtherCAT DEBUG: 00 20 40 00 1A 0E 00 00 00 00 [ 48.766625] EtherCAT DEBUG 0-main-3: Upload response: [ 48.766629] EtherCAT DEBUG: 00 30 43 00 1A 0E 01 10 00 60 [ 48.766640] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.766643] EtherCAT DEBUG: 01 10 00 60 [ 48.766650] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:10, 1 bit, "???". [ 48.766654] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0F. [ 48.766657] EtherCAT DEBUG 0-main-3: Upload request: [ 48.766659] EtherCAT DEBUG: 00 20 40 00 1A 0F 00 00 00 00 [ 48.772622] EtherCAT DEBUG 0-main-3: Upload response: [ 48.772625] EtherCAT DEBUG: 00 30 43 00 1A 0F 10 11 00 60 [ 48.772636] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.772638] EtherCAT DEBUG: 10 11 00 60 [ 48.772646] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:11, 16 bit, "???". [ 48.772650] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:10. [ 48.772653] EtherCAT DEBUG 0-main-3: Upload request: [ 48.772655] EtherCAT DEBUG: 00 20 40 00 1A 10 00 00 00 00 [ 48.778618] EtherCAT DEBUG 0-main-3: Upload response: [ 48.778621] EtherCAT DEBUG: 00 30 43 00 1A 10 10 12 00 60 [ 48.778632] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.778634] EtherCAT DEBUG: 10 12 00 60 [ 48.778641] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:12, 16 bit, "???". [ 48.778646] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:02. [ 48.778649] EtherCAT DEBUG 0-main-3: Upload request: [ 48.778651] EtherCAT DEBUG: 00 20 40 13 1C 02 00 00 00 00 [ 48.784616] EtherCAT DEBUG 0-main-3: Upload response: [ 48.784620] EtherCAT DEBUG: 00 30 4B 13 1C 02 03 1A 00 00 [ 48.784632] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.784634] EtherCAT DEBUG: 03 1A [ 48.784640] EtherCAT DEBUG 0-main-3: PDO 0x1A03. [ 48.784644] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:00. [ 48.784647] EtherCAT DEBUG 0-main-3: Upload request: [ 48.784649] EtherCAT DEBUG: 00 20 40 03 1A 00 00 00 00 00 [ 48.790613] EtherCAT DEBUG 0-main-3: Upload response: [ 48.790617] EtherCAT DEBUG: 00 30 4F 03 1A 00 10 00 00 00 [ 48.790629] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.790631] EtherCAT DEBUG: 10 [ 48.790635] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 48.790639] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:01. [ 48.790643] EtherCAT DEBUG 0-main-3: Upload request: [ 48.790645] EtherCAT DEBUG: 00 20 40 03 1A 01 00 00 00 00 [ 48.796621] EtherCAT DEBUG 0-main-3: Upload response: [ 48.796624] EtherCAT DEBUG: 00 30 43 03 1A 01 01 00 00 00 [ 48.796632] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.796633] EtherCAT DEBUG: 01 00 00 00 [ 48.796640] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.796643] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:02. [ 48.796646] EtherCAT DEBUG 0-main-3: Upload request: [ 48.796648] EtherCAT DEBUG: 00 20 40 03 1A 02 00 00 00 00 [ 48.802621] EtherCAT DEBUG 0-main-3: Upload response: [ 48.802624] EtherCAT DEBUG: 00 30 43 03 1A 02 01 02 10 60 [ 48.802632] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.802634] EtherCAT DEBUG: 01 02 10 60 [ 48.802640] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:02, 1 bit, "???". [ 48.802643] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:03. [ 48.802646] EtherCAT DEBUG 0-main-3: Upload request: [ 48.802648] EtherCAT DEBUG: 00 20 40 03 1A 03 00 00 00 00 [ 48.808606] EtherCAT DEBUG 0-main-3: Upload response: [ 48.808609] EtherCAT DEBUG: 00 30 43 03 1A 03 01 03 10 60 [ 48.808621] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.808623] EtherCAT DEBUG: 01 03 10 60 [ 48.808630] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:03, 1 bit, "???". [ 48.808634] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:04. [ 48.808637] EtherCAT DEBUG 0-main-3: Upload request: [ 48.808639] EtherCAT DEBUG: 00 20 40 03 1A 04 00 00 00 00 [ 48.814598] EtherCAT DEBUG 0-main-3: Upload response: [ 48.814601] EtherCAT DEBUG: 00 30 43 03 1A 04 01 04 10 60 [ 48.814612] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.814615] EtherCAT DEBUG: 01 04 10 60 [ 48.814622] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:04, 1 bit, "???". [ 48.814626] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:05. [ 48.814629] EtherCAT DEBUG 0-main-3: Upload request: [ 48.814631] EtherCAT DEBUG: 00 20 40 03 1A 05 00 00 00 00 [ 48.820603] EtherCAT DEBUG 0-main-3: Upload response: [ 48.820606] EtherCAT DEBUG: 00 30 43 03 1A 05 01 05 10 60 [ 48.820617] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.820619] EtherCAT DEBUG: 01 05 10 60 [ 48.820627] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:05, 1 bit, "???". [ 48.820630] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:06. [ 48.820634] EtherCAT DEBUG 0-main-3: Upload request: [ 48.820636] EtherCAT DEBUG: 00 20 40 03 1A 06 00 00 00 00 [ 48.822591] EtherCAT DEBUG 0-main-2: Now in PREOP. [ 48.822594] EtherCAT DEBUG 0-main-2: Finished configuration. [ 48.824592] EtherCAT DEBUG 0-main-2: Scanning PDO assignment and mapping. [ 48.824597] EtherCAT DEBUG 0-main-2: Reading PDO assignment of SM2. [ 48.824601] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C12:00. [ 48.824605] EtherCAT DEBUG 0-main-2: Upload request: [ 48.824607] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ 48.826623] EtherCAT DEBUG 0-main-3: Upload response: [ 48.826626] EtherCAT DEBUG: 00 30 43 03 1A 06 02 00 00 00 [ 48.826636] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.826639] EtherCAT DEBUG: 02 00 00 00 [ 48.826646] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 48.826650] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:07. [ 48.826653] EtherCAT DEBUG 0-main-3: Upload request: [ 48.826655] EtherCAT DEBUG: 00 20 40 03 1A 07 00 00 00 00 [ 48.830600] EtherCAT DEBUG 0-main-2: Upload response: [ 48.830604] EtherCAT DEBUG: 00 30 4F 12 1C 00 00 00 00 00 [ 48.830615] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.830618] EtherCAT DEBUG: 00 [ 48.830622] EtherCAT DEBUG 0-main-2: 0 PDOs assigned. [ 48.830625] EtherCAT DEBUG 0-main-2: Reading PDO assignment of SM3. [ 48.830629] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C13:00. [ 48.830632] EtherCAT DEBUG 0-main-2: Upload request: [ 48.830635] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ 48.832588] EtherCAT DEBUG 0-main-3: Upload response: [ 48.832590] EtherCAT DEBUG: 00 30 43 03 1A 07 01 08 10 60 [ 48.832600] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.832602] EtherCAT DEBUG: 01 08 10 60 [ 48.832609] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:08, 1 bit, "???". [ 48.832613] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:08. [ 48.832616] EtherCAT DEBUG 0-main-3: Upload request: [ 48.832618] EtherCAT DEBUG: 00 20 40 03 1A 08 00 00 00 00 [ 48.836617] EtherCAT DEBUG 0-main-2: Upload response: [ 48.836620] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 [ 48.836631] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.836633] EtherCAT DEBUG: 01 [ 48.836637] EtherCAT DEBUG 0-main-2: 1 PDOs assigned. [ 48.836640] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C13:01. [ 48.836644] EtherCAT DEBUG 0-main-2: Upload request: [ 48.836646] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ 48.838601] EtherCAT DEBUG 0-main-3: Upload response: [ 48.838604] EtherCAT DEBUG: 00 30 43 03 1A 08 01 09 10 60 [ 48.838615] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.838617] EtherCAT DEBUG: 01 09 10 60 [ 48.838625] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:09, 1 bit, "???". [ 48.838629] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:09. [ 48.838632] EtherCAT DEBUG 0-main-3: Upload request: [ 48.838634] EtherCAT DEBUG: 00 20 40 03 1A 09 00 00 00 00 [ 48.842591] EtherCAT DEBUG 0-main-2: Upload response: [ 48.842594] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ 48.842606] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.842608] EtherCAT DEBUG: 00 1A [ 48.842613] EtherCAT DEBUG 0-main-2: PDO 0x1A00. [ 48.842617] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:00. [ 48.842621] EtherCAT DEBUG 0-main-2: Upload request: [ 48.842623] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 48.844580] EtherCAT DEBUG 0-main-3: Upload response: [ 48.844583] EtherCAT DEBUG: 00 30 43 03 1A 09 01 0A 10 60 [ 48.844593] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.844595] EtherCAT DEBUG: 01 0A 10 60 [ 48.844602] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0A, 1 bit, "???". [ 48.844605] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0A. [ 48.844608] EtherCAT DEBUG 0-main-3: Upload request: [ 48.844610] EtherCAT DEBUG: 00 20 40 03 1A 0A 00 00 00 00 [ 48.848578] EtherCAT DEBUG 0-main-2: Upload response: [ 48.848581] EtherCAT DEBUG: 00 30 4F 00 1A 00 0C 00 00 00 [ 48.848592] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.848594] EtherCAT DEBUG: 0C [ 48.848598] EtherCAT DEBUG 0-main-2: 12 PDO entries mapped. [ 48.848601] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:01. [ 48.848604] EtherCAT DEBUG 0-main-2: Upload request: [ 48.848607] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 48.850594] EtherCAT DEBUG 0-main-3: Upload response: [ 48.850597] EtherCAT DEBUG: 00 30 43 03 1A 0A 02 00 00 00 [ 48.850608] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.850610] EtherCAT DEBUG: 02 00 00 00 [ 48.850618] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 48.850622] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0B. [ 48.850625] EtherCAT DEBUG 0-main-3: Upload request: [ 48.850627] EtherCAT DEBUG: 00 20 40 03 1A 0B 00 00 00 00 [ 48.854579] EtherCAT DEBUG 0-main-2: Upload response: [ 48.854581] EtherCAT DEBUG: 00 30 43 00 1A 01 01 01 00 60 [ 48.854592] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.854594] EtherCAT DEBUG: 01 01 00 60 [ 48.854601] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:01, 1 bit, "???". [ 48.854605] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:02. [ 48.854608] EtherCAT DEBUG 0-main-2: Upload request: [ 48.854610] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 48.856585] EtherCAT DEBUG 0-main-3: Upload response: [ 48.856588] EtherCAT DEBUG: 00 30 43 03 1A 0B 01 0D 10 60 [ 48.856599] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.856601] EtherCAT DEBUG: 01 0D 10 60 [ 48.856608] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0D, 1 bit, "???". [ 48.856612] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0C. [ 48.856615] EtherCAT DEBUG 0-main-3: Upload request: [ 48.856617] EtherCAT DEBUG: 00 20 40 03 1A 0C 00 00 00 00 [ 48.860583] EtherCAT DEBUG 0-main-2: Upload response: [ 48.860586] EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60 [ 48.860598] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.860600] EtherCAT DEBUG: 01 02 00 60 [ 48.860607] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:02, 1 bit, "???". [ 48.860611] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:03. [ 48.860614] EtherCAT DEBUG 0-main-2: Upload request: [ 48.860616] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 48.862571] EtherCAT DEBUG 0-main-3: Upload response: [ 48.862573] EtherCAT DEBUG: 00 30 43 03 1A 0C 01 0E 10 60 [ 48.862583] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.862585] EtherCAT DEBUG: 01 0E 10 60 [ 48.862592] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0E, 1 bit, "???". [ 48.862595] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0D. [ 48.862598] EtherCAT DEBUG 0-main-3: Upload request: [ 48.862601] EtherCAT DEBUG: 00 20 40 03 1A 0D 00 00 00 00 [ 48.866581] EtherCAT DEBUG 0-main-2: Upload response: [ 48.866585] EtherCAT DEBUG: 00 30 43 00 1A 03 01 03 00 60 [ 48.866596] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.866599] EtherCAT DEBUG: 01 03 00 60 [ 48.866606] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:03, 1 bit, "???". [ 48.866611] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:04. [ 48.866614] EtherCAT DEBUG 0-main-2: Upload request: [ 48.866616] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 48.868567] EtherCAT DEBUG 0-main-3: Upload response: [ 48.868570] EtherCAT DEBUG: 00 30 43 03 1A 0D 01 00 00 00 [ 48.868580] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.868582] EtherCAT DEBUG: 01 00 00 00 [ 48.868589] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.868593] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0E. [ 48.868596] EtherCAT DEBUG 0-main-3: Upload request: [ 48.868598] EtherCAT DEBUG: 00 20 40 03 1A 0E 00 00 00 00 [ 48.872574] EtherCAT DEBUG 0-main-2: Upload response: [ 48.872577] EtherCAT DEBUG: 00 30 43 00 1A 04 01 04 00 60 [ 48.872587] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.872589] EtherCAT DEBUG: 01 04 00 60 [ 48.872596] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:04, 1 bit, "???". [ 48.872600] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:05. [ 48.872603] EtherCAT DEBUG 0-main-2: Upload request: [ 48.872606] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 48.874564] EtherCAT DEBUG 0-main-3: Upload response: [ 48.874567] EtherCAT DEBUG: 00 30 43 03 1A 0E 01 10 10 60 [ 48.874577] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.874579] EtherCAT DEBUG: 01 10 10 60 [ 48.874586] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:10, 1 bit, "???". [ 48.874590] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0F. [ 48.874592] EtherCAT DEBUG 0-main-3: Upload request: [ 48.874595] EtherCAT DEBUG: 00 20 40 03 1A 0F 00 00 00 00 [ 48.878565] EtherCAT DEBUG 0-main-2: Upload response: [ 48.878568] EtherCAT DEBUG: 00 30 43 00 1A 05 01 05 00 60 [ 48.878578] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.878581] EtherCAT DEBUG: 01 05 00 60 [ 48.878588] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:05, 1 bit, "???". [ 48.878591] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:06. [ 48.878594] EtherCAT DEBUG 0-main-2: Upload request: [ 48.878597] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 48.880578] EtherCAT DEBUG 0-main-3: Upload response: [ 48.880580] EtherCAT DEBUG: 00 30 43 03 1A 0F 10 11 10 60 [ 48.880591] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.880593] EtherCAT DEBUG: 10 11 10 60 [ 48.880600] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:11, 16 bit, "???". [ 48.880604] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:10. [ 48.880607] EtherCAT DEBUG 0-main-3: Upload request: [ 48.880609] EtherCAT DEBUG: 00 20 40 03 1A 10 00 00 00 00 [ 48.884569] EtherCAT DEBUG 0-main-2: Upload response: [ 48.884572] EtherCAT DEBUG: 00 30 43 00 1A 06 01 06 00 60 [ 48.884583] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.884585] EtherCAT DEBUG: 01 06 00 60 [ 48.884593] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:06, 1 bit, "???". [ 48.884597] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:07. [ 48.884600] EtherCAT DEBUG 0-main-2: Upload request: [ 48.884602] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 48.886617] EtherCAT DEBUG 0-main-3: Upload response: [ 48.886619] EtherCAT DEBUG: 00 30 43 03 1A 10 10 12 10 60 [ 48.886630] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.886632] EtherCAT DEBUG: 10 12 10 60 [ 48.886640] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:12, 16 bit, "???". [ 48.886644] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:03. [ 48.886647] EtherCAT DEBUG 0-main-3: Upload request: [ 48.886649] EtherCAT DEBUG: 00 20 40 13 1C 03 00 00 00 00 [ 48.890556] EtherCAT DEBUG 0-main-2: Upload response: [ 48.890558] EtherCAT DEBUG: 00 30 43 00 1A 07 01 07 00 60 [ 48.890569] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.890571] EtherCAT DEBUG: 01 07 00 60 [ 48.890578] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:07, 1 bit, "???". [ 48.890582] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:08. [ 48.890585] EtherCAT DEBUG 0-main-2: Upload request: [ 48.890587] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 [ 48.892570] EtherCAT DEBUG 0-main-3: Upload response: [ 48.892573] EtherCAT DEBUG: 00 30 4B 13 1C 03 06 1A 00 00 [ 48.892584] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.892586] EtherCAT DEBUG: 06 1A [ 48.892591] EtherCAT DEBUG 0-main-3: PDO 0x1A06. [ 48.892595] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:00. [ 48.892598] EtherCAT DEBUG 0-main-3: Upload request: [ 48.892600] EtherCAT DEBUG: 00 20 40 06 1A 00 00 00 00 00 [ 48.896564] EtherCAT DEBUG 0-main-2: Upload response: [ 48.896568] EtherCAT DEBUG: 00 30 43 00 1A 08 07 00 00 00 [ 48.896579] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.896581] EtherCAT DEBUG: 07 00 00 00 [ 48.896589] EtherCAT DEBUG 0-main-2: PDO entry 0x0000:00, 7 bit, "Gap". [ 48.896593] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:09. [ 48.896596] EtherCAT DEBUG 0-main-2: Upload request: [ 48.896599] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 [ 48.898551] EtherCAT DEBUG 0-main-3: Upload response: [ 48.898554] EtherCAT DEBUG: 00 30 4F 06 1A 00 0E 00 00 00 [ 48.898564] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.898566] EtherCAT DEBUG: 0E [ 48.898570] EtherCAT DEBUG 0-main-3: 14 PDO entries mapped. [ 48.898574] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:01. [ 48.898577] EtherCAT DEBUG 0-main-3: Upload request: [ 48.898579] EtherCAT DEBUG: 00 20 40 06 1A 01 00 00 00 00 [ 48.902550] EtherCAT DEBUG 0-main-2: Upload response: [ 48.902552] EtherCAT DEBUG: 00 30 43 00 1A 09 02 0F 00 60 [ 48.902563] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.902565] EtherCAT DEBUG: 02 0F 00 60 [ 48.902572] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:0F, 2 bit, "???". [ 48.902576] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0A. [ 48.902579] EtherCAT DEBUG 0-main-2: Upload request: [ 48.902581] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00 [ 48.904547] EtherCAT DEBUG 0-main-3: Upload response: [ 48.904550] EtherCAT DEBUG: 00 30 43 06 1A 01 01 01 20 60 [ 48.904560] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.904562] EtherCAT DEBUG: 01 01 20 60 [ 48.904568] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:01, 1 bit, "???". [ 48.904572] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:02. [ 48.904575] EtherCAT DEBUG 0-main-3: Upload request: [ 48.904577] EtherCAT DEBUG: 00 20 40 06 1A 02 00 00 00 00 [ 48.908546] EtherCAT DEBUG 0-main-2: Upload response: [ 48.908549] EtherCAT DEBUG: 00 30 43 00 1A 0A 20 11 00 60 [ 48.908560] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.908562] EtherCAT DEBUG: 20 11 00 60 [ 48.908569] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:11, 32 bit, "???". [ 48.908573] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0B. [ 48.908576] EtherCAT DEBUG 0-main-2: Upload request: [ 48.908578] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00 [ 48.910543] EtherCAT DEBUG 0-main-3: Upload response: [ 48.910546] EtherCAT DEBUG: 00 30 43 06 1A 02 01 02 20 60 [ 48.910556] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.910558] EtherCAT DEBUG: 01 02 20 60 [ 48.910565] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:02, 1 bit, "???". [ 48.910569] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:03. [ 48.910572] EtherCAT DEBUG 0-main-3: Upload request: [ 48.910574] EtherCAT DEBUG: 00 20 40 06 1A 03 00 00 00 00 [ 48.914598] EtherCAT DEBUG 0-main-2: Upload response: [ 48.914601] EtherCAT DEBUG: 00 30 43 00 1A 0B 20 13 00 60 [ 48.914611] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.914614] EtherCAT DEBUG: 20 13 00 60 [ 48.914621] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:13, 32 bit, "???". [ 48.914624] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0C. [ 48.914627] EtherCAT DEBUG 0-main-2: Upload request: [ 48.914630] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00 [ 48.916552] EtherCAT DEBUG 0-main-3: Upload response: [ 48.916555] EtherCAT DEBUG: 00 30 43 06 1A 03 01 03 20 60 [ 48.916566] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.916568] EtherCAT DEBUG: 01 03 20 60 [ 48.916576] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:03, 1 bit, "???". [ 48.916579] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:04. [ 48.916582] EtherCAT DEBUG 0-main-3: Upload request: [ 48.916584] EtherCAT DEBUG: 00 20 40 06 1A 04 00 00 00 00 [ 48.920549] EtherCAT DEBUG 0-main-2: Upload response: [ 48.920552] EtherCAT DEBUG: 00 30 43 00 1A 0C 08 14 00 60 [ 48.920562] EtherCAT DEBUG 0-main-2: Uploaded data: [ 48.920565] EtherCAT DEBUG: 08 14 00 60 [ 48.920571] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:14, 8 bit, "???". [ 48.920582] EtherCAT DEBUG 0-main-2: Reading of PDO configuration finished. [ 48.922537] EtherCAT DEBUG 0-main-3: Upload response: [ 48.922539] EtherCAT DEBUG: 00 30 43 06 1A 04 01 04 20 60 [ 48.922549] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.922552] EtherCAT DEBUG: 01 04 20 60 [ 48.922558] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:04, 1 bit, "???". [ 48.922562] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:05. [ 48.922565] EtherCAT DEBUG 0-main-3: Upload request: [ 48.922567] EtherCAT DEBUG: 00 20 40 06 1A 05 00 00 00 00 [ 48.928553] EtherCAT DEBUG 0-main-3: Upload response: [ 48.928556] EtherCAT DEBUG: 00 30 43 06 1A 05 01 05 20 60 [ 48.928568] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.928570] EtherCAT DEBUG: 01 05 20 60 [ 48.928577] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:05, 1 bit, "???". [ 48.928581] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:06. [ 48.928585] EtherCAT DEBUG 0-main-3: Upload request: [ 48.928587] EtherCAT DEBUG: 00 20 40 06 1A 06 00 00 00 00 [ 48.934531] EtherCAT DEBUG 0-main-3: Upload response: [ 48.934534] EtherCAT DEBUG: 00 30 43 06 1A 06 01 06 20 60 [ 48.934545] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.934547] EtherCAT DEBUG: 01 06 20 60 [ 48.934554] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:06, 1 bit, "???". [ 48.934558] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:07. [ 48.934561] EtherCAT DEBUG 0-main-3: Upload request: [ 48.934563] EtherCAT DEBUG: 00 20 40 06 1A 07 00 00 00 00 [ 48.940529] EtherCAT DEBUG 0-main-3: Upload response: [ 48.940532] EtherCAT DEBUG: 00 30 43 06 1A 07 01 07 20 60 [ 48.940544] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.940546] EtherCAT DEBUG: 01 07 20 60 [ 48.940553] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:07, 1 bit, "???". [ 48.940558] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:08. [ 48.940561] EtherCAT DEBUG 0-main-3: Upload request: [ 48.940563] EtherCAT DEBUG: 00 20 40 06 1A 08 00 00 00 00 [ 48.946529] EtherCAT DEBUG 0-main-3: Upload response: [ 48.946532] EtherCAT DEBUG: 00 30 43 06 1A 08 01 00 00 00 [ 48.946543] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.946545] EtherCAT DEBUG: 01 00 00 00 [ 48.946553] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.946557] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:09. [ 48.946560] EtherCAT DEBUG 0-main-3: Upload request: [ 48.946562] EtherCAT DEBUG: 00 20 40 06 1A 09 00 00 00 00 [ 48.952525] EtherCAT DEBUG 0-main-3: Upload response: [ 48.952528] EtherCAT DEBUG: 00 30 43 06 1A 09 03 00 00 00 [ 48.952539] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.952541] EtherCAT DEBUG: 03 00 00 00 [ 48.952549] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 3 bit, "Gap". [ 48.952553] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0A. [ 48.952556] EtherCAT DEBUG 0-main-3: Upload request: [ 48.952558] EtherCAT DEBUG: 00 20 40 06 1A 0A 00 00 00 00 [ 48.958525] EtherCAT DEBUG 0-main-3: Upload response: [ 48.958528] EtherCAT DEBUG: 00 30 43 06 1A 0A 01 0C 20 60 [ 48.958539] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.958542] EtherCAT DEBUG: 01 0C 20 60 [ 48.958549] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0C, 1 bit, "???". [ 48.958553] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0B. [ 48.958556] EtherCAT DEBUG 0-main-3: Upload request: [ 48.958558] EtherCAT DEBUG: 00 20 40 06 1A 0B 00 00 00 00 [ 48.964524] EtherCAT DEBUG 0-main-3: Upload response: [ 48.964527] EtherCAT DEBUG: 00 30 43 06 1A 0B 01 0D 20 60 [ 48.964539] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.964541] EtherCAT DEBUG: 01 0D 20 60 [ 48.964548] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0D, 1 bit, "???". [ 48.964552] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0C. [ 48.964556] EtherCAT DEBUG 0-main-3: Upload request: [ 48.964558] EtherCAT DEBUG: 00 20 40 06 1A 0C 00 00 00 00 [ 48.970522] EtherCAT DEBUG 0-main-3: Upload response: [ 48.970525] EtherCAT DEBUG: 00 30 43 06 1A 0C 01 0E 20 60 [ 48.970536] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.970538] EtherCAT DEBUG: 01 0E 20 60 [ 48.970545] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0E, 1 bit, "???". [ 48.970549] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0D. [ 48.970552] EtherCAT DEBUG 0-main-3: Upload request: [ 48.970554] EtherCAT DEBUG: 00 20 40 06 1A 0D 00 00 00 00 [ 48.976509] EtherCAT DEBUG 0-main-3: Upload response: [ 48.976512] EtherCAT DEBUG: 00 30 43 06 1A 0D 01 00 00 00 [ 48.976523] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.976525] EtherCAT DEBUG: 01 00 00 00 [ 48.976533] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 48.976537] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0E. [ 48.976540] EtherCAT DEBUG 0-main-3: Upload request: [ 48.976542] EtherCAT DEBUG: 00 20 40 06 1A 0E 00 00 00 00 [ 48.982523] EtherCAT DEBUG 0-main-3: Upload response: [ 48.982526] EtherCAT DEBUG: 00 30 43 06 1A 0E 01 10 20 60 [ 48.982537] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.982540] EtherCAT DEBUG: 01 10 20 60 [ 48.982547] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:10, 1 bit, "???". [ 48.982551] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:04. [ 48.982554] EtherCAT DEBUG 0-main-3: Upload request: [ 48.982556] EtherCAT DEBUG: 00 20 40 13 1C 04 00 00 00 00 [ 48.988503] EtherCAT DEBUG 0-main-3: Upload response: [ 48.988506] EtherCAT DEBUG: 00 30 4B 13 1C 04 08 1A 00 00 [ 48.988518] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.988520] EtherCAT DEBUG: 08 1A [ 48.988526] EtherCAT DEBUG 0-main-3: PDO 0x1A08. [ 48.988530] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:00. [ 48.988533] EtherCAT DEBUG 0-main-3: Upload request: [ 48.988535] EtherCAT DEBUG: 00 20 40 08 1A 00 00 00 00 00 [ 48.994505] EtherCAT DEBUG 0-main-3: Upload response: [ 48.994508] EtherCAT DEBUG: 00 30 4F 08 1A 00 0E 00 00 00 [ 48.994519] EtherCAT DEBUG 0-main-3: Uploaded data: [ 48.994521] EtherCAT DEBUG: 0E [ 48.994525] EtherCAT DEBUG 0-main-3: 14 PDO entries mapped. [ 48.994529] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:01. [ 48.994532] EtherCAT DEBUG 0-main-3: Upload request: [ 48.994534] EtherCAT DEBUG: 00 20 40 08 1A 01 00 00 00 00 [ 49.000497] EtherCAT DEBUG 0-main-3: Upload response: [ 49.000500] EtherCAT DEBUG: 00 30 43 08 1A 01 01 01 30 60 [ 49.000511] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.000513] EtherCAT DEBUG: 01 01 30 60 [ 49.000520] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:01, 1 bit, "???". [ 49.000524] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:02. [ 49.000527] EtherCAT DEBUG 0-main-3: Upload request: [ 49.000529] EtherCAT DEBUG: 00 20 40 08 1A 02 00 00 00 00 [ 49.006507] EtherCAT DEBUG 0-main-3: Upload response: [ 49.006510] EtherCAT DEBUG: 00 30 43 08 1A 02 01 02 30 60 [ 49.006521] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.006523] EtherCAT DEBUG: 01 02 30 60 [ 49.006531] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:02, 1 bit, "???". [ 49.006534] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:03. [ 49.006538] EtherCAT DEBUG 0-main-3: Upload request: [ 49.006540] EtherCAT DEBUG: 00 20 40 08 1A 03 00 00 00 00 [ 49.012490] EtherCAT DEBUG 0-main-3: Upload response: [ 49.012493] EtherCAT DEBUG: 00 30 43 08 1A 03 01 03 30 60 [ 49.012505] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.012507] EtherCAT DEBUG: 01 03 30 60 [ 49.012514] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:03, 1 bit, "???". [ 49.012518] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:04. [ 49.012522] EtherCAT DEBUG 0-main-3: Upload request: [ 49.012524] EtherCAT DEBUG: 00 20 40 08 1A 04 00 00 00 00 [ 49.018485] EtherCAT DEBUG 0-main-3: Upload response: [ 49.018487] EtherCAT DEBUG: 00 30 43 08 1A 04 01 04 30 60 [ 49.018498] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.018500] EtherCAT DEBUG: 01 04 30 60 [ 49.018507] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:04, 1 bit, "???". [ 49.018511] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:05. [ 49.018514] EtherCAT DEBUG 0-main-3: Upload request: [ 49.018516] EtherCAT DEBUG: 00 20 40 08 1A 05 00 00 00 00 [ 49.024480] EtherCAT DEBUG 0-main-3: Upload response: [ 49.024482] EtherCAT DEBUG: 00 30 43 08 1A 05 01 05 30 60 [ 49.024492] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.024494] EtherCAT DEBUG: 01 05 30 60 [ 49.024501] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:05, 1 bit, "???". [ 49.024504] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:06. [ 49.024507] EtherCAT DEBUG 0-main-3: Upload request: [ 49.024509] EtherCAT DEBUG: 00 20 40 08 1A 06 00 00 00 00 [ 49.030478] EtherCAT DEBUG 0-main-3: Upload response: [ 49.030481] EtherCAT DEBUG: 00 30 43 08 1A 06 01 06 30 60 [ 49.030491] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.030494] EtherCAT DEBUG: 01 06 30 60 [ 49.030501] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:06, 1 bit, "???". [ 49.030504] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:07. [ 49.030507] EtherCAT DEBUG 0-main-3: Upload request: [ 49.030509] EtherCAT DEBUG: 00 20 40 08 1A 07 00 00 00 00 [ 49.036475] EtherCAT DEBUG 0-main-3: Upload response: [ 49.036477] EtherCAT DEBUG: 00 30 43 08 1A 07 01 07 30 60 [ 49.036488] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.036490] EtherCAT DEBUG: 01 07 30 60 [ 49.036497] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:07, 1 bit, "???". [ 49.036500] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:08. [ 49.036503] EtherCAT DEBUG 0-main-3: Upload request: [ 49.036505] EtherCAT DEBUG: 00 20 40 08 1A 08 00 00 00 00 [ 49.042471] EtherCAT DEBUG 0-main-3: Upload response: [ 49.042473] EtherCAT DEBUG: 00 30 43 08 1A 08 01 00 00 00 [ 49.042483] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.042485] EtherCAT DEBUG: 01 00 00 00 [ 49.042493] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 49.042496] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:09. [ 49.042499] EtherCAT DEBUG 0-main-3: Upload request: [ 49.042501] EtherCAT DEBUG: 00 20 40 08 1A 09 00 00 00 00 [ 49.048468] EtherCAT DEBUG 0-main-3: Upload response: [ 49.048471] EtherCAT DEBUG: 00 30 43 08 1A 09 03 00 00 00 [ 49.048481] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.048483] EtherCAT DEBUG: 03 00 00 00 [ 49.048490] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 3 bit, "Gap". [ 49.048494] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0A. [ 49.048497] EtherCAT DEBUG 0-main-3: Upload request: [ 49.048499] EtherCAT DEBUG: 00 20 40 08 1A 0A 00 00 00 00 [ 49.054463] EtherCAT DEBUG 0-main-3: Upload response: [ 49.054466] EtherCAT DEBUG: 00 30 43 08 1A 0A 01 0C 30 60 [ 49.054476] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.054478] EtherCAT DEBUG: 01 0C 30 60 [ 49.054485] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0C, 1 bit, "???". [ 49.054488] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0B. [ 49.054491] EtherCAT DEBUG 0-main-3: Upload request: [ 49.054493] EtherCAT DEBUG: 00 20 40 08 1A 0B 00 00 00 00 [ 49.060461] EtherCAT DEBUG 0-main-3: Upload response: [ 49.060464] EtherCAT DEBUG: 00 30 43 08 1A 0B 01 0D 30 60 [ 49.060474] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.060476] EtherCAT DEBUG: 01 0D 30 60 [ 49.060483] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0D, 1 bit, "???". [ 49.060486] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0C. [ 49.060489] EtherCAT DEBUG 0-main-3: Upload request: [ 49.060491] EtherCAT DEBUG: 00 20 40 08 1A 0C 00 00 00 00 [ 49.066458] EtherCAT DEBUG 0-main-3: Upload response: [ 49.066461] EtherCAT DEBUG: 00 30 43 08 1A 0C 01 0E 30 60 [ 49.066472] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.066474] EtherCAT DEBUG: 01 0E 30 60 [ 49.066481] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0E, 1 bit, "???". [ 49.066484] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0D. [ 49.066487] EtherCAT DEBUG 0-main-3: Upload request: [ 49.066489] EtherCAT DEBUG: 00 20 40 08 1A 0D 00 00 00 00 [ 49.072455] EtherCAT DEBUG 0-main-3: Upload response: [ 49.072458] EtherCAT DEBUG: 00 30 43 08 1A 0D 01 00 00 00 [ 49.072468] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.072470] EtherCAT DEBUG: 01 00 00 00 [ 49.072477] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 49.072481] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0E. [ 49.072484] EtherCAT DEBUG 0-main-3: Upload request: [ 49.072486] EtherCAT DEBUG: 00 20 40 08 1A 0E 00 00 00 00 [ 49.078463] EtherCAT DEBUG 0-main-3: Upload response: [ 49.078466] EtherCAT DEBUG: 00 30 43 08 1A 0E 01 10 30 60 [ 49.078478] EtherCAT DEBUG 0-main-3: Uploaded data: [ 49.078480] EtherCAT DEBUG: 01 10 30 60 [ 49.078487] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:10, 1 bit, "???". [ 49.078513] EtherCAT DEBUG 0-main-3: Reading of PDO configuration finished. [ 49.888060] EtherCAT DEBUG 0-main-4: Unknown category type 0x003C. [ 49.888065] EtherCAT DEBUG 0-main-4: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 49.888070] EtherCAT DEBUG 0-main-4: Configuring... [ 49.892032] EtherCAT DEBUG 0-main-4: Now in INIT. [ 49.892036] EtherCAT DEBUG 0-main-4: Clearing FMMU configurations... [ 49.892039] EtherCAT DEBUG 0-main-4: Clearing mailbox check flag... [ 49.894004] EtherCAT DEBUG 0-main-4: Clearing sync manager configurations... [ 49.896005] EtherCAT DEBUG 0-main-4: Clearing DC assignment... [ 49.898002] EtherCAT DEBUG 0-main-4: Configuring mailbox sync managers... [ 49.898008] EtherCAT DEBUG 0-main-4: SM0: Addr 0x1800, Size 48, Ctrl 0x26, En 1 [ 49.898012] EtherCAT DEBUG 0-main-4: SM1: Addr 0x1880, Size 48, Ctrl 0x22, En 1 [ 49.904006] EtherCAT DEBUG 0-main-4: Now in PREOP. [ 49.904010] EtherCAT DEBUG 0-main-4: Finished configuration. [ 49.906000] EtherCAT 0: Bus scanning completed in 2060 ms. [ 49.914078] EtherCAT DEBUG 0 10001:0: Attached slave main-0. [ 49.914082] EtherCAT DEBUG 0 47000:0: Attached slave main-3. [ 49.914085] EtherCAT 0: Using slave main-0 as application selected DC reference clock. [ 49.922253] EtherCAT 0: Using slave main-0 as DC reference clock. [ 49.930381] KMC: Reference clock time resumed [ 49.938621] EtherCAT DEBUG 0-main-0: upstream port = 0 [ 49.938624] EtherCAT DEBUG 0-main-1: upstream port = 0 [ 49.938627] EtherCAT DEBUG 0-main-2: upstream port = 0 [ 49.938630] EtherCAT DEBUG 0-main-3: upstream port = 0 [ 49.938633] EtherCAT DEBUG 0-main-4: upstream port = 0 [ 49.938639] EtherCAT DEBUG 0-main-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) [ 49.938643] EtherCAT DEBUG 0-main-1: ec_slave_calc_transmission_delays_rec(delay = 575 ns) [ 49.938646] EtherCAT DEBUG 0-main-2: ec_slave_calc_transmission_delays_rec(delay = 720 ns) [ 49.938650] EtherCAT DEBUG 0-main-3: ec_slave_calc_transmission_delays_rec(delay = 865 ns) [ 49.938654] EtherCAT DEBUG 0-main-4: ec_slave_calc_transmission_delays_rec(delay = 1020 ns) [ 49.938676] EtherCAT WARNING 0: EoE External processing required! [ 49.947016] EtherCAT DEBUG 0: UNMATCHED datagram: [ 49.947019] EtherCAT DEBUG: 0E 14 01 00 10 09 04 80 00 00 49 10 44 EE 05 00 [ 49.947032] EtherCAT DEBUG 0: UNMATCHED datagram: [ 49.947034] EtherCAT DEBUG: 04 15 01 00 10 09 08 00 00 00 49 10 44 EE 0D 00 [ 49.947047] EtherCAT DEBUG: 00 00 01 00 [ 49.947052] KMC: Failed to get Reference clock time: Input/output error [ 49.955388] EtherCAT DEBUG 0: Datagram f69b8378 already queued (skipping). [ 49.955391] EtherCAT DEBUG 0: Datagram f69b83e8 already queued (skipping). [ 49.955394] KMC: Reference clock time resumed [ 49.963739] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 49.963970] KMC: Failed to get Reference clock time: Resource temporarily unavailable [ 49.988186] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=59858023103, app_time=59858023580, diff=477 [ 49.988192] EtherCAT DEBUG 0-main-0: Not touching time offset. [ 49.988196] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 49.988976] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=59883016964, app_time=59883017954, diff=990 [ 49.988980] EtherCAT DEBUG 0-main-1: Not touching time offset. [ 49.988983] EtherCAT DEBUG 0-main-2: Checking system time offset. [ 49.990438] EtherCAT DEBUG 0-main-2: DC 64 bit system time offset calculation: system_time=2214733859, app_time=59884014395, diff=57669280536 [ 49.990443] EtherCAT DEBUG 0-main-2: Setting time offset to 57669280536 (was 0) [ 49.991966] EtherCAT DEBUG 0-main-3: Checking system time offset. [ 49.993418] EtherCAT DEBUG 0-main-3: DC 64 bit system time offset calculation: system_time=2217603868, app_time=59887013582, diff=57669409714 [ 49.993423] EtherCAT DEBUG 0-main-3: Setting time offset to 57669409714 (was 0) [ 49.995017] EtherCAT DEBUG 0-main-4: Checking system time offset. [ 49.996469] EtherCAT DEBUG 0-main-4: DC 64 bit system time offset calculation: system_time=2220534117, app_time=59890017793, diff=57669483676 [ 49.996474] EtherCAT DEBUG 0-main-4: Setting time offset to 57669483676 (was 0) [ 49.997977] EtherCAT DEBUG 0: Requesting OP... [ 49.998952] KMC: Reference clock time resumed [ 50.007556] EtherCAT 0: Slave states on main device: PREOP, OP. [ 50.016108] KMC: Module ec: AL states: 0x0A. [ 50.034418] EtherCAT DEBUG 0-main-0: Ready for requests. [ 50.044397] EtherCAT DEBUG 0-main-1: Ready for requests. [ 50.054325] EtherCAT DEBUG 0-main-2: Ready for requests. [ 50.064282] EtherCAT DEBUG 0-main-3: Ready for requests. [ 50.064921] EtherCAT DEBUG 0-main-3: Changing state from PREOP to OP. [ 50.064926] EtherCAT DEBUG 0-main-3: Configuring... [ 50.068911] EtherCAT DEBUG 0-main-3: Now in INIT. [ 50.068914] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 50.068918] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 50.070907] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 50.072907] EtherCAT DEBUG 0-main-3: Clearing DC assignment... [ 50.074208] EtherCAT DEBUG 0-main-4: Ready for requests. [ 50.074919] EtherCAT DEBUG 0-main-3: Configuring mailbox sync managers... [ 50.074925] EtherCAT DEBUG 0-main-3: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 50.074930] EtherCAT DEBUG 0-main-3: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 50.080903] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 50.080909] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:01. [ 50.080911] EtherCAT DEBUG: AC 0D [ 50.080917] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.080920] EtherCAT DEBUG: 00 20 2B 20 80 01 AC 0D 00 00 [ 50.084287] EtherCAT 0: Slave states on main device: INIT, PREOP, OP. [ 50.092969] KMC: Module ec: AL states: 0x0B. [ 50.110909] EtherCAT DEBUG 0-main-3: Download response: [ 50.110913] EtherCAT DEBUG: 00 30 60 20 80 01 AC 0D 00 00 [ 50.110928] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:02. [ 50.110931] EtherCAT DEBUG: AC 0D [ 50.110936] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.110939] EtherCAT DEBUG: 00 20 2B 20 80 02 AC 0D 00 00 [ 50.140873] EtherCAT DEBUG 0-main-3: Download response: [ 50.140878] EtherCAT DEBUG: 00 30 60 20 80 02 AC 0D 00 00 [ 50.140892] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:03. [ 50.140895] EtherCAT DEBUG: C0 5D [ 50.140900] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.140903] EtherCAT DEBUG: 00 20 2B 20 80 03 C0 5D 00 00 [ 50.154170] EtherCAT 0: Slave states on main device: PREOP, OP. [ 50.162950] KMC: Module ec: AL states: 0x0A. [ 50.174855] EtherCAT DEBUG 0-main-3: Download response: [ 50.174858] EtherCAT DEBUG: 00 30 60 20 80 03 C0 5D 00 00 [ 50.174871] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:04. [ 50.174873] EtherCAT DEBUG: FA 00 [ 50.174878] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.174881] EtherCAT DEBUG: 00 20 2B 20 80 04 FA 00 00 00 [ 50.204907] EtherCAT DEBUG 0-main-3: Download response: [ 50.204912] EtherCAT DEBUG: 00 30 60 20 80 04 FA 00 00 00 [ 50.204926] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:05. [ 50.204929] EtherCAT DEBUG: C8 00 [ 50.204935] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.204938] EtherCAT DEBUG: 00 20 2B 20 80 05 C8 00 00 00 [ 50.234832] EtherCAT DEBUG 0-main-3: Download response: [ 50.234836] EtherCAT DEBUG: 00 30 60 20 80 05 C8 00 00 00 [ 50.234850] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:06. [ 50.234852] EtherCAT DEBUG: C8 00 [ 50.234858] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.234860] EtherCAT DEBUG: 00 20 2B 20 80 06 C8 00 00 00 [ 50.264804] EtherCAT DEBUG 0-main-3: Download response: [ 50.264807] EtherCAT DEBUG: 00 30 60 20 80 06 C8 00 00 00 [ 50.264819] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:07. [ 50.264821] EtherCAT DEBUG: FA 00 [ 50.264826] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.264828] EtherCAT DEBUG: 00 20 2B 20 80 07 FA 00 00 00 [ 50.294787] EtherCAT DEBUG 0-main-3: Download response: [ 50.294790] EtherCAT DEBUG: 00 30 60 20 80 07 FA 00 00 00 [ 50.294802] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:08. [ 50.294804] EtherCAT DEBUG: 2C 01 [ 50.294809] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.294811] EtherCAT DEBUG: 00 20 2B 20 80 08 2C 01 00 00 [ 50.324771] EtherCAT DEBUG 0-main-3: Download response: [ 50.324773] EtherCAT DEBUG: 00 30 60 20 80 08 2C 01 00 00 [ 50.324785] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8022:09. [ 50.324787] EtherCAT DEBUG: 00 [ 50.324791] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.324793] EtherCAT DEBUG: 00 20 2F 22 80 09 00 00 00 00 [ 50.354753] EtherCAT DEBUG 0-main-3: Download response: [ 50.354756] EtherCAT DEBUG: 00 30 60 22 80 09 00 00 00 00 [ 50.354767] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8022:01. [ 50.354770] EtherCAT DEBUG: 00 [ 50.354773] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.354776] EtherCAT DEBUG: 00 20 2F 22 80 01 00 00 00 00 [ 50.384737] EtherCAT DEBUG 0-main-3: Download response: [ 50.384739] EtherCAT DEBUG: 00 30 60 22 80 01 00 00 00 00 [ 50.384750] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:01. [ 50.384753] EtherCAT DEBUG: E8 03 [ 50.384757] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.384759] EtherCAT DEBUG: 00 20 2B 30 80 01 E8 03 00 00 [ 50.414720] EtherCAT DEBUG 0-main-3: Download response: [ 50.414723] EtherCAT DEBUG: 00 30 60 30 80 01 E8 03 00 00 [ 50.414734] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:02. [ 50.414736] EtherCAT DEBUG: E8 03 [ 50.414741] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.414743] EtherCAT DEBUG: 00 20 2B 30 80 02 E8 03 00 00 [ 50.444704] EtherCAT DEBUG 0-main-3: Download response: [ 50.444707] EtherCAT DEBUG: 00 30 60 30 80 02 E8 03 00 00 [ 50.444718] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:03. [ 50.444720] EtherCAT DEBUG: C0 5D [ 50.444725] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.444727] EtherCAT DEBUG: 00 20 2B 30 80 03 C0 5D 00 00 [ 50.474687] EtherCAT DEBUG 0-main-3: Download response: [ 50.474690] EtherCAT DEBUG: 00 30 60 30 80 03 C0 5D 00 00 [ 50.474701] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:04. [ 50.474703] EtherCAT DEBUG: 64 00 [ 50.474708] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.474710] EtherCAT DEBUG: 00 20 2B 30 80 04 64 00 00 00 [ 50.504671] EtherCAT DEBUG 0-main-3: Download response: [ 50.504674] EtherCAT DEBUG: 00 30 60 30 80 04 64 00 00 00 [ 50.504684] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:05. [ 50.504687] EtherCAT DEBUG: F4 01 [ 50.504691] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.504694] EtherCAT DEBUG: 00 20 2B 30 80 05 F4 01 00 00 [ 50.534654] EtherCAT DEBUG 0-main-3: Download response: [ 50.534657] EtherCAT DEBUG: 00 30 60 30 80 05 F4 01 00 00 [ 50.534667] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:06. [ 50.534670] EtherCAT DEBUG: F4 01 [ 50.534674] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.534677] EtherCAT DEBUG: 00 20 2B 30 80 06 F4 01 00 00 [ 50.564638] EtherCAT DEBUG 0-main-3: Download response: [ 50.564641] EtherCAT DEBUG: 00 30 60 30 80 06 F4 01 00 00 [ 50.564652] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:07. [ 50.564654] EtherCAT DEBUG: FA 00 [ 50.564659] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.564661] EtherCAT DEBUG: 00 20 2B 30 80 07 FA 00 00 00 [ 50.594643] EtherCAT DEBUG 0-main-3: Download response: [ 50.594648] EtherCAT DEBUG: 00 30 60 30 80 07 FA 00 00 00 [ 50.594662] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:08. [ 50.594665] EtherCAT DEBUG: 2C 01 [ 50.594670] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.594673] EtherCAT DEBUG: 00 20 2B 30 80 08 2C 01 00 00 [ 50.624627] EtherCAT DEBUG 0-main-3: Download response: [ 50.624632] EtherCAT DEBUG: 00 30 60 30 80 08 2C 01 00 00 [ 50.624646] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8032:09. [ 50.624649] EtherCAT DEBUG: 00 [ 50.624654] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.624656] EtherCAT DEBUG: 00 20 2F 32 80 09 00 00 00 00 [ 50.654605] EtherCAT DEBUG 0-main-3: Download response: [ 50.654610] EtherCAT DEBUG: 00 30 60 32 80 09 00 00 00 00 [ 50.654624] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8032:01. [ 50.654626] EtherCAT DEBUG: 00 [ 50.654631] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.654634] EtherCAT DEBUG: 00 20 2F 32 80 01 00 00 00 00 [ 50.684574] EtherCAT DEBUG 0-main-3: Download response: [ 50.684577] EtherCAT DEBUG: 00 30 60 32 80 01 00 00 00 00 [ 50.684596] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1601. [ 50.684600] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:00. [ 50.684604] EtherCAT DEBUG 0-main-3: Upload request: [ 50.684606] EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00 [ 50.690609] EtherCAT DEBUG 0-main-3: Upload response: [ 50.690612] EtherCAT DEBUG: 00 30 4F 01 16 00 07 00 00 00 [ 50.690623] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.690625] EtherCAT DEBUG: 07 [ 50.690629] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 50.690633] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:01. [ 50.690636] EtherCAT DEBUG 0-main-3: Upload request: [ 50.690638] EtherCAT DEBUG: 00 20 40 01 16 01 00 00 00 00 [ 50.696588] EtherCAT DEBUG 0-main-3: Upload response: [ 50.696592] EtherCAT DEBUG: 00 30 43 01 16 01 01 00 00 00 [ 50.696604] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.696606] EtherCAT DEBUG: 01 00 00 00 [ 50.696614] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 50.696619] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:02. [ 50.696623] EtherCAT DEBUG 0-main-3: Upload request: [ 50.696625] EtherCAT DEBUG: 00 20 40 01 16 02 00 00 00 00 [ 50.702586] EtherCAT DEBUG 0-main-3: Upload response: [ 50.702590] EtherCAT DEBUG: 00 30 43 01 16 02 01 02 00 70 [ 50.702603] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.702605] EtherCAT DEBUG: 01 02 00 70 [ 50.702612] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:02, 1 bit, "???". [ 50.702617] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:03. [ 50.702620] EtherCAT DEBUG 0-main-3: Upload request: [ 50.702623] EtherCAT DEBUG: 00 20 40 01 16 03 00 00 00 00 [ 50.708583] EtherCAT DEBUG 0-main-3: Upload response: [ 50.708587] EtherCAT DEBUG: 00 30 43 01 16 03 01 03 00 70 [ 50.708600] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.708602] EtherCAT DEBUG: 01 03 00 70 [ 50.708610] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:03, 1 bit, "???". [ 50.708615] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:04. [ 50.708618] EtherCAT DEBUG 0-main-3: Upload request: [ 50.708620] EtherCAT DEBUG: 00 20 40 01 16 04 00 00 00 00 [ 50.714585] EtherCAT DEBUG 0-main-3: Upload response: [ 50.714589] EtherCAT DEBUG: 00 30 43 01 16 04 01 04 00 70 [ 50.714602] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.714604] EtherCAT DEBUG: 01 04 00 70 [ 50.714612] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:04, 1 bit, "???". [ 50.714616] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:05. [ 50.714620] EtherCAT DEBUG 0-main-3: Upload request: [ 50.714622] EtherCAT DEBUG: 00 20 40 01 16 05 00 00 00 00 [ 50.720617] EtherCAT DEBUG 0-main-3: Upload response: [ 50.720621] EtherCAT DEBUG: 00 30 43 01 16 05 04 00 00 00 [ 50.720634] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.720636] EtherCAT DEBUG: 04 00 00 00 [ 50.720645] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 50.720649] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:06. [ 50.720653] EtherCAT DEBUG 0-main-3: Upload request: [ 50.720655] EtherCAT DEBUG: 00 20 40 01 16 06 00 00 00 00 [ 50.726570] EtherCAT DEBUG 0-main-3: Upload response: [ 50.726574] EtherCAT DEBUG: 00 30 43 01 16 06 08 00 00 00 [ 50.726586] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.726589] EtherCAT DEBUG: 08 00 00 00 [ 50.726597] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 50.726602] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:07. [ 50.726606] EtherCAT DEBUG 0-main-3: Upload request: [ 50.726608] EtherCAT DEBUG: 00 20 40 01 16 07 00 00 00 00 [ 50.732546] EtherCAT DEBUG 0-main-3: Upload response: [ 50.732548] EtherCAT DEBUG: 00 30 43 01 16 07 20 11 00 70 [ 50.732559] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.732562] EtherCAT DEBUG: 20 11 00 70 [ 50.732569] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:11, 32 bit, "???". [ 50.732576] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1603. [ 50.732581] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:00. [ 50.732584] EtherCAT DEBUG 0-main-3: Upload request: [ 50.732586] EtherCAT DEBUG: 00 20 40 03 16 00 00 00 00 00 [ 50.738544] EtherCAT DEBUG 0-main-3: Upload response: [ 50.738546] EtherCAT DEBUG: 00 30 4F 03 16 00 07 00 00 00 [ 50.738557] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.738559] EtherCAT DEBUG: 07 [ 50.738563] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 50.738567] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:01. [ 50.738570] EtherCAT DEBUG 0-main-3: Upload request: [ 50.738572] EtherCAT DEBUG: 00 20 40 03 16 01 00 00 00 00 [ 50.744555] EtherCAT DEBUG 0-main-3: Upload response: [ 50.744558] EtherCAT DEBUG: 00 30 43 03 16 01 01 00 00 00 [ 50.744568] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.744570] EtherCAT DEBUG: 01 00 00 00 [ 50.744578] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 50.744582] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:02. [ 50.744585] EtherCAT DEBUG 0-main-3: Upload request: [ 50.744587] EtherCAT DEBUG: 00 20 40 03 16 02 00 00 00 00 [ 50.750536] EtherCAT DEBUG 0-main-3: Upload response: [ 50.750538] EtherCAT DEBUG: 00 30 43 03 16 02 01 02 10 70 [ 50.750548] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.750551] EtherCAT DEBUG: 01 02 10 70 [ 50.750558] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:02, 1 bit, "???". [ 50.750561] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:03. [ 50.750564] EtherCAT DEBUG 0-main-3: Upload request: [ 50.750566] EtherCAT DEBUG: 00 20 40 03 16 03 00 00 00 00 [ 50.756532] EtherCAT DEBUG 0-main-3: Upload response: [ 50.756535] EtherCAT DEBUG: 00 30 43 03 16 03 01 03 10 70 [ 50.756545] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.756547] EtherCAT DEBUG: 01 03 10 70 [ 50.756554] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:03, 1 bit, "???". [ 50.756558] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:04. [ 50.756561] EtherCAT DEBUG 0-main-3: Upload request: [ 50.756563] EtherCAT DEBUG: 00 20 40 03 16 04 00 00 00 00 [ 50.762528] EtherCAT DEBUG 0-main-3: Upload response: [ 50.762530] EtherCAT DEBUG: 00 30 43 03 16 04 01 04 10 70 [ 50.762540] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.762542] EtherCAT DEBUG: 01 04 10 70 [ 50.762549] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:04, 1 bit, "???". [ 50.762553] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:05. [ 50.762556] EtherCAT DEBUG 0-main-3: Upload request: [ 50.762558] EtherCAT DEBUG: 00 20 40 03 16 05 00 00 00 00 [ 50.768527] EtherCAT DEBUG 0-main-3: Upload response: [ 50.768529] EtherCAT DEBUG: 00 30 43 03 16 05 04 00 00 00 [ 50.768540] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.768542] EtherCAT DEBUG: 04 00 00 00 [ 50.768549] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 50.768552] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:06. [ 50.768555] EtherCAT DEBUG 0-main-3: Upload request: [ 50.768557] EtherCAT DEBUG: 00 20 40 03 16 06 00 00 00 00 [ 50.774529] EtherCAT DEBUG 0-main-3: Upload response: [ 50.774531] EtherCAT DEBUG: 00 30 43 03 16 06 08 00 00 00 [ 50.774542] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.774544] EtherCAT DEBUG: 08 00 00 00 [ 50.774551] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 50.774555] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:07. [ 50.774558] EtherCAT DEBUG 0-main-3: Upload request: [ 50.774560] EtherCAT DEBUG: 00 20 40 03 16 07 00 00 00 00 [ 50.780519] EtherCAT DEBUG 0-main-3: Upload response: [ 50.780521] EtherCAT DEBUG: 00 30 43 03 16 07 20 11 10 70 [ 50.780531] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.780533] EtherCAT DEBUG: 20 11 10 70 [ 50.780540] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:11, 32 bit, "???". [ 50.780549] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1605. [ 50.780552] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1605:00. [ 50.780555] EtherCAT DEBUG 0-main-3: Upload request: [ 50.780557] EtherCAT DEBUG: 00 20 40 05 16 00 00 00 00 00 [ 50.786516] EtherCAT DEBUG 0-main-3: Upload response: [ 50.786519] EtherCAT DEBUG: 00 30 4F 05 16 00 01 00 00 00 [ 50.786529] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.786531] EtherCAT DEBUG: 01 [ 50.786535] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 50.786538] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1605:01. [ 50.786541] EtherCAT DEBUG 0-main-3: Upload request: [ 50.786544] EtherCAT DEBUG: 00 20 40 05 16 01 00 00 00 00 [ 50.792512] EtherCAT DEBUG 0-main-3: Upload response: [ 50.792515] EtherCAT DEBUG: 00 30 43 05 16 01 20 11 20 70 [ 50.792525] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.792527] EtherCAT DEBUG: 20 11 20 70 [ 50.792534] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:11, 32 bit, "???". [ 50.792540] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1608. [ 50.792544] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1608:00. [ 50.792547] EtherCAT DEBUG 0-main-3: Upload request: [ 50.792549] EtherCAT DEBUG: 00 20 40 08 16 00 00 00 00 00 [ 50.793837] EtherCAT WARNING 0: 2 datagrams UNMATCHED! [ 50.806506] EtherCAT DEBUG 0-main-3: Upload response: [ 50.806508] EtherCAT DEBUG: 00 30 4F 08 16 00 01 00 00 00 [ 50.806519] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.806521] EtherCAT DEBUG: 01 [ 50.806525] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 50.806528] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1608:01. [ 50.806531] EtherCAT DEBUG 0-main-3: Upload request: [ 50.806533] EtherCAT DEBUG: 00 20 40 08 16 01 00 00 00 00 [ 50.812502] EtherCAT DEBUG 0-main-3: Upload response: [ 50.812504] EtherCAT DEBUG: 00 30 43 08 16 01 20 11 30 70 [ 50.812514] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.812516] EtherCAT DEBUG: 20 11 30 70 [ 50.812523] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:11, 32 bit, "???". [ 50.812527] EtherCAT DEBUG 0-main-3: Setting PDO assignment of SM2: [ 50.812530] EtherCAT DEBUG 0-main-3: Currently assigned PDOs: 0x1600 0x1602 0x1604 0x1606 0x1607 0x1609. PDOs to assign: 0x1601 0x1603 0x1604 0x1605 0x1607 0x1608 [ 50.812550] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to zero. [ 50.812554] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:00. [ 50.812556] EtherCAT DEBUG: 00 [ 50.812561] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.812563] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 50.818500] EtherCAT DEBUG 0-main-3: Download response: [ 50.818503] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 50.818518] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1601 at position 1. [ 50.818522] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:01. [ 50.818524] EtherCAT DEBUG: 01 16 [ 50.818529] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.818532] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 50.824501] EtherCAT DEBUG 0-main-3: Download response: [ 50.824504] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 50.824514] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1603 at position 2. [ 50.824518] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:02. [ 50.824520] EtherCAT DEBUG: 03 16 [ 50.824525] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.824527] EtherCAT DEBUG: 00 20 2B 12 1C 02 03 16 00 00 [ 50.830491] EtherCAT DEBUG 0-main-3: Download response: [ 50.830494] EtherCAT DEBUG: 00 30 60 12 1C 02 03 16 00 00 [ 50.830504] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1604 at position 3. [ 50.830508] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:03. [ 50.830510] EtherCAT DEBUG: 04 16 [ 50.830515] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.830517] EtherCAT DEBUG: 00 20 2B 12 1C 03 04 16 00 00 [ 50.836489] EtherCAT DEBUG 0-main-3: Download response: [ 50.836491] EtherCAT DEBUG: 00 30 60 12 1C 03 04 16 00 00 [ 50.836502] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1605 at position 4. [ 50.836506] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:04. [ 50.836508] EtherCAT DEBUG: 05 16 [ 50.836512] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.836515] EtherCAT DEBUG: 00 20 2B 12 1C 04 05 16 00 00 [ 50.842485] EtherCAT DEBUG 0-main-3: Download response: [ 50.842487] EtherCAT DEBUG: 00 30 60 12 1C 04 05 16 00 00 [ 50.842498] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1607 at position 5. [ 50.842501] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:05. [ 50.842503] EtherCAT DEBUG: 07 16 [ 50.842508] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.842510] EtherCAT DEBUG: 00 20 2B 12 1C 05 07 16 00 00 [ 50.848483] EtherCAT DEBUG 0-main-3: Download response: [ 50.848485] EtherCAT DEBUG: 00 30 60 12 1C 05 07 16 00 00 [ 50.848496] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1608 at position 6. [ 50.848500] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:06. [ 50.848502] EtherCAT DEBUG: 08 16 [ 50.848507] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.848509] EtherCAT DEBUG: 00 20 2B 12 1C 06 08 16 00 00 [ 50.854484] EtherCAT DEBUG 0-main-3: Download response: [ 50.854486] EtherCAT DEBUG: 00 30 60 12 1C 06 08 16 00 00 [ 50.854497] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to 6. [ 50.854501] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:00. [ 50.854503] EtherCAT DEBUG: 06 [ 50.854507] EtherCAT DEBUG 0-main-3: Expedited download request: [ 50.854509] EtherCAT DEBUG: 00 20 2F 12 1C 00 06 00 00 00 [ 50.860475] EtherCAT DEBUG 0-main-3: Download response: [ 50.860477] EtherCAT DEBUG: 00 30 60 12 1C 00 06 00 00 00 [ 50.860492] EtherCAT DEBUG 0-main-3: Successfully configured PDO assignment of SM2. [ 50.860509] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A01. [ 50.860512] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:00. [ 50.860515] EtherCAT DEBUG 0-main-3: Upload request: [ 50.860518] EtherCAT DEBUG: 00 20 40 01 1A 00 00 00 00 00 [ 50.866473] EtherCAT DEBUG 0-main-3: Upload response: [ 50.866476] EtherCAT DEBUG: 00 30 4F 01 1A 00 10 00 00 00 [ 50.866486] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.866488] EtherCAT DEBUG: 10 [ 50.866492] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 50.866496] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:01. [ 50.866499] EtherCAT DEBUG 0-main-3: Upload request: [ 50.866501] EtherCAT DEBUG: 00 20 40 01 1A 01 00 00 00 00 [ 50.872468] EtherCAT DEBUG 0-main-3: Upload response: [ 50.872470] EtherCAT DEBUG: 00 30 43 01 1A 01 01 00 00 00 [ 50.872480] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.872482] EtherCAT DEBUG: 01 00 00 00 [ 50.872490] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 50.872494] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:02. [ 50.872497] EtherCAT DEBUG 0-main-3: Upload request: [ 50.872499] EtherCAT DEBUG: 00 20 40 01 1A 02 00 00 00 00 [ 50.878466] EtherCAT DEBUG 0-main-3: Upload response: [ 50.878469] EtherCAT DEBUG: 00 30 43 01 1A 02 01 02 00 60 [ 50.878479] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.878481] EtherCAT DEBUG: 01 02 00 60 [ 50.878488] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:02, 1 bit, "???". [ 50.878492] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:03. [ 50.878495] EtherCAT DEBUG 0-main-3: Upload request: [ 50.878497] EtherCAT DEBUG: 00 20 40 01 1A 03 00 00 00 00 [ 50.884468] EtherCAT DEBUG 0-main-3: Upload response: [ 50.884470] EtherCAT DEBUG: 00 30 43 01 1A 03 01 03 00 60 [ 50.884481] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.884483] EtherCAT DEBUG: 01 03 00 60 [ 50.884489] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:03, 1 bit, "???". [ 50.884493] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:04. [ 50.884496] EtherCAT DEBUG 0-main-3: Upload request: [ 50.884498] EtherCAT DEBUG: 00 20 40 01 1A 04 00 00 00 00 [ 50.890458] EtherCAT DEBUG 0-main-3: Upload response: [ 50.890461] EtherCAT DEBUG: 00 30 43 01 1A 04 01 04 00 60 [ 50.890471] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.890473] EtherCAT DEBUG: 01 04 00 60 [ 50.890480] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:04, 1 bit, "???". [ 50.890483] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:05. [ 50.890486] EtherCAT DEBUG 0-main-3: Upload request: [ 50.890488] EtherCAT DEBUG: 00 20 40 01 1A 05 00 00 00 00 [ 50.896456] EtherCAT DEBUG 0-main-3: Upload response: [ 50.896459] EtherCAT DEBUG: 00 30 43 01 1A 05 01 05 00 60 [ 50.896469] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.896471] EtherCAT DEBUG: 01 05 00 60 [ 50.896478] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:05, 1 bit, "???". [ 50.896482] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:06. [ 50.896485] EtherCAT DEBUG 0-main-3: Upload request: [ 50.896487] EtherCAT DEBUG: 00 20 40 01 1A 06 00 00 00 00 [ 50.902452] EtherCAT DEBUG 0-main-3: Upload response: [ 50.902455] EtherCAT DEBUG: 00 30 43 01 1A 06 02 00 00 00 [ 50.902465] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.902467] EtherCAT DEBUG: 02 00 00 00 [ 50.902474] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 50.902478] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:07. [ 50.902481] EtherCAT DEBUG 0-main-3: Upload request: [ 50.902483] EtherCAT DEBUG: 00 20 40 01 1A 07 00 00 00 00 [ 50.908450] EtherCAT DEBUG 0-main-3: Upload response: [ 50.908453] EtherCAT DEBUG: 00 30 43 01 1A 07 01 08 00 60 [ 50.908463] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.908465] EtherCAT DEBUG: 01 08 00 60 [ 50.908472] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:08, 1 bit, "???". [ 50.908475] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:08. [ 50.908478] EtherCAT DEBUG 0-main-3: Upload request: [ 50.908480] EtherCAT DEBUG: 00 20 40 01 1A 08 00 00 00 00 [ 50.914451] EtherCAT DEBUG 0-main-3: Upload response: [ 50.914454] EtherCAT DEBUG: 00 30 43 01 1A 08 01 09 00 60 [ 50.914464] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.914466] EtherCAT DEBUG: 01 09 00 60 [ 50.914473] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:09, 1 bit, "???". [ 50.914477] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:09. [ 50.914480] EtherCAT DEBUG 0-main-3: Upload request: [ 50.914482] EtherCAT DEBUG: 00 20 40 01 1A 09 00 00 00 00 [ 50.920442] EtherCAT DEBUG 0-main-3: Upload response: [ 50.920444] EtherCAT DEBUG: 00 30 43 01 1A 09 01 0A 00 60 [ 50.920454] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.920457] EtherCAT DEBUG: 01 0A 00 60 [ 50.920463] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0A, 1 bit, "???". [ 50.920467] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0A. [ 50.920470] EtherCAT DEBUG 0-main-3: Upload request: [ 50.920472] EtherCAT DEBUG: 00 20 40 01 1A 0A 00 00 00 00 [ 50.926440] EtherCAT DEBUG 0-main-3: Upload response: [ 50.926442] EtherCAT DEBUG: 00 30 43 01 1A 0A 02 00 00 00 [ 50.926453] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.926455] EtherCAT DEBUG: 02 00 00 00 [ 50.926462] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 50.926466] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0B. [ 50.926469] EtherCAT DEBUG 0-main-3: Upload request: [ 50.926471] EtherCAT DEBUG: 00 20 40 01 1A 0B 00 00 00 00 [ 50.932435] EtherCAT DEBUG 0-main-3: Upload response: [ 50.932437] EtherCAT DEBUG: 00 30 43 01 1A 0B 01 0D 00 60 [ 50.932447] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.932450] EtherCAT DEBUG: 01 0D 00 60 [ 50.932456] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0D, 1 bit, "???". [ 50.932460] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0C. [ 50.932463] EtherCAT DEBUG 0-main-3: Upload request: [ 50.932465] EtherCAT DEBUG: 00 20 40 01 1A 0C 00 00 00 00 [ 50.938434] EtherCAT DEBUG 0-main-3: Upload response: [ 50.938437] EtherCAT DEBUG: 00 30 43 01 1A 0C 01 0E 00 60 [ 50.938447] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.938449] EtherCAT DEBUG: 01 0E 00 60 [ 50.938456] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0E, 1 bit, "???". [ 50.938459] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0D. [ 50.938463] EtherCAT DEBUG 0-main-3: Upload request: [ 50.938465] EtherCAT DEBUG: 00 20 40 01 1A 0D 00 00 00 00 [ 50.944435] EtherCAT DEBUG 0-main-3: Upload response: [ 50.944437] EtherCAT DEBUG: 00 30 43 01 1A 0D 01 00 00 00 [ 50.944448] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.944450] EtherCAT DEBUG: 01 00 00 00 [ 50.944457] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 50.944461] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0E. [ 50.944463] EtherCAT DEBUG 0-main-3: Upload request: [ 50.944466] EtherCAT DEBUG: 00 20 40 01 1A 0E 00 00 00 00 [ 50.950426] EtherCAT DEBUG 0-main-3: Upload response: [ 50.950428] EtherCAT DEBUG: 00 30 43 01 1A 0E 01 10 00 60 [ 50.950438] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.950440] EtherCAT DEBUG: 01 10 00 60 [ 50.950447] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:10, 1 bit, "???". [ 50.950451] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0F. [ 50.950454] EtherCAT DEBUG 0-main-3: Upload request: [ 50.950456] EtherCAT DEBUG: 00 20 40 01 1A 0F 00 00 00 00 [ 50.956423] EtherCAT DEBUG 0-main-3: Upload response: [ 50.956426] EtherCAT DEBUG: 00 30 43 01 1A 0F 20 11 00 60 [ 50.956436] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.956438] EtherCAT DEBUG: 20 11 00 60 [ 50.956445] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:11, 32 bit, "???". [ 50.956449] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:10. [ 50.956452] EtherCAT DEBUG 0-main-3: Upload request: [ 50.956454] EtherCAT DEBUG: 00 20 40 01 1A 10 00 00 00 00 [ 50.962418] EtherCAT DEBUG 0-main-3: Upload response: [ 50.962421] EtherCAT DEBUG: 00 30 43 01 1A 10 20 12 00 60 [ 50.962431] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.962433] EtherCAT DEBUG: 20 12 00 60 [ 50.962440] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:12, 32 bit, "???". [ 50.962446] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A04. [ 50.962450] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:00. [ 50.962453] EtherCAT DEBUG 0-main-3: Upload request: [ 50.962455] EtherCAT DEBUG: 00 20 40 04 1A 00 00 00 00 00 [ 50.968417] EtherCAT DEBUG 0-main-3: Upload response: [ 50.968420] EtherCAT DEBUG: 00 30 4F 04 1A 00 10 00 00 00 [ 50.968430] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.968432] EtherCAT DEBUG: 10 [ 50.968436] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 50.968440] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:01. [ 50.968443] EtherCAT DEBUG 0-main-3: Upload request: [ 50.968445] EtherCAT DEBUG: 00 20 40 04 1A 01 00 00 00 00 [ 50.974418] EtherCAT DEBUG 0-main-3: Upload response: [ 50.974421] EtherCAT DEBUG: 00 30 43 04 1A 01 01 00 00 00 [ 50.974431] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.974433] EtherCAT DEBUG: 01 00 00 00 [ 50.974441] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 50.974444] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:02. [ 50.974447] EtherCAT DEBUG 0-main-3: Upload request: [ 50.974449] EtherCAT DEBUG: 00 20 40 04 1A 02 00 00 00 00 [ 50.980409] EtherCAT DEBUG 0-main-3: Upload response: [ 50.980412] EtherCAT DEBUG: 00 30 43 04 1A 02 01 02 10 60 [ 50.980422] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.980424] EtherCAT DEBUG: 01 02 10 60 [ 50.980431] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:02, 1 bit, "???". [ 50.980434] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:03. [ 50.980437] EtherCAT DEBUG 0-main-3: Upload request: [ 50.980439] EtherCAT DEBUG: 00 20 40 04 1A 03 00 00 00 00 [ 50.986407] EtherCAT DEBUG 0-main-3: Upload response: [ 50.986409] EtherCAT DEBUG: 00 30 43 04 1A 03 01 03 10 60 [ 50.986419] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.986422] EtherCAT DEBUG: 01 03 10 60 [ 50.986428] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:03, 1 bit, "???". [ 50.986432] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:04. [ 50.986435] EtherCAT DEBUG 0-main-3: Upload request: [ 50.986437] EtherCAT DEBUG: 00 20 40 04 1A 04 00 00 00 00 [ 50.992402] EtherCAT DEBUG 0-main-3: Upload response: [ 50.992404] EtherCAT DEBUG: 00 30 43 04 1A 04 01 04 10 60 [ 50.992415] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.992417] EtherCAT DEBUG: 01 04 10 60 [ 50.992423] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:04, 1 bit, "???". [ 50.992427] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:05. [ 50.992430] EtherCAT DEBUG 0-main-3: Upload request: [ 50.992432] EtherCAT DEBUG: 00 20 40 04 1A 05 00 00 00 00 [ 50.998400] EtherCAT DEBUG 0-main-3: Upload response: [ 50.998403] EtherCAT DEBUG: 00 30 43 04 1A 05 01 05 10 60 [ 50.998413] EtherCAT DEBUG 0-main-3: Uploaded data: [ 50.998415] EtherCAT DEBUG: 01 05 10 60 [ 50.998422] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:05, 1 bit, "???". [ 50.998425] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:06. [ 50.998428] EtherCAT DEBUG 0-main-3: Upload request: [ 50.998431] EtherCAT DEBUG: 00 20 40 04 1A 06 00 00 00 00 [ 51.004402] EtherCAT DEBUG 0-main-3: Upload response: [ 51.004404] EtherCAT DEBUG: 00 30 43 04 1A 06 02 00 00 00 [ 51.004415] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.004417] EtherCAT DEBUG: 02 00 00 00 [ 51.004424] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 51.004428] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:07. [ 51.004431] EtherCAT DEBUG 0-main-3: Upload request: [ 51.004433] EtherCAT DEBUG: 00 20 40 04 1A 07 00 00 00 00 [ 51.010393] EtherCAT DEBUG 0-main-3: Upload response: [ 51.010395] EtherCAT DEBUG: 00 30 43 04 1A 07 01 08 10 60 [ 51.010406] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.010408] EtherCAT DEBUG: 01 08 10 60 [ 51.010414] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:08, 1 bit, "???". [ 51.010418] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:08. [ 51.010421] EtherCAT DEBUG 0-main-3: Upload request: [ 51.010423] EtherCAT DEBUG: 00 20 40 04 1A 08 00 00 00 00 [ 51.016391] EtherCAT DEBUG 0-main-3: Upload response: [ 51.016393] EtherCAT DEBUG: 00 30 43 04 1A 08 01 09 10 60 [ 51.016403] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.016405] EtherCAT DEBUG: 01 09 10 60 [ 51.016412] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:09, 1 bit, "???". [ 51.016416] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:09. [ 51.016419] EtherCAT DEBUG 0-main-3: Upload request: [ 51.016421] EtherCAT DEBUG: 00 20 40 04 1A 09 00 00 00 00 [ 51.022394] EtherCAT DEBUG 0-main-3: Upload response: [ 51.022396] EtherCAT DEBUG: 00 30 43 04 1A 09 01 0A 10 60 [ 51.022407] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.022409] EtherCAT DEBUG: 01 0A 10 60 [ 51.022415] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0A, 1 bit, "???". [ 51.022419] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0A. [ 51.022422] EtherCAT DEBUG 0-main-3: Upload request: [ 51.022424] EtherCAT DEBUG: 00 20 40 04 1A 0A 00 00 00 00 [ 51.028409] EtherCAT DEBUG 0-main-3: Upload response: [ 51.028413] EtherCAT DEBUG: 00 30 43 04 1A 0A 02 00 00 00 [ 51.028425] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.028428] EtherCAT DEBUG: 02 00 00 00 [ 51.028436] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 51.028440] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0B. [ 51.028443] EtherCAT DEBUG 0-main-3: Upload request: [ 51.028446] EtherCAT DEBUG: 00 20 40 04 1A 0B 00 00 00 00 [ 51.034403] EtherCAT DEBUG 0-main-3: Upload response: [ 51.034407] EtherCAT DEBUG: 00 30 43 04 1A 0B 01 0D 10 60 [ 51.034419] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.034421] EtherCAT DEBUG: 01 0D 10 60 [ 51.034429] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0D, 1 bit, "???". [ 51.034433] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0C. [ 51.034437] EtherCAT DEBUG 0-main-3: Upload request: [ 51.034439] EtherCAT DEBUG: 00 20 40 04 1A 0C 00 00 00 00 [ 51.040400] EtherCAT DEBUG 0-main-3: Upload response: [ 51.040404] EtherCAT DEBUG: 00 30 43 04 1A 0C 01 0E 10 60 [ 51.040417] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.040419] EtherCAT DEBUG: 01 0E 10 60 [ 51.040427] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0E, 1 bit, "???". [ 51.040431] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0D. [ 51.040434] EtherCAT DEBUG 0-main-3: Upload request: [ 51.040437] EtherCAT DEBUG: 00 20 40 04 1A 0D 00 00 00 00 [ 51.046401] EtherCAT DEBUG 0-main-3: Upload response: [ 51.046405] EtherCAT DEBUG: 00 30 43 04 1A 0D 01 00 00 00 [ 51.046417] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.046420] EtherCAT DEBUG: 01 00 00 00 [ 51.046428] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 51.046432] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0E. [ 51.046436] EtherCAT DEBUG 0-main-3: Upload request: [ 51.046438] EtherCAT DEBUG: 00 20 40 04 1A 0E 00 00 00 00 [ 51.052396] EtherCAT DEBUG 0-main-3: Upload response: [ 51.052400] EtherCAT DEBUG: 00 30 43 04 1A 0E 01 10 10 60 [ 51.052412] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.052414] EtherCAT DEBUG: 01 10 10 60 [ 51.052422] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:10, 1 bit, "???". [ 51.052426] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0F. [ 51.052430] EtherCAT DEBUG 0-main-3: Upload request: [ 51.052432] EtherCAT DEBUG: 00 20 40 04 1A 0F 00 00 00 00 [ 51.058390] EtherCAT DEBUG 0-main-3: Upload response: [ 51.058394] EtherCAT DEBUG: 00 30 43 04 1A 0F 20 11 10 60 [ 51.058406] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.058409] EtherCAT DEBUG: 20 11 10 60 [ 51.058416] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:11, 32 bit, "???". [ 51.058421] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:10. [ 51.058424] EtherCAT DEBUG 0-main-3: Upload request: [ 51.058426] EtherCAT DEBUG: 00 20 40 04 1A 10 00 00 00 00 [ 51.064373] EtherCAT DEBUG 0-main-3: Upload response: [ 51.064376] EtherCAT DEBUG: 00 30 43 04 1A 10 20 12 10 60 [ 51.064387] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.064389] EtherCAT DEBUG: 20 12 10 60 [ 51.064396] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:12, 32 bit, "???". [ 51.064409] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A07. [ 51.064413] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:00. [ 51.064416] EtherCAT DEBUG 0-main-3: Upload request: [ 51.064418] EtherCAT DEBUG: 00 20 40 07 1A 00 00 00 00 00 [ 51.070361] EtherCAT DEBUG 0-main-3: Upload response: [ 51.070363] EtherCAT DEBUG: 00 30 4F 07 1A 00 02 00 00 00 [ 51.070374] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.070376] EtherCAT DEBUG: 02 [ 51.070380] EtherCAT DEBUG 0-main-3: 2 PDO entries mapped. [ 51.070383] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:01. [ 51.070386] EtherCAT DEBUG 0-main-3: Upload request: [ 51.070388] EtherCAT DEBUG: 00 20 40 07 1A 01 00 00 00 00 [ 51.076359] EtherCAT DEBUG 0-main-3: Upload response: [ 51.076362] EtherCAT DEBUG: 00 30 43 07 1A 01 10 11 20 60 [ 51.076372] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.076375] EtherCAT DEBUG: 10 11 20 60 [ 51.076382] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:11, 16 bit, "???". [ 51.076386] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:02. [ 51.076389] EtherCAT DEBUG 0-main-3: Upload request: [ 51.076391] EtherCAT DEBUG: 00 20 40 07 1A 02 00 00 00 00 [ 51.082353] EtherCAT DEBUG 0-main-3: Upload response: [ 51.082355] EtherCAT DEBUG: 00 30 43 07 1A 02 10 12 20 60 [ 51.082365] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.082368] EtherCAT DEBUG: 10 12 20 60 [ 51.082374] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:12, 16 bit, "???". [ 51.082383] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A09. [ 51.082386] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:00. [ 51.082389] EtherCAT DEBUG 0-main-3: Upload request: [ 51.082391] EtherCAT DEBUG: 00 20 40 09 1A 00 00 00 00 00 [ 51.088353] EtherCAT DEBUG 0-main-3: Upload response: [ 51.088355] EtherCAT DEBUG: 00 30 4F 09 1A 00 02 00 00 00 [ 51.088366] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.088368] EtherCAT DEBUG: 02 [ 51.088372] EtherCAT DEBUG 0-main-3: 2 PDO entries mapped. [ 51.088375] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:01. [ 51.088378] EtherCAT DEBUG 0-main-3: Upload request: [ 51.088380] EtherCAT DEBUG: 00 20 40 09 1A 01 00 00 00 00 [ 51.094354] EtherCAT DEBUG 0-main-3: Upload response: [ 51.094356] EtherCAT DEBUG: 00 30 43 09 1A 01 10 11 30 60 [ 51.094367] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.094369] EtherCAT DEBUG: 10 11 30 60 [ 51.094376] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:11, 16 bit, "???". [ 51.094379] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:02. [ 51.094382] EtherCAT DEBUG 0-main-3: Upload request: [ 51.094385] EtherCAT DEBUG: 00 20 40 09 1A 02 00 00 00 00 [ 51.100345] EtherCAT DEBUG 0-main-3: Upload response: [ 51.100347] EtherCAT DEBUG: 00 30 43 09 1A 02 10 12 30 60 [ 51.100358] EtherCAT DEBUG 0-main-3: Uploaded data: [ 51.100360] EtherCAT DEBUG: 10 12 30 60 [ 51.100367] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:12, 16 bit, "???". [ 51.100371] EtherCAT DEBUG 0-main-3: Setting PDO assignment of SM3: [ 51.100373] EtherCAT DEBUG 0-main-3: Currently assigned PDOs: 0x1A00 0x1A03 0x1A06 0x1A08. PDOs to assign: 0x1A01 0x1A04 0x1A06 0x1A07 0x1A08 0x1A09 [ 51.100391] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to zero. [ 51.100395] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:00. [ 51.100398] EtherCAT DEBUG: 00 [ 51.100402] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.100404] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 51.106341] EtherCAT DEBUG 0-main-3: Download response: [ 51.106344] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 51.106363] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A01 at position 1. [ 51.106367] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:01. [ 51.106369] EtherCAT DEBUG: 01 1A [ 51.106374] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.106376] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 51.112337] EtherCAT DEBUG 0-main-3: Download response: [ 51.112340] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 51.112350] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A04 at position 2. [ 51.112354] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:02. [ 51.112356] EtherCAT DEBUG: 04 1A [ 51.112361] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.112363] EtherCAT DEBUG: 00 20 2B 13 1C 02 04 1A 00 00 [ 51.118336] EtherCAT DEBUG 0-main-3: Download response: [ 51.118338] EtherCAT DEBUG: 00 30 60 13 1C 02 04 1A 00 00 [ 51.118349] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A06 at position 3. [ 51.118353] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:03. [ 51.118355] EtherCAT DEBUG: 06 1A [ 51.118360] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.118362] EtherCAT DEBUG: 00 20 2B 13 1C 03 06 1A 00 00 [ 51.124337] EtherCAT DEBUG 0-main-3: Download response: [ 51.124339] EtherCAT DEBUG: 00 30 60 13 1C 03 06 1A 00 00 [ 51.124350] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A07 at position 4. [ 51.124353] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:04. [ 51.124356] EtherCAT DEBUG: 07 1A [ 51.124360] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.124363] EtherCAT DEBUG: 00 20 2B 13 1C 04 07 1A 00 00 [ 51.130327] EtherCAT DEBUG 0-main-3: Download response: [ 51.130330] EtherCAT DEBUG: 00 30 60 13 1C 04 07 1A 00 00 [ 51.130341] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A08 at position 5. [ 51.130344] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:05. [ 51.130346] EtherCAT DEBUG: 08 1A [ 51.130351] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.130353] EtherCAT DEBUG: 00 20 2B 13 1C 05 08 1A 00 00 [ 51.136325] EtherCAT DEBUG 0-main-3: Download response: [ 51.136327] EtherCAT DEBUG: 00 30 60 13 1C 05 08 1A 00 00 [ 51.136338] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A09 at position 6. [ 51.136341] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:06. [ 51.136344] EtherCAT DEBUG: 09 1A [ 51.136348] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.136351] EtherCAT DEBUG: 00 20 2B 13 1C 06 09 1A 00 00 [ 51.142319] EtherCAT DEBUG 0-main-3: Download response: [ 51.142322] EtherCAT DEBUG: 00 30 60 13 1C 06 09 1A 00 00 [ 51.142333] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to 6. [ 51.142336] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:00. [ 51.142338] EtherCAT DEBUG: 06 [ 51.142342] EtherCAT DEBUG 0-main-3: Expedited download request: [ 51.142344] EtherCAT DEBUG: 00 20 2F 13 1C 00 06 00 00 00 [ 51.148319] EtherCAT DEBUG 0-main-3: Download response: [ 51.148322] EtherCAT DEBUG: 00 30 60 13 1C 00 06 00 00 00 [ 51.148340] EtherCAT DEBUG 0-main-3: Successfully configured PDO assignment of SM3. [ 51.148354] EtherCAT DEBUG 0-main-3: SM2: Addr 0x1100, Size 24, Ctrl 0x24, En 1 [ 51.148360] EtherCAT DEBUG 0-main-3: SM3: Addr 0x1200, Size 32, Ctrl 0x20, En 1 [ 51.150319] EtherCAT DEBUG 0 47000:0: FMMU: LogOff 0x00000000, Size 24, PhysAddr 0x1100, SM2, Dir out [ 51.150324] EtherCAT DEBUG 0 47000:0: FMMU: LogOff 0x00000018, Size 32, PhysAddr 0x1200, SM3, Dir in [ 51.152316] EtherCAT DEBUG 0-main-3: Setting DC cycle times to 1000000 / 0. [ 51.154320] EtherCAT DEBUG 0-main-3: Checking for synchrony. [ 51.256259] EtherCAT DEBUG 0-main-3: Sync after 100 ms: 14466 ns [ 51.354208] EtherCAT DEBUG 0-main-3: Sync after 200 ms: 14695 ns [ 51.456150] EtherCAT DEBUG 0-main-3: Sync after 300 ms: 14770 ns [ 51.556095] EtherCAT DEBUG 0-main-3: Sync after 400 ms: 14655 ns [ 51.654144] EtherCAT DEBUG 0-main-3: Sync after 500 ms: 14368 ns [ 51.755987] EtherCAT DEBUG 0-main-3: Sync after 600 ms: 13880 ns [ 51.855954] EtherCAT DEBUG 0-main-3: Sync after 700 ms: 13179 ns [ 51.955878] EtherCAT DEBUG 0-main-3: Sync after 800 ms: 12253 ns [ 52.053823] EtherCAT DEBUG 0-main-3: Sync after 900 ms: 11113 ns [ 52.133801] EtherCAT DEBUG 0-main-3: 10000 ns difference after 970 ms. [ 52.133806] EtherCAT DEBUG 0-main-3: app_start_time=0 [ 52.133810] EtherCAT DEBUG 0-main-3: app_time=62029021245 [ 52.133813] EtherCAT DEBUG 0-main-3: start_time=62129021245 [ 52.133816] EtherCAT DEBUG 0-main-3: cycle=1000000 [ 52.133820] EtherCAT DEBUG 0-main-3: shift_time=500000 [ 52.133823] EtherCAT DEBUG 0-main-3: remainder=21245 [ 52.133826] EtherCAT DEBUG 0-main-3: start=62130500000 [ 52.133829] EtherCAT DEBUG 0-main-3: Setting DC cyclic operation start time to 62130500000. [ 52.135789] EtherCAT DEBUG 0-main-3: Setting DC AssignActivate to 0x0300. [ 52.140777] EtherCAT 0: Domain 0: Working counter changed to 2/3. [ 52.149617] KMC: Module ec: Domain 0: WC 2. [ 52.158485] KMC: Module ec: Domain 0: State 1. [ 52.167334] KMC: Module ec: Domain 0: WC 3. [ 52.176023] KMC: Module ec: Domain 0: State 2. [ 52.184538] EtherCAT DEBUG 0-main-3: Now in SAFEOP. [ 52.193156] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP. [ 52.201649] KMC: Module ec: AL states: 0x0E. [ 52.749441] EtherCAT DEBUG 0-main-3: Now in OP. Finished configuration. [ 52.802837] EtherCAT 0: Slave states on main device: PREOP, OP. [ 52.811401] KMC: Module ec: AL states: 0x0A. [ 53.143216] EtherCAT 0: Domain 0: Working counter changed to 3/3.