[ 7.797995] EtherCAT: Master driver 1.5.2 33b922ec1871+ [ 7.809085] EtherCAT 0: Registering RTDM device EtherCAT. [ 7.816842] EtherCAT: 1 master waiting for devices. [ 7.832563] ec_cx2100: EtherCAT-capable Beckhoff CX2100 EtherCAT Network Driver (Revision 2) [ 7.840107] ec_cx2100: CX2100 Verbose Mode Off [ 7.847437] ec_cx2100 0000:04:00.0: PCI->APIC IRQ transform: INT A -> IRQ 18 [ 7.854954] ec_cx2100 0000:04:00.0: setting latency timer to 64 [ 7.855002] ec_cx2100: Found EtherCAT Master (0x0014), Revision: 0x0000, txDMA: 0x01, rxDMA: 0x00 [ 7.862577] ec_cx2100: EtherCAT Master, MAC address: 00:01:05:13:7e:d0, Link: Connected [ 7.870245] EtherCAT: Accepting 00:01:05:13:7E:D0 as main device for master 0. [ 7.878091] ec_cx2100: Link Status change: Connected [ 7.878302] EtherCAT 0: Link state of ecm0 changed to UP. [ 7.893325] EtherCAT 0: Adding EOE iface "eoe0a36000" for master 0, alias 36000, ring position 0. [ 7.901223] EtherCAT 0: eoe0a36000 MAC address derived from NIC part of ecm0 MAC address [ 7.911351] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 7.919336] ec_cx2100: module inited [ 7.936700] EtherCAT 0: 2 slave(s) responding on main device. [ 7.944685] EtherCAT 0: Slave states on main device: PREOP. [ 7.952814] ec_e1000e: Ethercat-capable Intel(R) PRO/1000 Network Driver - 1.0.2-k2(ethercat) [ 7.961081] ec_e1000e: Copyright (c) 1999-2008 Intel Corporation. [ 7.969412] ec_e1000e 0000:02:00.0: PCI->APIC IRQ transform: INT A -> IRQ 16 [ 7.977769] ec_e1000e 0000:02:00.0: setting latency timer to 64 [ 7.977935] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 7.986606] ec_0000:02:00.0: 0000:02:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 7.996326] EtherCAT 0: Scanning bus. [ 8.053783] EtherCAT 0: Bus scanning completed in 100 ms. [ 8.062664] EtherCAT 0: Using slave main-0 as DC reference clock. [ 8.071601] EtherCAT 0: Starting EoE thread. [ 8.115297] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 8.145282] EtherCAT 0: Slave states on main device: INIT. [ 8.175915] ec_0000:02:00.0: eth0: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bc [ 8.184983] ec_0000:02:00.0: eth0: Intel(R) PRO/1000 Network Connection [ 8.194220] ec_0000:02:00.0: eth0: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.203336] ec_e1000e 0000:03:00.0: PCI->APIC IRQ transform: INT A -> IRQ 17 [ 8.212473] ec_e1000e 0000:03:00.0: setting latency timer to 64 [ 8.212643] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI-X interrupts. Falling back to MSI interrupts. [ 8.221992] ec_0000:03:00.0: 0000:03:00.0: Failed to initialize MSI interrupts. Falling back to legacy interrupts. [ 8.232121] EtherCAT 0: Slave states on main device: PREOP. [ 8.396880] ec_0000:03:00.0: eth1: (PCI Express:2.5GB/s:Width x1) 00:01:05:13:6e:bd [ 8.406702] ec_0000:03:00.0: eth1: Intel(R) PRO/1000 Network Connection [ 8.416739] ec_0000:03:00.0: eth1: MAC: 3, PHY: 8, PBA No: ffffff-0ff [ 8.436433] Intel(R) PRO/1000 Network Driver - version 7.3.21-k5-NAPI [ 8.446683] Copyright (c) 1999-2006 Intel Corporation. [ 8.646031] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 8.795946] ADDRCONF(NETDEV_UP): eth1: link is not ready [ 8.919239] ADDRCONF(NETDEV_UP): eoe0a36000: link is not ready [ 8.931423] device eth0 entered promiscuous mode [ 8.940670] device eth1 entered promiscuous mode [ 8.949775] device eoe0a36000 entered promiscuous mode [ 8.995848] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 9.025833] ADDRCONF(NETDEV_UP): eth1: link is not ready [ 9.035519] ADDRCONF(NETDEV_UP): eoe0a36000: link is not ready [ 9.682366] autoRun used greatest stack depth: 5808 bytes left [ 11.334803] e1000e: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX [ 11.341558] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 11.348362] br0: port 1(eth0) entering forwarding state [ 13.376820] sh used greatest stack depth: 5420 bytes left [ 14.783759] KMC: +-------------------------------+ [ 14.790141] KMC: | LOADING CONFIG FILE: | [ 14.796509] KMC: +-------------------------------+ [ 14.805053] EtherCAT: Requesting master 0... [ 14.811408] EtherCAT: Successfully requested master 0. [ 14.825392] KMC: +-------------------------------+ [ 14.831774] KMC: | LOADING CONFIG FILE COMPLETE. | [ 14.838146] KMC: +-------------------------------+ [ 14.844719] KMC: Slave Request processing thread starting for Master 0 [ 14.852215] KMC: EoE processing thread starting for Master 0 [ 14.862142] KMC: Module module0 (ec), Distributed Clock reference slave set to: device0 (a10001p0, device0) [ 14.868992] KMC: Module module0 (ec), Distributed Clock initial application time: 0 [ 14.875735] EtherCAT 0: Application selected DC reference clock config (10001-0) set by application. [ 14.882820] EtherCAT 0: Using slave main-0 as application selected DC reference clock. [ 14.890015] EtherCAT 0: Using slave main-0 as DC reference clock. [ 14.897105] EtherCAT 0: Domain0: Logical address 0x00000000, 56 byte, expected working counter 3. [ 14.904540] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 56 byte, type LRW at dee8d78c. [ 14.912195] EtherCAT 0: Domain1: Logical address 0x00000038, 0 byte, expected working counter 0. [ 14.919921] EtherCAT 0: Domain2: Logical address 0x00000038, 0 byte, expected working counter 0. [ 14.927508] EtherCAT 0: Master thread exited. [ 14.935104] EtherCAT 0: Stopping EoE thread. [ 14.942725] EtherCAT 0: EoE thread exited. [ 14.950163] EtherCAT WARNING 0: EoE External processing required! [ 14.957777] EtherCAT 0: Starting EtherCAT-OP thread. [ 14.965704] KMC: [ 14.973231] KMC: #============================================= [ 14.981012] KMC: # KMC [ 14.988798] KMC: #============================================= [ 14.996787] KMC: # version: CX2020.1.10.941 - 0.91.1199 [ 15.004871] KMC: # period: 1000000 ns [ 15.012976] KMC: # base cpu freq: 1398139151 cnts/sec [ 15.021178] KMC: # timer mode: oneshot [ 15.029266] KMC: #============================================= [ 15.037405] KMC: [ 15.095146] KMC: Module ec: 2 slave(s). [ 15.103612] KMC: Module ec: AL states: 0x02. [ 15.112162] KMC: Module ec: Link is up. [ 15.120520] KMC: Failed to get Reference clock time: Input/output error [ 15.129097] EtherCAT 0: Application selected to process slave request by the application. [ 15.137659] KMC: Slave Requests processing thread started for Master 0 [ 15.146171] KMC: EoE processing thread started for Master 0 [ 15.203038] KMC: Reference clock time resumed [ 15.211356] KMC: first master diff: 2355. [ 15.271941] EtherCAT 0: Slave states on main device: PREOP, OP. [ 15.280347] KMC: Module ec: AL states: 0x0A. [ 19.640741] kmcclient used greatest stack depth: 5404 bytes left [ 19.659886] br0: no IPv6 routers present [ 22.318633] eth0: no IPv6 routers present [ 33.608226] sh used greatest stack depth: 5360 bytes left [ 34.051151] sudo used greatest stack depth: 5220 bytes left [ 46.029383] kmcclient used greatest stack depth: 5148 bytes left [ 53.640505] kmcclient used greatest stack depth: 4768 bytes left [ 266.726736] EtherCAT 0: Master debug level set to 1. [ 270.312426] EtherCAT 0: 5 slave(s) responding on main device. [ 270.320956] KMC: Module ec: 5 slave(s). [ 270.329262] EtherCAT 0: Slave states on main device: INIT, PREOP, OP. [ 270.337662] KMC: Module ec: AL states: 0x0B. [ 270.345853] EtherCAT DEBUG 0: eoe0a36000: carrier off. [ 270.345858] EtherCAT DEBUG 0-main-0: Unready for requests. [ 270.345864] EtherCAT DEBUG 0-main-1: Unready for requests. [ 270.345911] EtherCAT DEBUG 0: No configured slaves! [ 270.345914] KMC: Failed to get Reference clock time: No such device or address [ 270.354153] EtherCAT DEBUG 0: Reading old port receive times... [ 270.360107] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. [ 270.360928] EtherCAT DEBUG 0: 5 slaves responded to delay measuring on main link. [ 270.360932] EtherCAT 0: Scanning bus. [ 270.369117] EtherCAT DEBUG 0-main-0: Ready for requests. [ 270.369120] EtherCAT DEBUG 0-main-1: Ready for requests. [ 270.369122] EtherCAT DEBUG 0-main-2: Ready for requests. [ 270.369125] EtherCAT DEBUG 0-main-3: Ready for requests. [ 270.369128] EtherCAT DEBUG 0-main-4: Ready for requests. [ 270.369143] EtherCAT DEBUG 0-main-0: Scanning slave 0 on main link. [ 270.369147] EtherCAT DEBUG 0-main-1: Scanning slave 1 on main link. [ 270.369150] EtherCAT DEBUG 0-main-2: Scanning slave 2 on main link. [ 270.369153] EtherCAT DEBUG 0-main-3: Scanning slave 3 on main link. [ 270.369157] EtherCAT DEBUG 0-main-4: Scanning slave 4 on main link. [ 270.376896] EtherCAT DEBUG 0-main-0: Slave has the System Time register. [ 270.376901] EtherCAT DEBUG 0-main-1: Slave has the System Time register. [ 270.376905] EtherCAT DEBUG 0-main-2: Slave has the System Time register. [ 270.376908] EtherCAT DEBUG 0-main-3: Slave has no System Time register; delay measurement only. [ 270.376912] EtherCAT DEBUG 0-main-4: Slave has no System Time register; delay measurement only. [ 270.380894] EtherCAT DEBUG 0-main-0: Port 0 link status changed to up. [ 270.380898] EtherCAT DEBUG 0-main-0: Port 0 loop status changed to open. [ 270.380902] EtherCAT DEBUG 0-main-0: Port 0 signal status changed to yes. [ 270.380905] EtherCAT DEBUG 0-main-0: Port 1 link status changed to up. [ 270.380909] EtherCAT DEBUG 0-main-0: Port 1 loop status changed to open. [ 270.380912] EtherCAT DEBUG 0-main-0: Port 1 signal status changed to yes. [ 270.380916] EtherCAT DEBUG 0-main-1: Port 0 link status changed to up. [ 270.380920] EtherCAT DEBUG 0-main-1: Port 0 loop status changed to open. [ 270.380923] EtherCAT DEBUG 0-main-1: Port 0 signal status changed to yes. [ 270.380926] EtherCAT DEBUG 0-main-1: Port 1 link status changed to up. [ 270.380930] EtherCAT DEBUG 0-main-1: Port 1 loop status changed to open. [ 270.380933] EtherCAT DEBUG 0-main-1: Port 1 signal status changed to yes. [ 270.380936] EtherCAT DEBUG 0-main-2: Port 0 link status changed to up. [ 270.380940] EtherCAT DEBUG 0-main-2: Port 0 loop status changed to open. [ 270.380943] EtherCAT DEBUG 0-main-2: Port 0 signal status changed to yes. [ 270.380946] EtherCAT DEBUG 0-main-2: Port 1 link status changed to up. [ 270.380949] EtherCAT DEBUG 0-main-2: Port 1 loop status changed to open. [ 270.380953] EtherCAT DEBUG 0-main-2: Port 1 signal status changed to yes. [ 270.380956] EtherCAT DEBUG 0-main-3: Port 0 link status changed to up. [ 270.380959] EtherCAT DEBUG 0-main-3: Port 0 loop status changed to open. [ 270.380963] EtherCAT DEBUG 0-main-3: Port 0 signal status changed to yes. [ 270.380966] EtherCAT DEBUG 0-main-3: Port 1 link status changed to up. [ 270.380969] EtherCAT DEBUG 0-main-3: Port 1 loop status changed to open. [ 270.380972] EtherCAT DEBUG 0-main-3: Port 1 signal status changed to yes. [ 270.380976] EtherCAT DEBUG 0-main-4: Port 0 link status changed to up. [ 270.380979] EtherCAT DEBUG 0-main-4: Port 0 loop status changed to open. [ 270.380982] EtherCAT DEBUG 0-main-4: Port 0 signal status changed to yes. [ 270.384894] EtherCAT DEBUG 0-main-0: Alias: 10001 [ 270.384898] EtherCAT DEBUG 0-main-1: Alias: 20000 [ 270.384901] EtherCAT WARNING 0-main-2: SII Read Error, EEPROM not loaded. Retrying... [ 270.393234] EtherCAT WARNING 0-main-3: SII Read Error, EEPROM not loaded. Retrying... [ 270.401254] EtherCAT WARNING 0-main-4: SII Read Error, EEPROM not loaded. Retrying... [ 270.411876] EtherCAT DEBUG 0-main-0: Revision: 0x00110000 [ 270.411881] EtherCAT DEBUG 0-main-0: Slave can re-use SII image data stored. Identified by alias 10001. [ 270.411886] EtherCAT DEBUG 0-main-1: Revision: 0x00110000 [ 270.411889] EtherCAT DEBUG 0-main-1: Slave can re-use SII image data stored. Identified by alias 20000. [ 270.467853] EtherCAT 0-main-2: SII EEPROM loaded. Continuing. [ 270.476850] EtherCAT 0-main-3: SII EEPROM loaded. Continuing. [ 270.484526] EtherCAT 0-main-4: SII EEPROM loaded. Continuing. [ 270.494853] EtherCAT DEBUG 0-main-2: Alias: 0 [ 270.496840] EtherCAT DEBUG 0-main-3: Alias: 47000 [ 270.496845] EtherCAT DEBUG 0-main-4: Alias: 15000 [ 270.498832] EtherCAT DEBUG 0-main-2: Serial Number: 0x00000000 [ 270.498836] EtherCAT DEBUG 0-main-2: Slave cannot be uniquely identified. SII image data cannot be re-used! [ 270.498840] EtherCAT DEBUG 0: Creating slave SII image for 2 [ 270.500827] EtherCAT DEBUG 0-main-3: Revision: 0x00170000 [ 270.500831] EtherCAT DEBUG 0: Creating slave SII image for 3 [ 270.500835] EtherCAT DEBUG 0-main-4: Revision: 0x03fc0000 [ 270.500838] EtherCAT DEBUG 0: Creating slave SII image for 4 [ 270.530816] EtherCAT DEBUG 0-main-2: Trying to load SII firmware: ethercat/ec_00000002_25683052_00150000.bin [ 270.530822] EtherCAT DEBUG 0-main-2: then: ethercat/ec_00000002_25683052.bin [ 270.532836] EtherCAT DEBUG 0-main-2: request_firmware_direct: ethercat/ec_00000002_25683052_00150000.bin. [ 270.533824] EtherCAT DEBUG 0-main-3: Trying to load SII firmware: ethercat/ec_00000002_1cae3052_00170000.bin [ 270.533829] EtherCAT DEBUG 0-main-3: then: ethercat/ec_00000002_1cae3052.bin [ 270.533866] EtherCAT DEBUG 0-main-2: request_firmware_direct: ethercat/ec_00000002_25683052.bin. [ 270.533892] EtherCAT DEBUG 0-main-4: Trying to load SII firmware: ethercat/ec_00000002_13ed3052_03fc0000.bin [ 270.533896] EtherCAT DEBUG 0-main-4: then: ethercat/ec_00000002_13ed3052.bin [ 270.533910] EtherCAT DEBUG 0-main-3: request_firmware_direct: ethercat/ec_00000002_1cae3052_00170000.bin. [ 270.534815] EtherCAT DEBUG 0-main-2: SII firmware file not found; reading SII data from slave. [ 270.536502] EtherCAT DEBUG 0-main-4: request_firmware_direct: ethercat/ec_00000002_13ed3052_03fc0000.bin. [ 270.536561] EtherCAT DEBUG 0-main-3: request_firmware_direct: ethercat/ec_00000002_1cae3052.bin. [ 270.536813] EtherCAT DEBUG 0-main-3: SII firmware file not found; reading SII data from slave. [ 270.538179] EtherCAT DEBUG 0-main-4: request_firmware_direct: ethercat/ec_00000002_13ed3052.bin. [ 270.540819] EtherCAT DEBUG 0-main-4: SII firmware file not found; reading SII data from slave. [ 270.916606] EtherCAT DEBUG 0-main-3: Unknown category type 0x003C. [ 270.916612] EtherCAT DEBUG 0-main-3: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 270.916616] EtherCAT DEBUG 0-main-3: Configuring... [ 270.920595] EtherCAT DEBUG 0-main-3: Now in INIT. [ 270.920598] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 270.920601] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 270.922603] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 270.924595] EtherCAT DEBUG 0-main-3: Configuring mailbox sync managers... [ 270.924600] EtherCAT DEBUG 0-main-3: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 270.924605] EtherCAT DEBUG 0-main-3: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 270.930589] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 270.930592] EtherCAT DEBUG 0-main-3: Finished configuration. [ 270.932595] EtherCAT DEBUG 0-main-3: Scanning PDO assignment and mapping. [ 270.932600] EtherCAT DEBUG 0-main-3: Reading PDO assignment of SM2. [ 270.932604] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:00. [ 270.932607] EtherCAT DEBUG 0-main-3: Upload request: [ 270.932610] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ 270.938586] EtherCAT DEBUG 0-main-3: Upload response: [ 270.938589] EtherCAT DEBUG: 00 30 4F 12 1C 00 06 00 00 00 [ 270.938601] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.938603] EtherCAT DEBUG: 06 [ 270.938607] EtherCAT DEBUG 0-main-3: 6 PDOs assigned. [ 270.938610] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:01. [ 270.938613] EtherCAT DEBUG 0-main-3: Upload request: [ 270.938616] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ 270.944585] EtherCAT DEBUG 0-main-3: Upload response: [ 270.944588] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 [ 270.944599] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.944601] EtherCAT DEBUG: 00 16 [ 270.944606] EtherCAT DEBUG 0-main-3: PDO 0x1600. [ 270.944610] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:00. [ 270.944613] EtherCAT DEBUG 0-main-3: Upload request: [ 270.944615] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ 270.950580] EtherCAT DEBUG 0-main-3: Upload response: [ 270.950582] EtherCAT DEBUG: 00 30 4F 00 16 00 07 00 00 00 [ 270.950593] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.950595] EtherCAT DEBUG: 07 [ 270.950599] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 270.950602] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:01. [ 270.950605] EtherCAT DEBUG 0-main-3: Upload request: [ 270.950607] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ 270.956577] EtherCAT DEBUG 0-main-3: Upload response: [ 270.956580] EtherCAT DEBUG: 00 30 43 00 16 01 01 00 00 00 [ 270.956591] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.956593] EtherCAT DEBUG: 01 00 00 00 [ 270.956600] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 270.956604] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:02. [ 270.956607] EtherCAT DEBUG 0-main-3: Upload request: [ 270.956609] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ 270.962580] EtherCAT DEBUG 0-main-3: Upload response: [ 270.962582] EtherCAT DEBUG: 00 30 43 00 16 02 01 02 00 70 [ 270.962593] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.962595] EtherCAT DEBUG: 01 02 00 70 [ 270.962602] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:02, 1 bit, "???". [ 270.962605] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:03. [ 270.962608] EtherCAT DEBUG 0-main-3: Upload request: [ 270.962611] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ 270.968570] EtherCAT DEBUG 0-main-3: Upload response: [ 270.968572] EtherCAT DEBUG: 00 30 43 00 16 03 01 03 00 70 [ 270.968582] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.968584] EtherCAT DEBUG: 01 03 00 70 [ 270.968591] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:03, 1 bit, "???". [ 270.968594] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:04. [ 270.968597] EtherCAT DEBUG 0-main-3: Upload request: [ 270.968599] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 [ 270.974569] EtherCAT DEBUG 0-main-3: Upload response: [ 270.974571] EtherCAT DEBUG: 00 30 43 00 16 04 01 04 00 70 [ 270.974582] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.974584] EtherCAT DEBUG: 01 04 00 70 [ 270.974591] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:04, 1 bit, "???". [ 270.974594] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:05. [ 270.974597] EtherCAT DEBUG 0-main-3: Upload request: [ 270.974599] EtherCAT DEBUG: 00 20 40 00 16 05 00 00 00 00 [ 270.980563] EtherCAT DEBUG 0-main-3: Upload response: [ 270.980565] EtherCAT DEBUG: 00 30 43 00 16 05 04 00 00 00 [ 270.980575] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.980578] EtherCAT DEBUG: 04 00 00 00 [ 270.980585] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 270.980588] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:06. [ 270.980591] EtherCAT DEBUG 0-main-3: Upload request: [ 270.980593] EtherCAT DEBUG: 00 20 40 00 16 06 00 00 00 00 [ 270.986560] EtherCAT DEBUG 0-main-3: Upload response: [ 270.986562] EtherCAT DEBUG: 00 30 43 00 16 06 08 00 00 00 [ 270.986573] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.986575] EtherCAT DEBUG: 08 00 00 00 [ 270.986582] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 270.986586] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1600:07. [ 270.986589] EtherCAT DEBUG 0-main-3: Upload request: [ 270.986591] EtherCAT DEBUG: 00 20 40 00 16 07 00 00 00 00 [ 270.992563] EtherCAT DEBUG 0-main-3: Upload response: [ 270.992565] EtherCAT DEBUG: 00 30 43 00 16 07 10 11 00 70 [ 270.992575] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.992577] EtherCAT DEBUG: 10 11 00 70 [ 270.992584] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:11, 16 bit, "???". [ 270.992588] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:02. [ 270.992591] EtherCAT DEBUG 0-main-3: Upload request: [ 270.992593] EtherCAT DEBUG: 00 20 40 12 1C 02 00 00 00 00 [ 270.998553] EtherCAT DEBUG 0-main-3: Upload response: [ 270.998556] EtherCAT DEBUG: 00 30 4B 12 1C 02 02 16 00 00 [ 270.998566] EtherCAT DEBUG 0-main-3: Uploaded data: [ 270.998568] EtherCAT DEBUG: 02 16 [ 270.998573] EtherCAT DEBUG 0-main-3: PDO 0x1602. [ 270.998576] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:00. [ 270.998579] EtherCAT DEBUG 0-main-3: Upload request: [ 270.998581] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00 [ 271.004552] EtherCAT DEBUG 0-main-3: Upload response: [ 271.004555] EtherCAT DEBUG: 00 30 4F 02 16 00 07 00 00 00 [ 271.004565] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.004568] EtherCAT DEBUG: 07 [ 271.004571] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 271.004575] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:01. [ 271.004578] EtherCAT DEBUG 0-main-3: Upload request: [ 271.004580] EtherCAT DEBUG: 00 20 40 02 16 01 00 00 00 00 [ 271.010546] EtherCAT DEBUG 0-main-3: Upload response: [ 271.010549] EtherCAT DEBUG: 00 30 43 02 16 01 01 00 00 00 [ 271.010559] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.010561] EtherCAT DEBUG: 01 00 00 00 [ 271.010568] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.010572] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:02. [ 271.010574] EtherCAT DEBUG 0-main-3: Upload request: [ 271.010577] EtherCAT DEBUG: 00 20 40 02 16 02 00 00 00 00 [ 271.016543] EtherCAT DEBUG 0-main-3: Upload response: [ 271.016545] EtherCAT DEBUG: 00 30 43 02 16 02 01 02 10 70 [ 271.016556] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.016558] EtherCAT DEBUG: 01 02 10 70 [ 271.016565] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:02, 1 bit, "???". [ 271.016568] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:03. [ 271.016571] EtherCAT DEBUG 0-main-3: Upload request: [ 271.016573] EtherCAT DEBUG: 00 20 40 02 16 03 00 00 00 00 [ 271.022546] EtherCAT DEBUG 0-main-3: Upload response: [ 271.022548] EtherCAT DEBUG: 00 30 43 02 16 03 01 03 10 70 [ 271.022558] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.022561] EtherCAT DEBUG: 01 03 10 70 [ 271.022567] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:03, 1 bit, "???". [ 271.022571] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:04. [ 271.022574] EtherCAT DEBUG 0-main-3: Upload request: [ 271.022576] EtherCAT DEBUG: 00 20 40 02 16 04 00 00 00 00 [ 271.028536] EtherCAT DEBUG 0-main-3: Upload response: [ 271.028539] EtherCAT DEBUG: 00 30 43 02 16 04 01 04 10 70 [ 271.028549] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.028551] EtherCAT DEBUG: 01 04 10 70 [ 271.028558] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:04, 1 bit, "???". [ 271.028561] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:05. [ 271.028564] EtherCAT DEBUG 0-main-3: Upload request: [ 271.028566] EtherCAT DEBUG: 00 20 40 02 16 05 00 00 00 00 [ 271.034535] EtherCAT DEBUG 0-main-3: Upload response: [ 271.034538] EtherCAT DEBUG: 00 30 43 02 16 05 04 00 00 00 [ 271.034548] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.034551] EtherCAT DEBUG: 04 00 00 00 [ 271.034558] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 271.034561] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:06. [ 271.034564] EtherCAT DEBUG 0-main-3: Upload request: [ 271.034566] EtherCAT DEBUG: 00 20 40 02 16 06 00 00 00 00 [ 271.040530] EtherCAT DEBUG 0-main-3: Upload response: [ 271.040532] EtherCAT DEBUG: 00 30 43 02 16 06 08 00 00 00 [ 271.040543] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.040545] EtherCAT DEBUG: 08 00 00 00 [ 271.040552] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 271.040555] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1602:07. [ 271.040558] EtherCAT DEBUG 0-main-3: Upload request: [ 271.040560] EtherCAT DEBUG: 00 20 40 02 16 07 00 00 00 00 [ 271.046527] EtherCAT DEBUG 0-main-3: Upload response: [ 271.046529] EtherCAT DEBUG: 00 30 43 02 16 07 10 11 10 70 [ 271.046539] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.046542] EtherCAT DEBUG: 10 11 10 70 [ 271.046548] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:11, 16 bit, "???". [ 271.046552] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:03. [ 271.046555] EtherCAT DEBUG 0-main-3: Upload request: [ 271.046557] EtherCAT DEBUG: 00 20 40 12 1C 03 00 00 00 00 [ 271.052530] EtherCAT DEBUG 0-main-3: Upload response: [ 271.052532] EtherCAT DEBUG: 00 30 4B 12 1C 03 04 16 00 00 [ 271.052543] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.052545] EtherCAT DEBUG: 04 16 [ 271.052550] EtherCAT DEBUG 0-main-3: PDO 0x1604. [ 271.052553] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:00. [ 271.052556] EtherCAT DEBUG 0-main-3: Upload request: [ 271.052558] EtherCAT DEBUG: 00 20 40 04 16 00 00 00 00 00 [ 271.058521] EtherCAT DEBUG 0-main-3: Upload response: [ 271.058523] EtherCAT DEBUG: 00 30 4F 04 16 00 06 00 00 00 [ 271.058533] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.058535] EtherCAT DEBUG: 06 [ 271.058539] EtherCAT DEBUG 0-main-3: 6 PDO entries mapped. [ 271.058542] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:01. [ 271.058545] EtherCAT DEBUG 0-main-3: Upload request: [ 271.058547] EtherCAT DEBUG: 00 20 40 04 16 01 00 00 00 00 [ 271.064520] EtherCAT DEBUG 0-main-3: Upload response: [ 271.064522] EtherCAT DEBUG: 00 30 43 04 16 01 01 01 20 70 [ 271.064533] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.064535] EtherCAT DEBUG: 01 01 20 70 [ 271.064542] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:01, 1 bit, "???". [ 271.064545] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:02. [ 271.064548] EtherCAT DEBUG 0-main-3: Upload request: [ 271.064550] EtherCAT DEBUG: 00 20 40 04 16 02 00 00 00 00 [ 271.070514] EtherCAT DEBUG 0-main-3: Upload response: [ 271.070516] EtherCAT DEBUG: 00 30 43 04 16 02 01 02 20 70 [ 271.070526] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.070528] EtherCAT DEBUG: 01 02 20 70 [ 271.070535] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:02, 1 bit, "???". [ 271.070538] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:03. [ 271.070541] EtherCAT DEBUG 0-main-3: Upload request: [ 271.070543] EtherCAT DEBUG: 00 20 40 04 16 03 00 00 00 00 [ 271.076510] EtherCAT DEBUG 0-main-3: Upload response: [ 271.076513] EtherCAT DEBUG: 00 30 43 04 16 03 01 03 20 70 [ 271.076523] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.076525] EtherCAT DEBUG: 01 03 20 70 [ 271.076532] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:03, 1 bit, "???". [ 271.076535] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:04. [ 271.076538] EtherCAT DEBUG 0-main-3: Upload request: [ 271.076540] EtherCAT DEBUG: 00 20 40 04 16 04 00 00 00 00 [ 271.082514] EtherCAT DEBUG 0-main-3: Upload response: [ 271.082517] EtherCAT DEBUG: 00 30 43 04 16 04 01 04 20 70 [ 271.082527] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.082529] EtherCAT DEBUG: 01 04 20 70 [ 271.082535] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:04, 1 bit, "???". [ 271.082539] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:05. [ 271.082542] EtherCAT DEBUG 0-main-3: Upload request: [ 271.082544] EtherCAT DEBUG: 00 20 40 04 16 05 00 00 00 00 [ 271.088503] EtherCAT DEBUG 0-main-3: Upload response: [ 271.088505] EtherCAT DEBUG: 00 30 43 04 16 05 04 00 00 00 [ 271.088516] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.088518] EtherCAT DEBUG: 04 00 00 00 [ 271.088525] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 271.088528] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1604:06. [ 271.088531] EtherCAT DEBUG 0-main-3: Upload request: [ 271.088533] EtherCAT DEBUG: 00 20 40 04 16 06 00 00 00 00 [ 271.094503] EtherCAT DEBUG 0-main-3: Upload response: [ 271.094505] EtherCAT DEBUG: 00 30 43 04 16 06 08 00 00 00 [ 271.094516] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.094518] EtherCAT DEBUG: 08 00 00 00 [ 271.094525] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 271.094529] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:04. [ 271.094531] EtherCAT DEBUG 0-main-3: Upload request: [ 271.094534] EtherCAT DEBUG: 00 20 40 12 1C 04 00 00 00 00 [ 271.100497] EtherCAT DEBUG 0-main-3: Upload response: [ 271.100499] EtherCAT DEBUG: 00 30 4B 12 1C 04 06 16 00 00 [ 271.100510] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.100512] EtherCAT DEBUG: 06 16 [ 271.100517] EtherCAT DEBUG 0-main-3: PDO 0x1606. [ 271.100520] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1606:00. [ 271.100523] EtherCAT DEBUG 0-main-3: Upload request: [ 271.100525] EtherCAT DEBUG: 00 20 40 06 16 00 00 00 00 00 [ 271.106500] EtherCAT DEBUG 0-main-2: Unknown category type 0x002B. [ 271.106513] EtherCAT DEBUG 0-main-2: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 271.106517] EtherCAT DEBUG 0-main-2: Configuring... [ 271.106520] EtherCAT DEBUG 0-main-3: Upload response: [ 271.106523] EtherCAT DEBUG: 00 30 4F 06 16 00 01 00 00 00 [ 271.106533] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.106535] EtherCAT DEBUG: 01 [ 271.106539] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 271.106542] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1606:01. [ 271.106545] EtherCAT DEBUG 0-main-3: Upload request: [ 271.106547] EtherCAT DEBUG: 00 20 40 06 16 01 00 00 00 00 [ 271.110491] EtherCAT DEBUG 0-main-2: Now in INIT. [ 271.110494] EtherCAT DEBUG 0-main-2: Clearing FMMU configurations... [ 271.110497] EtherCAT DEBUG 0-main-2: Clearing mailbox check flag... [ 271.112498] EtherCAT DEBUG 0-main-2: Clearing sync manager configurations... [ 271.112503] EtherCAT DEBUG 0-main-3: Upload response: [ 271.112505] EtherCAT DEBUG: 00 30 43 06 16 01 10 21 20 70 [ 271.112516] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.112518] EtherCAT DEBUG: 10 21 20 70 [ 271.112525] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:21, 16 bit, "???". [ 271.112529] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:05. [ 271.112532] EtherCAT DEBUG 0-main-3: Upload request: [ 271.112534] EtherCAT DEBUG: 00 20 40 12 1C 05 00 00 00 00 [ 271.114490] EtherCAT DEBUG 0-main-2: Clearing DC assignment... [ 271.116488] EtherCAT DEBUG 0-main-2: Configuring mailbox sync managers... [ 271.116493] EtherCAT DEBUG 0-main-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 271.116497] EtherCAT DEBUG 0-main-2: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 271.118488] EtherCAT DEBUG 0-main-3: Upload response: [ 271.118491] EtherCAT DEBUG: 00 30 4B 12 1C 05 07 16 00 00 [ 271.118501] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.118503] EtherCAT DEBUG: 07 16 [ 271.118508] EtherCAT DEBUG 0-main-3: PDO 0x1607. [ 271.118511] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:00. [ 271.118514] EtherCAT DEBUG 0-main-3: Upload request: [ 271.118516] EtherCAT DEBUG: 00 20 40 07 16 00 00 00 00 00 [ 271.124487] EtherCAT DEBUG 0-main-3: Upload response: [ 271.124490] EtherCAT DEBUG: 00 30 4F 07 16 00 06 00 00 00 [ 271.124500] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.124503] EtherCAT DEBUG: 06 [ 271.124506] EtherCAT DEBUG 0-main-3: 6 PDO entries mapped. [ 271.124510] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:01. [ 271.124513] EtherCAT DEBUG 0-main-3: Upload request: [ 271.124515] EtherCAT DEBUG: 00 20 40 07 16 01 00 00 00 00 [ 271.130481] EtherCAT DEBUG 0-main-3: Upload response: [ 271.130483] EtherCAT DEBUG: 00 30 43 07 16 01 01 01 30 70 [ 271.130493] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.130496] EtherCAT DEBUG: 01 01 30 70 [ 271.130503] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:01, 1 bit, "???". [ 271.130506] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:02. [ 271.130509] EtherCAT DEBUG 0-main-3: Upload request: [ 271.130511] EtherCAT DEBUG: 00 20 40 07 16 02 00 00 00 00 [ 271.136478] EtherCAT DEBUG 0-main-3: Upload response: [ 271.136481] EtherCAT DEBUG: 00 30 43 07 16 02 01 02 30 70 [ 271.136491] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.136493] EtherCAT DEBUG: 01 02 30 70 [ 271.136500] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:02, 1 bit, "???". [ 271.136503] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:03. [ 271.136506] EtherCAT DEBUG 0-main-3: Upload request: [ 271.136508] EtherCAT DEBUG: 00 20 40 07 16 03 00 00 00 00 [ 271.142482] EtherCAT DEBUG 0-main-3: Upload response: [ 271.142484] EtherCAT DEBUG: 00 30 43 07 16 03 01 03 30 70 [ 271.142495] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.142497] EtherCAT DEBUG: 01 03 30 70 [ 271.142504] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:03, 1 bit, "???". [ 271.142507] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:04. [ 271.142510] EtherCAT DEBUG 0-main-3: Upload request: [ 271.142512] EtherCAT DEBUG: 00 20 40 07 16 04 00 00 00 00 [ 271.148472] EtherCAT DEBUG 0-main-3: Upload response: [ 271.148475] EtherCAT DEBUG: 00 30 43 07 16 04 01 04 30 70 [ 271.148485] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.148487] EtherCAT DEBUG: 01 04 30 70 [ 271.148493] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:04, 1 bit, "???". [ 271.148497] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:05. [ 271.148500] EtherCAT DEBUG 0-main-3: Upload request: [ 271.148502] EtherCAT DEBUG: 00 20 40 07 16 05 00 00 00 00 [ 271.154482] EtherCAT DEBUG 0-main-3: Upload response: [ 271.154486] EtherCAT DEBUG: 00 30 43 07 16 05 04 00 00 00 [ 271.154497] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.154499] EtherCAT DEBUG: 04 00 00 00 [ 271.154507] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 271.154512] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1607:06. [ 271.154515] EtherCAT DEBUG 0-main-3: Upload request: [ 271.154517] EtherCAT DEBUG: 00 20 40 07 16 06 00 00 00 00 [ 271.160476] EtherCAT DEBUG 0-main-3: Upload response: [ 271.160479] EtherCAT DEBUG: 00 30 43 07 16 06 08 00 00 00 [ 271.160491] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.160493] EtherCAT DEBUG: 08 00 00 00 [ 271.160502] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 271.160506] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C12:06. [ 271.160510] EtherCAT DEBUG 0-main-3: Upload request: [ 271.160512] EtherCAT DEBUG: 00 20 40 12 1C 06 00 00 00 00 [ 271.166466] EtherCAT DEBUG 0-main-3: Upload response: [ 271.166470] EtherCAT DEBUG: 00 30 4B 12 1C 06 09 16 00 00 [ 271.166482] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.166484] EtherCAT DEBUG: 09 16 [ 271.166490] EtherCAT DEBUG 0-main-3: PDO 0x1609. [ 271.166494] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1609:00. [ 271.166497] EtherCAT DEBUG 0-main-3: Upload request: [ 271.166499] EtherCAT DEBUG: 00 20 40 09 16 00 00 00 00 00 [ 271.172470] EtherCAT DEBUG 0-main-3: Upload response: [ 271.172474] EtherCAT DEBUG: 00 30 4F 09 16 00 01 00 00 00 [ 271.172486] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.172488] EtherCAT DEBUG: 01 [ 271.172492] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 271.172497] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1609:01. [ 271.172500] EtherCAT DEBUG 0-main-3: Upload request: [ 271.172502] EtherCAT DEBUG: 00 20 40 09 16 01 00 00 00 00 [ 271.178455] EtherCAT DEBUG 0-main-3: Upload response: [ 271.178458] EtherCAT DEBUG: 00 30 43 09 16 01 10 21 30 70 [ 271.178468] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.178470] EtherCAT DEBUG: 10 21 30 70 [ 271.178478] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:21, 16 bit, "???". [ 271.178495] EtherCAT DEBUG 0-main-3: Reading PDO assignment of SM3. [ 271.178499] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:00. [ 271.178502] EtherCAT DEBUG 0-main-3: Upload request: [ 271.178504] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ 271.184515] EtherCAT DEBUG 0-main-3: Upload response: [ 271.184519] EtherCAT DEBUG: 00 30 4F 13 1C 00 04 00 00 00 [ 271.184530] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.184533] EtherCAT DEBUG: 04 [ 271.184537] EtherCAT DEBUG 0-main-3: 4 PDOs assigned. [ 271.184545] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:01. [ 271.184562] EtherCAT DEBUG 0-main-3: Upload request: [ 271.184565] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ 271.190458] EtherCAT DEBUG 0-main-3: Upload response: [ 271.190461] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ 271.190473] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.190475] EtherCAT DEBUG: 00 1A [ 271.190481] EtherCAT DEBUG 0-main-3: PDO 0x1A00. [ 271.190485] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:00. [ 271.190489] EtherCAT DEBUG 0-main-3: Upload request: [ 271.190491] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 271.196445] EtherCAT DEBUG 0-main-3: Upload response: [ 271.196449] EtherCAT DEBUG: 00 30 4F 00 1A 00 10 00 00 00 [ 271.196460] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.196463] EtherCAT DEBUG: 10 [ 271.196467] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 271.196471] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:01. [ 271.196474] EtherCAT DEBUG 0-main-3: Upload request: [ 271.196476] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 271.202454] EtherCAT DEBUG 0-main-3: Upload response: [ 271.202457] EtherCAT DEBUG: 00 30 43 00 1A 01 01 00 00 00 [ 271.202469] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.202471] EtherCAT DEBUG: 01 00 00 00 [ 271.202479] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.202483] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:02. [ 271.202486] EtherCAT DEBUG 0-main-3: Upload request: [ 271.202488] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 271.208450] EtherCAT DEBUG 0-main-3: Upload response: [ 271.208453] EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60 [ 271.208465] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.208467] EtherCAT DEBUG: 01 02 00 60 [ 271.208475] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:02, 1 bit, "???". [ 271.208479] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:03. [ 271.208482] EtherCAT DEBUG 0-main-3: Upload request: [ 271.208484] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 271.214438] EtherCAT DEBUG 0-main-3: Upload response: [ 271.214441] EtherCAT DEBUG: 00 30 43 00 1A 03 01 03 00 60 [ 271.214452] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.214454] EtherCAT DEBUG: 01 03 00 60 [ 271.214462] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:03, 1 bit, "???". [ 271.214466] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:04. [ 271.214469] EtherCAT DEBUG 0-main-3: Upload request: [ 271.214471] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 271.220435] EtherCAT DEBUG 0-main-3: Upload response: [ 271.220438] EtherCAT DEBUG: 00 30 43 00 1A 04 01 04 00 60 [ 271.220450] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.220452] EtherCAT DEBUG: 01 04 00 60 [ 271.220460] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:04, 1 bit, "???". [ 271.220464] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:05. [ 271.220467] EtherCAT DEBUG 0-main-3: Upload request: [ 271.220469] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 271.226450] EtherCAT DEBUG 0-main-3: Upload response: [ 271.226454] EtherCAT DEBUG: 00 30 43 00 1A 05 01 05 00 60 [ 271.226465] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.226468] EtherCAT DEBUG: 01 05 00 60 [ 271.226475] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:05, 1 bit, "???". [ 271.226479] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:06. [ 271.226482] EtherCAT DEBUG 0-main-3: Upload request: [ 271.226485] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 271.232439] EtherCAT DEBUG 0-main-3: Upload response: [ 271.232442] EtherCAT DEBUG: 00 30 43 00 1A 06 02 00 00 00 [ 271.232454] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.232456] EtherCAT DEBUG: 02 00 00 00 [ 271.232464] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 271.232468] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:07. [ 271.232472] EtherCAT DEBUG 0-main-3: Upload request: [ 271.232474] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 271.238424] EtherCAT DEBUG 0-main-3: Upload response: [ 271.238427] EtherCAT DEBUG: 00 30 43 00 1A 07 01 08 00 60 [ 271.238439] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.238441] EtherCAT DEBUG: 01 08 00 60 [ 271.238449] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:08, 1 bit, "???". [ 271.238453] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:08. [ 271.238456] EtherCAT DEBUG 0-main-3: Upload request: [ 271.238458] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 [ 271.244437] EtherCAT DEBUG 0-main-3: Upload response: [ 271.244441] EtherCAT DEBUG: 00 30 43 00 1A 08 01 09 00 60 [ 271.244452] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.244454] EtherCAT DEBUG: 01 09 00 60 [ 271.244462] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:09, 1 bit, "???". [ 271.244466] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:09. [ 271.244469] EtherCAT DEBUG 0-main-3: Upload request: [ 271.244471] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 [ 271.250418] EtherCAT DEBUG 0-main-3: Upload response: [ 271.250421] EtherCAT DEBUG: 00 30 43 00 1A 09 01 0A 00 60 [ 271.250433] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.250435] EtherCAT DEBUG: 01 0A 00 60 [ 271.250442] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0A, 1 bit, "???". [ 271.250446] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0A. [ 271.250450] EtherCAT DEBUG 0-main-3: Upload request: [ 271.250452] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00 [ 271.256418] EtherCAT DEBUG 0-main-3: Upload response: [ 271.256421] EtherCAT DEBUG: 00 30 43 00 1A 0A 02 00 00 00 [ 271.256432] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.256435] EtherCAT DEBUG: 02 00 00 00 [ 271.256443] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 271.256447] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0B. [ 271.256450] EtherCAT DEBUG 0-main-3: Upload request: [ 271.256452] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00 [ 271.262425] EtherCAT DEBUG 0-main-3: Upload response: [ 271.262428] EtherCAT DEBUG: 00 30 43 00 1A 0B 01 0D 00 60 [ 271.262439] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.262441] EtherCAT DEBUG: 01 0D 00 60 [ 271.262449] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0D, 1 bit, "???". [ 271.262453] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0C. [ 271.262456] EtherCAT DEBUG 0-main-3: Upload request: [ 271.262458] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00 [ 271.268418] EtherCAT DEBUG 0-main-3: Upload response: [ 271.268422] EtherCAT DEBUG: 00 30 43 00 1A 0C 01 0E 00 60 [ 271.268434] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.268436] EtherCAT DEBUG: 01 0E 00 60 [ 271.268444] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0E, 1 bit, "???". [ 271.268448] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0D. [ 271.268452] EtherCAT DEBUG 0-main-3: Upload request: [ 271.268454] EtherCAT DEBUG: 00 20 40 00 1A 0D 00 00 00 00 [ 271.274412] EtherCAT DEBUG 0-main-3: Upload response: [ 271.274415] EtherCAT DEBUG: 00 30 43 00 1A 0D 01 00 00 00 [ 271.274427] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.274429] EtherCAT DEBUG: 01 00 00 00 [ 271.274437] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.274441] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0E. [ 271.274444] EtherCAT DEBUG 0-main-3: Upload request: [ 271.274447] EtherCAT DEBUG: 00 20 40 00 1A 0E 00 00 00 00 [ 271.280402] EtherCAT DEBUG 0-main-3: Upload response: [ 271.280405] EtherCAT DEBUG: 00 30 43 00 1A 0E 01 10 00 60 [ 271.280416] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.280418] EtherCAT DEBUG: 01 10 00 60 [ 271.280425] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:10, 1 bit, "???". [ 271.280429] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:0F. [ 271.280432] EtherCAT DEBUG 0-main-3: Upload request: [ 271.280434] EtherCAT DEBUG: 00 20 40 00 1A 0F 00 00 00 00 [ 271.286397] EtherCAT DEBUG 0-main-3: Upload response: [ 271.286400] EtherCAT DEBUG: 00 30 43 00 1A 0F 10 11 00 60 [ 271.286411] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.286413] EtherCAT DEBUG: 10 11 00 60 [ 271.286420] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:11, 16 bit, "???". [ 271.286424] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A00:10. [ 271.286427] EtherCAT DEBUG 0-main-3: Upload request: [ 271.286429] EtherCAT DEBUG: 00 20 40 00 1A 10 00 00 00 00 [ 271.292404] EtherCAT DEBUG 0-main-3: Upload response: [ 271.292407] EtherCAT DEBUG: 00 30 43 00 1A 10 10 12 00 60 [ 271.292417] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.292419] EtherCAT DEBUG: 10 12 00 60 [ 271.292426] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:12, 16 bit, "???". [ 271.292431] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:02. [ 271.292434] EtherCAT DEBUG 0-main-3: Upload request: [ 271.292436] EtherCAT DEBUG: 00 20 40 13 1C 02 00 00 00 00 [ 271.298390] EtherCAT DEBUG 0-main-3: Upload response: [ 271.298393] EtherCAT DEBUG: 00 30 4B 13 1C 02 03 1A 00 00 [ 271.298404] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.298406] EtherCAT DEBUG: 03 1A [ 271.298411] EtherCAT DEBUG 0-main-3: PDO 0x1A03. [ 271.298415] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:00. [ 271.298418] EtherCAT DEBUG 0-main-3: Upload request: [ 271.298420] EtherCAT DEBUG: 00 20 40 03 1A 00 00 00 00 00 [ 271.304398] EtherCAT DEBUG 0-main-3: Upload response: [ 271.304401] EtherCAT DEBUG: 00 30 4F 03 1A 00 10 00 00 00 [ 271.304412] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.304415] EtherCAT DEBUG: 10 [ 271.304419] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 271.304422] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:01. [ 271.304426] EtherCAT DEBUG 0-main-3: Upload request: [ 271.304428] EtherCAT DEBUG: 00 20 40 03 1A 01 00 00 00 00 [ 271.310399] EtherCAT DEBUG 0-main-3: Upload response: [ 271.310402] EtherCAT DEBUG: 00 30 43 03 1A 01 01 00 00 00 [ 271.310413] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.310415] EtherCAT DEBUG: 01 00 00 00 [ 271.310423] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.310427] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:02. [ 271.310430] EtherCAT DEBUG 0-main-3: Upload request: [ 271.310432] EtherCAT DEBUG: 00 20 40 03 1A 02 00 00 00 00 [ 271.316390] EtherCAT DEBUG 0-main-3: Upload response: [ 271.316393] EtherCAT DEBUG: 00 30 43 03 1A 02 01 02 10 60 [ 271.316404] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.316407] EtherCAT DEBUG: 01 02 10 60 [ 271.316414] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:02, 1 bit, "???". [ 271.316418] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:03. [ 271.316422] EtherCAT DEBUG 0-main-3: Upload request: [ 271.316424] EtherCAT DEBUG: 00 20 40 03 1A 03 00 00 00 00 [ 271.322389] EtherCAT DEBUG 0-main-3: Upload response: [ 271.322392] EtherCAT DEBUG: 00 30 43 03 1A 03 01 03 10 60 [ 271.322404] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.322406] EtherCAT DEBUG: 01 03 10 60 [ 271.322413] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:03, 1 bit, "???". [ 271.322417] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:04. [ 271.322420] EtherCAT DEBUG 0-main-3: Upload request: [ 271.322423] EtherCAT DEBUG: 00 20 40 03 1A 04 00 00 00 00 [ 271.328378] EtherCAT DEBUG 0-main-3: Upload response: [ 271.328381] EtherCAT DEBUG: 00 30 43 03 1A 04 01 04 10 60 [ 271.328392] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.328394] EtherCAT DEBUG: 01 04 10 60 [ 271.328402] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:04, 1 bit, "???". [ 271.328406] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:05. [ 271.328409] EtherCAT DEBUG 0-main-3: Upload request: [ 271.328411] EtherCAT DEBUG: 00 20 40 03 1A 05 00 00 00 00 [ 271.334374] EtherCAT DEBUG 0-main-3: Upload response: [ 271.334377] EtherCAT DEBUG: 00 30 43 03 1A 05 01 05 10 60 [ 271.334389] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.334391] EtherCAT DEBUG: 01 05 10 60 [ 271.334399] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:05, 1 bit, "???". [ 271.334403] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:06. [ 271.334406] EtherCAT DEBUG 0-main-3: Upload request: [ 271.334409] EtherCAT DEBUG: 00 20 40 03 1A 06 00 00 00 00 [ 271.340367] EtherCAT DEBUG 0-main-3: Upload response: [ 271.340370] EtherCAT DEBUG: 00 30 43 03 1A 06 02 00 00 00 [ 271.340381] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.340383] EtherCAT DEBUG: 02 00 00 00 [ 271.340391] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 271.340395] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:07. [ 271.340398] EtherCAT DEBUG 0-main-3: Upload request: [ 271.340400] EtherCAT DEBUG: 00 20 40 03 1A 07 00 00 00 00 [ 271.344367] EtherCAT DEBUG 0-main-2: Now in PREOP. [ 271.344370] EtherCAT DEBUG 0-main-2: Finished configuration. [ 271.346374] EtherCAT DEBUG 0-main-2: Scanning PDO assignment and mapping. [ 271.346379] EtherCAT DEBUG 0-main-2: Reading PDO assignment of SM2. [ 271.346383] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C12:00. [ 271.346387] EtherCAT DEBUG 0-main-2: Upload request: [ 271.346389] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ 271.346401] EtherCAT DEBUG 0-main-3: Upload response: [ 271.346403] EtherCAT DEBUG: 00 30 43 03 1A 07 01 08 10 60 [ 271.346414] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.346416] EtherCAT DEBUG: 01 08 10 60 [ 271.346423] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:08, 1 bit, "???". [ 271.346427] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:08. [ 271.346430] EtherCAT DEBUG 0-main-3: Upload request: [ 271.346432] EtherCAT DEBUG: 00 20 40 03 1A 08 00 00 00 00 [ 271.352376] EtherCAT DEBUG 0-main-2: Upload response: [ 271.352379] EtherCAT DEBUG: 00 30 4F 12 1C 00 00 00 00 00 [ 271.352391] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.352393] EtherCAT DEBUG: 00 [ 271.352397] EtherCAT DEBUG 0-main-2: 0 PDOs assigned. [ 271.352401] EtherCAT DEBUG 0-main-2: Reading PDO assignment of SM3. [ 271.352405] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C13:00. [ 271.352408] EtherCAT DEBUG 0-main-2: Upload request: [ 271.352411] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ 271.352421] EtherCAT DEBUG 0-main-3: Upload response: [ 271.352423] EtherCAT DEBUG: 00 30 43 03 1A 08 01 09 10 60 [ 271.352434] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.352436] EtherCAT DEBUG: 01 09 10 60 [ 271.352443] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:09, 1 bit, "???". [ 271.352446] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:09. [ 271.352449] EtherCAT DEBUG 0-main-3: Upload request: [ 271.352451] EtherCAT DEBUG: 00 20 40 03 1A 09 00 00 00 00 [ 271.358361] EtherCAT DEBUG 0-main-2: Upload response: [ 271.358364] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 [ 271.358375] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.358377] EtherCAT DEBUG: 01 [ 271.358381] EtherCAT DEBUG 0-main-2: 1 PDOs assigned. [ 271.358385] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1C13:01. [ 271.358388] EtherCAT DEBUG 0-main-2: Upload request: [ 271.358391] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ 271.358401] EtherCAT DEBUG 0-main-3: Upload response: [ 271.358403] EtherCAT DEBUG: 00 30 43 03 1A 09 01 0A 10 60 [ 271.358414] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.358416] EtherCAT DEBUG: 01 0A 10 60 [ 271.358423] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0A, 1 bit, "???". [ 271.358426] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0A. [ 271.358429] EtherCAT DEBUG 0-main-3: Upload request: [ 271.358431] EtherCAT DEBUG: 00 20 40 03 1A 0A 00 00 00 00 [ 271.364381] EtherCAT DEBUG 0-main-2: Upload response: [ 271.364384] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ 271.364396] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.364399] EtherCAT DEBUG: 00 1A [ 271.364404] EtherCAT DEBUG 0-main-2: PDO 0x1A00. [ 271.364408] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:00. [ 271.364411] EtherCAT DEBUG 0-main-2: Upload request: [ 271.364414] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 271.364425] EtherCAT DEBUG 0-main-3: Upload response: [ 271.364427] EtherCAT DEBUG: 00 30 43 03 1A 0A 02 00 00 00 [ 271.364437] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.364439] EtherCAT DEBUG: 02 00 00 00 [ 271.364446] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 271.364450] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0B. [ 271.364453] EtherCAT DEBUG 0-main-3: Upload request: [ 271.364455] EtherCAT DEBUG: 00 20 40 03 1A 0B 00 00 00 00 [ 271.370359] EtherCAT DEBUG 0-main-2: Upload response: [ 271.370362] EtherCAT DEBUG: 00 30 4F 00 1A 00 0C 00 00 00 [ 271.370374] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.370376] EtherCAT DEBUG: 0C [ 271.370380] EtherCAT DEBUG 0-main-2: 12 PDO entries mapped. [ 271.370384] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:01. [ 271.370387] EtherCAT DEBUG 0-main-2: Upload request: [ 271.370389] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 271.370400] EtherCAT DEBUG 0-main-3: Upload response: [ 271.370402] EtherCAT DEBUG: 00 30 43 03 1A 0B 01 0D 10 60 [ 271.370412] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.370414] EtherCAT DEBUG: 01 0D 10 60 [ 271.370421] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0D, 1 bit, "???". [ 271.370425] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0C. [ 271.370428] EtherCAT DEBUG 0-main-3: Upload request: [ 271.370430] EtherCAT DEBUG: 00 20 40 03 1A 0C 00 00 00 00 [ 271.376348] EtherCAT DEBUG 0-main-2: Upload response: [ 271.376351] EtherCAT DEBUG: 00 30 43 00 1A 01 01 01 00 60 [ 271.376364] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.376366] EtherCAT DEBUG: 01 01 00 60 [ 271.376373] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:01, 1 bit, "???". [ 271.376377] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:02. [ 271.376381] EtherCAT DEBUG 0-main-2: Upload request: [ 271.376383] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 271.376394] EtherCAT DEBUG 0-main-3: Upload response: [ 271.376396] EtherCAT DEBUG: 00 30 43 03 1A 0C 01 0E 10 60 [ 271.376406] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.376408] EtherCAT DEBUG: 01 0E 10 60 [ 271.376415] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0E, 1 bit, "???". [ 271.376418] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0D. [ 271.376421] EtherCAT DEBUG 0-main-3: Upload request: [ 271.376423] EtherCAT DEBUG: 00 20 40 03 1A 0D 00 00 00 00 [ 271.382356] EtherCAT DEBUG 0-main-2: Upload response: [ 271.382360] EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60 [ 271.382371] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.382374] EtherCAT DEBUG: 01 02 00 60 [ 271.382381] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:02, 1 bit, "???". [ 271.382385] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:03. [ 271.382388] EtherCAT DEBUG 0-main-2: Upload request: [ 271.382391] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 271.382401] EtherCAT DEBUG 0-main-3: Upload response: [ 271.382403] EtherCAT DEBUG: 00 30 43 03 1A 0D 01 00 00 00 [ 271.382413] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.382416] EtherCAT DEBUG: 01 00 00 00 [ 271.382423] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.382426] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0E. [ 271.382429] EtherCAT DEBUG 0-main-3: Upload request: [ 271.382431] EtherCAT DEBUG: 00 20 40 03 1A 0E 00 00 00 00 [ 271.388347] EtherCAT DEBUG 0-main-2: Upload response: [ 271.388350] EtherCAT DEBUG: 00 30 43 00 1A 03 01 03 00 60 [ 271.388361] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.388363] EtherCAT DEBUG: 01 03 00 60 [ 271.388370] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:03, 1 bit, "???". [ 271.388374] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:04. [ 271.388377] EtherCAT DEBUG 0-main-2: Upload request: [ 271.388379] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 271.388390] EtherCAT DEBUG 0-main-3: Upload response: [ 271.388392] EtherCAT DEBUG: 00 30 43 03 1A 0E 01 10 10 60 [ 271.388402] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.388404] EtherCAT DEBUG: 01 10 10 60 [ 271.388411] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:10, 1 bit, "???". [ 271.388414] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:0F. [ 271.388417] EtherCAT DEBUG 0-main-3: Upload request: [ 271.388419] EtherCAT DEBUG: 00 20 40 03 1A 0F 00 00 00 00 [ 271.394338] EtherCAT DEBUG 0-main-2: Upload response: [ 271.394342] EtherCAT DEBUG: 00 30 43 00 1A 04 01 04 00 60 [ 271.394354] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.394356] EtherCAT DEBUG: 01 04 00 60 [ 271.394363] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:04, 1 bit, "???". [ 271.394367] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:05. [ 271.394370] EtherCAT DEBUG 0-main-2: Upload request: [ 271.394373] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 271.394383] EtherCAT DEBUG 0-main-3: Upload response: [ 271.394385] EtherCAT DEBUG: 00 30 43 03 1A 0F 10 11 10 60 [ 271.394395] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.394397] EtherCAT DEBUG: 10 11 10 60 [ 271.394404] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:11, 16 bit, "???". [ 271.394408] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A03:10. [ 271.394411] EtherCAT DEBUG 0-main-3: Upload request: [ 271.394413] EtherCAT DEBUG: 00 20 40 03 1A 10 00 00 00 00 [ 271.400334] EtherCAT DEBUG 0-main-2: Upload response: [ 271.400337] EtherCAT DEBUG: 00 30 43 00 1A 05 01 05 00 60 [ 271.400349] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.400351] EtherCAT DEBUG: 01 05 00 60 [ 271.400359] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:05, 1 bit, "???". [ 271.400363] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:06. [ 271.400366] EtherCAT DEBUG 0-main-2: Upload request: [ 271.400368] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 271.400379] EtherCAT DEBUG 0-main-3: Upload response: [ 271.400381] EtherCAT DEBUG: 00 30 43 03 1A 10 10 12 10 60 [ 271.400391] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.400393] EtherCAT DEBUG: 10 12 10 60 [ 271.400400] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:12, 16 bit, "???". [ 271.400404] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:03. [ 271.400406] EtherCAT DEBUG 0-main-3: Upload request: [ 271.400409] EtherCAT DEBUG: 00 20 40 13 1C 03 00 00 00 00 [ 271.406331] EtherCAT DEBUG 0-main-2: Upload response: [ 271.406335] EtherCAT DEBUG: 00 30 43 00 1A 06 01 06 00 60 [ 271.406346] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.406348] EtherCAT DEBUG: 01 06 00 60 [ 271.406356] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:06, 1 bit, "???". [ 271.406360] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:07. [ 271.406363] EtherCAT DEBUG 0-main-2: Upload request: [ 271.406366] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 271.406376] EtherCAT DEBUG 0-main-3: Upload response: [ 271.406379] EtherCAT DEBUG: 00 30 4B 13 1C 03 06 1A 00 00 [ 271.406389] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.406391] EtherCAT DEBUG: 06 1A [ 271.406396] EtherCAT DEBUG 0-main-3: PDO 0x1A06. [ 271.406399] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:00. [ 271.406402] EtherCAT DEBUG 0-main-3: Upload request: [ 271.406404] EtherCAT DEBUG: 00 20 40 06 1A 00 00 00 00 00 [ 271.412340] EtherCAT DEBUG 0-main-2: Upload response: [ 271.412343] EtherCAT DEBUG: 00 30 43 00 1A 07 01 07 00 60 [ 271.412355] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.412357] EtherCAT DEBUG: 01 07 00 60 [ 271.412364] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:07, 1 bit, "???". [ 271.412368] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:08. [ 271.412371] EtherCAT DEBUG 0-main-2: Upload request: [ 271.412373] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 [ 271.412384] EtherCAT DEBUG 0-main-3: Upload response: [ 271.412386] EtherCAT DEBUG: 00 30 4F 06 1A 00 0E 00 00 00 [ 271.412396] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.412398] EtherCAT DEBUG: 0E [ 271.412402] EtherCAT DEBUG 0-main-3: 14 PDO entries mapped. [ 271.412405] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:01. [ 271.412408] EtherCAT DEBUG 0-main-3: Upload request: [ 271.412411] EtherCAT DEBUG: 00 20 40 06 1A 01 00 00 00 00 [ 271.418324] EtherCAT DEBUG 0-main-2: Upload response: [ 271.418327] EtherCAT DEBUG: 00 30 43 00 1A 08 07 00 00 00 [ 271.418338] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.418340] EtherCAT DEBUG: 07 00 00 00 [ 271.418348] EtherCAT DEBUG 0-main-2: PDO entry 0x0000:00, 7 bit, "Gap". [ 271.418352] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:09. [ 271.418356] EtherCAT DEBUG 0-main-2: Upload request: [ 271.418358] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 [ 271.418368] EtherCAT DEBUG 0-main-3: Upload response: [ 271.418370] EtherCAT DEBUG: 00 30 43 06 1A 01 01 01 20 60 [ 271.418381] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.418383] EtherCAT DEBUG: 01 01 20 60 [ 271.418390] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:01, 1 bit, "???". [ 271.418393] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:02. [ 271.418396] EtherCAT DEBUG 0-main-3: Upload request: [ 271.418398] EtherCAT DEBUG: 00 20 40 06 1A 02 00 00 00 00 [ 271.424377] EtherCAT DEBUG 0-main-2: Upload response: [ 271.424380] EtherCAT DEBUG: 00 30 43 00 1A 09 02 0F 00 60 [ 271.424391] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.424394] EtherCAT DEBUG: 02 0F 00 60 [ 271.424401] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:0F, 2 bit, "???". [ 271.424405] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0A. [ 271.424408] EtherCAT DEBUG 0-main-2: Upload request: [ 271.424410] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00 [ 271.424421] EtherCAT DEBUG 0-main-3: Upload response: [ 271.424423] EtherCAT DEBUG: 00 30 43 06 1A 02 01 02 20 60 [ 271.424433] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.424435] EtherCAT DEBUG: 01 02 20 60 [ 271.424442] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:02, 1 bit, "???". [ 271.424445] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:03. [ 271.424448] EtherCAT DEBUG 0-main-3: Upload request: [ 271.424450] EtherCAT DEBUG: 00 20 40 06 1A 03 00 00 00 00 [ 271.430325] EtherCAT DEBUG 0-main-2: Upload response: [ 271.430329] EtherCAT DEBUG: 00 30 43 00 1A 0A 20 11 00 60 [ 271.430340] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.430342] EtherCAT DEBUG: 20 11 00 60 [ 271.430349] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:11, 32 bit, "???". [ 271.430353] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0B. [ 271.430356] EtherCAT DEBUG 0-main-2: Upload request: [ 271.430359] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00 [ 271.430369] EtherCAT DEBUG 0-main-3: Upload response: [ 271.430371] EtherCAT DEBUG: 00 30 43 06 1A 03 01 03 20 60 [ 271.430381] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.430383] EtherCAT DEBUG: 01 03 20 60 [ 271.430390] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:03, 1 bit, "???". [ 271.430393] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:04. [ 271.430396] EtherCAT DEBUG 0-main-3: Upload request: [ 271.430399] EtherCAT DEBUG: 00 20 40 06 1A 04 00 00 00 00 [ 271.436315] EtherCAT DEBUG 0-main-2: Upload response: [ 271.436319] EtherCAT DEBUG: 00 30 43 00 1A 0B 20 13 00 60 [ 271.436330] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.436332] EtherCAT DEBUG: 20 13 00 60 [ 271.436340] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:13, 32 bit, "???". [ 271.436344] EtherCAT DEBUG 0-main-2: Uploading SDO 0x1A00:0C. [ 271.436347] EtherCAT DEBUG 0-main-2: Upload request: [ 271.436350] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00 [ 271.436360] EtherCAT DEBUG 0-main-3: Upload response: [ 271.436362] EtherCAT DEBUG: 00 30 43 06 1A 04 01 04 20 60 [ 271.436372] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.436374] EtherCAT DEBUG: 01 04 20 60 [ 271.436381] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:04, 1 bit, "???". [ 271.436385] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:05. [ 271.436388] EtherCAT DEBUG 0-main-3: Upload request: [ 271.436390] EtherCAT DEBUG: 00 20 40 06 1A 05 00 00 00 00 [ 271.442327] EtherCAT DEBUG 0-main-2: Upload response: [ 271.442330] EtherCAT DEBUG: 00 30 43 00 1A 0C 08 14 00 60 [ 271.442342] EtherCAT DEBUG 0-main-2: Uploaded data: [ 271.442345] EtherCAT DEBUG: 08 14 00 60 [ 271.442352] EtherCAT DEBUG 0-main-2: PDO entry 0x6000:14, 8 bit, "???". [ 271.442363] EtherCAT DEBUG 0-main-2: Reading of PDO configuration finished. [ 271.442367] EtherCAT DEBUG 0-main-3: Upload response: [ 271.442369] EtherCAT DEBUG: 00 30 43 06 1A 05 01 05 20 60 [ 271.442379] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.442382] EtherCAT DEBUG: 01 05 20 60 [ 271.442388] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:05, 1 bit, "???". [ 271.442392] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:06. [ 271.442396] EtherCAT DEBUG 0-main-3: Upload request: [ 271.442398] EtherCAT DEBUG: 00 20 40 06 1A 06 00 00 00 00 [ 271.448382] EtherCAT DEBUG 0-main-3: Upload response: [ 271.448385] EtherCAT DEBUG: 00 30 43 06 1A 06 01 06 20 60 [ 271.448397] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.448399] EtherCAT DEBUG: 01 06 20 60 [ 271.448406] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:06, 1 bit, "???". [ 271.448410] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:07. [ 271.448413] EtherCAT DEBUG 0-main-3: Upload request: [ 271.448415] EtherCAT DEBUG: 00 20 40 06 1A 07 00 00 00 00 [ 271.454305] EtherCAT DEBUG 0-main-3: Upload response: [ 271.454308] EtherCAT DEBUG: 00 30 43 06 1A 07 01 07 20 60 [ 271.454319] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.454322] EtherCAT DEBUG: 01 07 20 60 [ 271.454329] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:07, 1 bit, "???". [ 271.454333] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:08. [ 271.454336] EtherCAT DEBUG 0-main-3: Upload request: [ 271.454338] EtherCAT DEBUG: 00 20 40 06 1A 08 00 00 00 00 [ 271.460300] EtherCAT DEBUG 0-main-3: Upload response: [ 271.460303] EtherCAT DEBUG: 00 30 43 06 1A 08 01 00 00 00 [ 271.460314] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.460316] EtherCAT DEBUG: 01 00 00 00 [ 271.460324] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.460328] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:09. [ 271.460331] EtherCAT DEBUG 0-main-3: Upload request: [ 271.460334] EtherCAT DEBUG: 00 20 40 06 1A 09 00 00 00 00 [ 271.466307] EtherCAT DEBUG 0-main-3: Upload response: [ 271.466310] EtherCAT DEBUG: 00 30 43 06 1A 09 03 00 00 00 [ 271.466321] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.466324] EtherCAT DEBUG: 03 00 00 00 [ 271.466331] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 3 bit, "Gap". [ 271.466335] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0A. [ 271.466338] EtherCAT DEBUG 0-main-3: Upload request: [ 271.466341] EtherCAT DEBUG: 00 20 40 06 1A 0A 00 00 00 00 [ 271.472305] EtherCAT DEBUG 0-main-3: Upload response: [ 271.472309] EtherCAT DEBUG: 00 30 43 06 1A 0A 01 0C 20 60 [ 271.472321] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.472323] EtherCAT DEBUG: 01 0C 20 60 [ 271.472330] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0C, 1 bit, "???". [ 271.472334] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0B. [ 271.472338] EtherCAT DEBUG 0-main-3: Upload request: [ 271.472340] EtherCAT DEBUG: 00 20 40 06 1A 0B 00 00 00 00 [ 271.478331] EtherCAT DEBUG 0-main-3: Upload response: [ 271.478335] EtherCAT DEBUG: 00 30 43 06 1A 0B 01 0D 20 60 [ 271.478365] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.478367] EtherCAT DEBUG: 01 0D 20 60 [ 271.478375] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0D, 1 bit, "???". [ 271.478379] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0C. [ 271.478383] EtherCAT DEBUG 0-main-3: Upload request: [ 271.478385] EtherCAT DEBUG: 00 20 40 06 1A 0C 00 00 00 00 [ 271.484297] EtherCAT DEBUG 0-main-3: Upload response: [ 271.484301] EtherCAT DEBUG: 00 30 43 06 1A 0C 01 0E 20 60 [ 271.484313] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.484316] EtherCAT DEBUG: 01 0E 20 60 [ 271.484324] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:0E, 1 bit, "???". [ 271.484328] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0D. [ 271.484332] EtherCAT DEBUG 0-main-3: Upload request: [ 271.484334] EtherCAT DEBUG: 00 20 40 06 1A 0D 00 00 00 00 [ 271.490294] EtherCAT DEBUG 0-main-3: Upload response: [ 271.490298] EtherCAT DEBUG: 00 30 43 06 1A 0D 01 00 00 00 [ 271.490310] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.490312] EtherCAT DEBUG: 01 00 00 00 [ 271.490320] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.490324] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A06:0E. [ 271.490328] EtherCAT DEBUG 0-main-3: Upload request: [ 271.490330] EtherCAT DEBUG: 00 20 40 06 1A 0E 00 00 00 00 [ 271.496291] EtherCAT DEBUG 0-main-3: Upload response: [ 271.496295] EtherCAT DEBUG: 00 30 43 06 1A 0E 01 10 20 60 [ 271.496307] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.496309] EtherCAT DEBUG: 01 10 20 60 [ 271.496317] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:10, 1 bit, "???". [ 271.496322] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1C13:04. [ 271.496325] EtherCAT DEBUG 0-main-3: Upload request: [ 271.496327] EtherCAT DEBUG: 00 20 40 13 1C 04 00 00 00 00 [ 271.502292] EtherCAT DEBUG 0-main-3: Upload response: [ 271.502296] EtherCAT DEBUG: 00 30 4B 13 1C 04 08 1A 00 00 [ 271.502308] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.502310] EtherCAT DEBUG: 08 1A [ 271.502316] EtherCAT DEBUG 0-main-3: PDO 0x1A08. [ 271.502320] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:00. [ 271.502324] EtherCAT DEBUG 0-main-3: Upload request: [ 271.502326] EtherCAT DEBUG: 00 20 40 08 1A 00 00 00 00 00 [ 271.508284] EtherCAT DEBUG 0-main-3: Upload response: [ 271.508287] EtherCAT DEBUG: 00 30 4F 08 1A 00 0E 00 00 00 [ 271.508299] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.508301] EtherCAT DEBUG: 0E [ 271.508306] EtherCAT DEBUG 0-main-3: 14 PDO entries mapped. [ 271.508310] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:01. [ 271.508313] EtherCAT DEBUG 0-main-3: Upload request: [ 271.508315] EtherCAT DEBUG: 00 20 40 08 1A 01 00 00 00 00 [ 271.514288] EtherCAT DEBUG 0-main-3: Upload response: [ 271.514292] EtherCAT DEBUG: 00 30 43 08 1A 01 01 01 30 60 [ 271.514304] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.514306] EtherCAT DEBUG: 01 01 30 60 [ 271.514314] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:01, 1 bit, "???". [ 271.514318] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:02. [ 271.514321] EtherCAT DEBUG 0-main-3: Upload request: [ 271.514324] EtherCAT DEBUG: 00 20 40 08 1A 02 00 00 00 00 [ 271.520279] EtherCAT DEBUG 0-main-3: Upload response: [ 271.520283] EtherCAT DEBUG: 00 30 43 08 1A 02 01 02 30 60 [ 271.520295] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.520298] EtherCAT DEBUG: 01 02 30 60 [ 271.520305] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:02, 1 bit, "???". [ 271.520310] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:03. [ 271.520313] EtherCAT DEBUG 0-main-3: Upload request: [ 271.520315] EtherCAT DEBUG: 00 20 40 08 1A 03 00 00 00 00 [ 271.526281] EtherCAT DEBUG 0-main-3: Upload response: [ 271.526285] EtherCAT DEBUG: 00 30 43 08 1A 03 01 03 30 60 [ 271.526297] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.526300] EtherCAT DEBUG: 01 03 30 60 [ 271.526308] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:03, 1 bit, "???". [ 271.526312] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:04. [ 271.526315] EtherCAT DEBUG 0-main-3: Upload request: [ 271.526317] EtherCAT DEBUG: 00 20 40 08 1A 04 00 00 00 00 [ 271.532284] EtherCAT DEBUG 0-main-3: Upload response: [ 271.532288] EtherCAT DEBUG: 00 30 43 08 1A 04 01 04 30 60 [ 271.532300] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.532302] EtherCAT DEBUG: 01 04 30 60 [ 271.532310] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:04, 1 bit, "???". [ 271.532314] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:05. [ 271.532318] EtherCAT DEBUG 0-main-3: Upload request: [ 271.532320] EtherCAT DEBUG: 00 20 40 08 1A 05 00 00 00 00 [ 271.538260] EtherCAT DEBUG 0-main-3: Upload response: [ 271.538264] EtherCAT DEBUG: 00 30 43 08 1A 05 01 05 30 60 [ 271.538276] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.538278] EtherCAT DEBUG: 01 05 30 60 [ 271.538286] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:05, 1 bit, "???". [ 271.538290] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:06. [ 271.538293] EtherCAT DEBUG 0-main-3: Upload request: [ 271.538295] EtherCAT DEBUG: 00 20 40 08 1A 06 00 00 00 00 [ 271.544270] EtherCAT DEBUG 0-main-3: Upload response: [ 271.544274] EtherCAT DEBUG: 00 30 43 08 1A 06 01 06 30 60 [ 271.544286] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.544289] EtherCAT DEBUG: 01 06 30 60 [ 271.544296] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:06, 1 bit, "???". [ 271.544301] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:07. [ 271.544304] EtherCAT DEBUG 0-main-3: Upload request: [ 271.544307] EtherCAT DEBUG: 00 20 40 08 1A 07 00 00 00 00 [ 271.550274] EtherCAT DEBUG 0-main-3: Upload response: [ 271.550278] EtherCAT DEBUG: 00 30 43 08 1A 07 01 07 30 60 [ 271.550290] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.550292] EtherCAT DEBUG: 01 07 30 60 [ 271.550300] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:07, 1 bit, "???". [ 271.550304] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:08. [ 271.550308] EtherCAT DEBUG 0-main-3: Upload request: [ 271.550310] EtherCAT DEBUG: 00 20 40 08 1A 08 00 00 00 00 [ 271.556260] EtherCAT DEBUG 0-main-3: Upload response: [ 271.556264] EtherCAT DEBUG: 00 30 43 08 1A 08 01 00 00 00 [ 271.556276] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.556278] EtherCAT DEBUG: 01 00 00 00 [ 271.556286] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.556290] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:09. [ 271.556294] EtherCAT DEBUG 0-main-3: Upload request: [ 271.556296] EtherCAT DEBUG: 00 20 40 08 1A 09 00 00 00 00 [ 271.562261] EtherCAT DEBUG 0-main-3: Upload response: [ 271.562265] EtherCAT DEBUG: 00 30 43 08 1A 09 03 00 00 00 [ 271.562277] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.562280] EtherCAT DEBUG: 03 00 00 00 [ 271.562288] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 3 bit, "Gap". [ 271.562293] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0A. [ 271.562296] EtherCAT DEBUG 0-main-3: Upload request: [ 271.562298] EtherCAT DEBUG: 00 20 40 08 1A 0A 00 00 00 00 [ 271.568243] EtherCAT DEBUG 0-main-3: Upload response: [ 271.568247] EtherCAT DEBUG: 00 30 43 08 1A 0A 01 0C 30 60 [ 271.568259] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.568261] EtherCAT DEBUG: 01 0C 30 60 [ 271.568269] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0C, 1 bit, "???". [ 271.568274] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0B. [ 271.568277] EtherCAT DEBUG 0-main-3: Upload request: [ 271.568279] EtherCAT DEBUG: 00 20 40 08 1A 0B 00 00 00 00 [ 271.574249] EtherCAT DEBUG 0-main-3: Upload response: [ 271.574252] EtherCAT DEBUG: 00 30 43 08 1A 0B 01 0D 30 60 [ 271.574264] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.574266] EtherCAT DEBUG: 01 0D 30 60 [ 271.574273] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0D, 1 bit, "???". [ 271.574277] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0C. [ 271.574281] EtherCAT DEBUG 0-main-3: Upload request: [ 271.574283] EtherCAT DEBUG: 00 20 40 08 1A 0C 00 00 00 00 [ 271.580242] EtherCAT DEBUG 0-main-3: Upload response: [ 271.580246] EtherCAT DEBUG: 00 30 43 08 1A 0C 01 0E 30 60 [ 271.580257] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.580260] EtherCAT DEBUG: 01 0E 30 60 [ 271.580267] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:0E, 1 bit, "???". [ 271.580272] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0D. [ 271.580275] EtherCAT DEBUG 0-main-3: Upload request: [ 271.580277] EtherCAT DEBUG: 00 20 40 08 1A 0D 00 00 00 00 [ 271.586241] EtherCAT DEBUG 0-main-3: Upload response: [ 271.586245] EtherCAT DEBUG: 00 30 43 08 1A 0D 01 00 00 00 [ 271.586256] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.586259] EtherCAT DEBUG: 01 00 00 00 [ 271.586267] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 271.586271] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A08:0E. [ 271.586275] EtherCAT DEBUG 0-main-3: Upload request: [ 271.586277] EtherCAT DEBUG: 00 20 40 08 1A 0E 00 00 00 00 [ 271.592244] EtherCAT DEBUG 0-main-3: Upload response: [ 271.592248] EtherCAT DEBUG: 00 30 43 08 1A 0E 01 10 30 60 [ 271.592259] EtherCAT DEBUG 0-main-3: Uploaded data: [ 271.592262] EtherCAT DEBUG: 01 10 30 60 [ 271.592270] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:10, 1 bit, "???". [ 271.592294] EtherCAT DEBUG 0-main-3: Reading of PDO configuration finished. [ 272.407823] EtherCAT DEBUG 0-main-4: Unknown category type 0x003C. [ 272.407829] EtherCAT DEBUG 0-main-4: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [ 272.407833] EtherCAT DEBUG 0-main-4: Configuring... [ 272.411785] EtherCAT DEBUG 0-main-4: Now in INIT. [ 272.411789] EtherCAT DEBUG 0-main-4: Clearing FMMU configurations... [ 272.411793] EtherCAT DEBUG 0-main-4: Clearing mailbox check flag... [ 272.413776] EtherCAT DEBUG 0-main-4: Clearing sync manager configurations... [ 272.415782] EtherCAT DEBUG 0-main-4: Configuring mailbox sync managers... [ 272.415788] EtherCAT DEBUG 0-main-4: SM0: Addr 0x1800, Size 48, Ctrl 0x26, En 1 [ 272.415793] EtherCAT DEBUG 0-main-4: SM1: Addr 0x1880, Size 48, Ctrl 0x22, En 1 [ 272.421794] EtherCAT DEBUG 0-main-4: Now in PREOP. [ 272.421799] EtherCAT DEBUG 0-main-4: Finished configuration. [ 272.423787] EtherCAT 0: Bus scanning completed in 2080 ms. [ 272.431390] EtherCAT DEBUG 0 10001:0: Attached slave main-0. [ 272.431393] EtherCAT DEBUG 0 47000:0: Attached slave main-3. [ 272.431397] EtherCAT 0: Using slave main-0 as application selected DC reference clock. [ 272.439204] EtherCAT 0: Using slave main-0 as DC reference clock. [ 272.446891] KMC: Reference clock time resumed [ 272.454537] EtherCAT DEBUG 0-main-0: upstream port = 0 [ 272.454540] EtherCAT DEBUG 0-main-1: upstream port = 0 [ 272.454543] EtherCAT DEBUG 0-main-2: upstream port = 0 [ 272.454546] EtherCAT DEBUG 0-main-3: upstream port = 0 [ 272.454549] EtherCAT DEBUG 0-main-4: upstream port = 0 [ 272.454555] EtherCAT DEBUG 0-main-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) [ 272.454559] EtherCAT DEBUG 0-main-1: ec_slave_calc_transmission_delays_rec(delay = 575 ns) [ 272.454562] EtherCAT DEBUG 0-main-2: ec_slave_calc_transmission_delays_rec(delay = 720 ns) [ 272.454566] EtherCAT DEBUG 0-main-3: ec_slave_calc_transmission_delays_rec(delay = 864 ns) [ 272.454570] EtherCAT DEBUG 0-main-4: ec_slave_calc_transmission_delays_rec(delay = 1019 ns) [ 272.454573] EtherCAT WARNING 0: EoE External processing required! [ 272.462363] EtherCAT DEBUG 0: UNMATCHED datagram: [ 272.462366] EtherCAT DEBUG: 0E 3B 01 00 10 09 04 80 00 00 41 6F 88 ED 05 00 [ 272.462379] EtherCAT DEBUG 0: UNMATCHED datagram: [ 272.462382] EtherCAT DEBUG: 04 3C 01 00 10 09 08 00 00 00 41 6F 88 ED 41 00 [ 272.462394] EtherCAT DEBUG: 00 00 01 00 [ 272.462400] KMC: Failed to get Reference clock time: Input/output error [ 272.470211] EtherCAT DEBUG 0: Datagram f7150378 already queued (skipping). [ 272.470214] EtherCAT DEBUG 0: Datagram f71503e8 already queued (skipping). [ 272.470216] KMC: Reference clock time resumed [ 272.478042] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 272.478753] KMC: Failed to get Reference clock time: Resource temporarily unavailable [ 272.487063] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=283183029499, app_time=283183027865, diff=-1634 [ 272.487069] EtherCAT DEBUG 0-main-0: Setting time offset to 18446655558423217001 (was 18446655558423218635) [ 272.487073] EtherCAT DEBUG 0-main-0: Slave is running; ignoring DC offset change. [ 272.487077] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 272.488287] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=283192019196, app_time=283192016916, diff=-2280 [ 272.488292] EtherCAT DEBUG 0-main-1: Setting time offset to 18446655558478921617 (was 18446655558478923897) [ 272.489763] EtherCAT DEBUG 0-main-2: Checking system time offset. [ 272.491216] EtherCAT DEBUG 0-main-2: DC 64 bit system time offset calculation: system_time=2194009182, app_time=283195017782, diff=281001008600 [ 272.491221] EtherCAT DEBUG 0-main-2: Setting time offset to 281001008600 (was 0) [ 272.492748] EtherCAT DEBUG 0: Requesting OP... [ 272.493745] KMC: Reference clock time resumed [ 272.501795] EtherCAT 0: Slave states on main device: PREOP, OP. [ 272.509866] KMC: Module ec: AL states: 0x0A. [ 272.521402] EtherCAT DEBUG 0-main-0: Ready for requests. [ 272.531522] EtherCAT DEBUG 0-main-1: Ready for requests. [ 272.541469] EtherCAT DEBUG 0-main-2: Ready for requests. [ 272.551455] EtherCAT DEBUG 0-main-3: Ready for requests. [ 272.551717] EtherCAT DEBUG 0-main-3: Changing state from PREOP to OP. [ 272.551722] EtherCAT DEBUG 0-main-3: Configuring... [ 272.555700] EtherCAT DEBUG 0-main-3: Now in INIT. [ 272.555703] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 272.555707] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 272.557699] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 272.559698] EtherCAT DEBUG 0-main-3: Configuring mailbox sync managers... [ 272.559704] EtherCAT DEBUG 0-main-3: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 272.559708] EtherCAT DEBUG 0-main-3: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 [ 272.561439] EtherCAT DEBUG 0-main-4: Ready for requests. [ 272.565695] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 272.565701] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:01. [ 272.565704] EtherCAT DEBUG: AC 0D [ 272.565710] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.565712] EtherCAT DEBUG: 00 20 2B 20 80 01 AC 0D 00 00 [ 272.571379] EtherCAT 0: Slave states on main device: INIT, PREOP, OP. [ 272.579548] KMC: Module ec: AL states: 0x0B. [ 272.595679] EtherCAT DEBUG 0-main-3: Download response: [ 272.595682] EtherCAT DEBUG: 00 30 60 20 80 01 AC 0D 00 00 [ 272.595694] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:02. [ 272.595696] EtherCAT DEBUG: AC 0D [ 272.595701] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.595703] EtherCAT DEBUG: 00 20 2B 20 80 02 AC 0D 00 00 [ 272.625683] EtherCAT DEBUG 0-main-3: Download response: [ 272.625687] EtherCAT DEBUG: 00 30 60 20 80 02 AC 0D 00 00 [ 272.625701] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:03. [ 272.625704] EtherCAT DEBUG: C0 5D [ 272.625709] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.625712] EtherCAT DEBUG: 00 20 2B 20 80 03 C0 5D 00 00 [ 272.641371] EtherCAT 0: Slave states on main device: PREOP, OP. [ 272.649702] KMC: Module ec: AL states: 0x0A. [ 272.661670] EtherCAT DEBUG 0-main-3: Download response: [ 272.661675] EtherCAT DEBUG: 00 30 60 20 80 03 C0 5D 00 00 [ 272.661689] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:04. [ 272.661692] EtherCAT DEBUG: FA 00 [ 272.661697] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.661700] EtherCAT DEBUG: 00 20 2B 20 80 04 FA 00 00 00 [ 272.691646] EtherCAT DEBUG 0-main-3: Download response: [ 272.691651] EtherCAT DEBUG: 00 30 60 20 80 04 FA 00 00 00 [ 272.691665] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:05. [ 272.691668] EtherCAT DEBUG: C8 00 [ 272.691673] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.691676] EtherCAT DEBUG: 00 20 2B 20 80 05 C8 00 00 00 [ 272.721664] EtherCAT DEBUG 0-main-3: Download response: [ 272.721669] EtherCAT DEBUG: 00 30 60 20 80 05 C8 00 00 00 [ 272.721683] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:06. [ 272.721685] EtherCAT DEBUG: C8 00 [ 272.721691] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.721694] EtherCAT DEBUG: 00 20 2B 20 80 06 C8 00 00 00 [ 272.751599] EtherCAT DEBUG 0-main-3: Download response: [ 272.751604] EtherCAT DEBUG: 00 30 60 20 80 06 C8 00 00 00 [ 272.751618] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:07. [ 272.751621] EtherCAT DEBUG: FA 00 [ 272.751626] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.751629] EtherCAT DEBUG: 00 20 2B 20 80 07 FA 00 00 00 [ 272.781579] EtherCAT DEBUG 0-main-3: Download response: [ 272.781583] EtherCAT DEBUG: 00 30 60 20 80 07 FA 00 00 00 [ 272.781595] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8020:08. [ 272.781598] EtherCAT DEBUG: 2C 01 [ 272.781603] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.781605] EtherCAT DEBUG: 00 20 2B 20 80 08 2C 01 00 00 [ 272.811586] EtherCAT DEBUG 0-main-3: Download response: [ 272.811591] EtherCAT DEBUG: 00 30 60 20 80 08 2C 01 00 00 [ 272.811604] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8022:09. [ 272.811607] EtherCAT DEBUG: 00 [ 272.811612] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.811614] EtherCAT DEBUG: 00 20 2F 22 80 09 00 00 00 00 [ 272.841623] EtherCAT DEBUG 0-main-3: Download response: [ 272.841628] EtherCAT DEBUG: 00 30 60 22 80 09 00 00 00 00 [ 272.841641] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8022:01. [ 272.841644] EtherCAT DEBUG: 00 [ 272.841649] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.841651] EtherCAT DEBUG: 00 20 2F 22 80 01 00 00 00 00 [ 272.871529] EtherCAT DEBUG 0-main-3: Download response: [ 272.871533] EtherCAT DEBUG: 00 30 60 22 80 01 00 00 00 00 [ 272.871546] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:01. [ 272.871548] EtherCAT DEBUG: E8 03 [ 272.871553] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.871556] EtherCAT DEBUG: 00 20 2B 30 80 01 E8 03 00 00 [ 272.901511] EtherCAT DEBUG 0-main-3: Download response: [ 272.901514] EtherCAT DEBUG: 00 30 60 30 80 01 E8 03 00 00 [ 272.901526] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:02. [ 272.901528] EtherCAT DEBUG: E8 03 [ 272.901533] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.901535] EtherCAT DEBUG: 00 20 2B 30 80 02 E8 03 00 00 [ 272.931198] EtherCAT WARNING 0: 2 datagrams UNMATCHED! [ 272.939678] EtherCAT DEBUG 0-main-3: Download response: [ 272.939680] EtherCAT DEBUG: 00 30 60 30 80 02 E8 03 00 00 [ 272.939691] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:03. [ 272.939694] EtherCAT DEBUG: C0 5D [ 272.939698] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.939701] EtherCAT DEBUG: 00 20 2B 30 80 03 C0 5D 00 00 [ 272.969472] EtherCAT DEBUG 0-main-3: Download response: [ 272.969475] EtherCAT DEBUG: 00 30 60 30 80 03 C0 5D 00 00 [ 272.969486] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:04. [ 272.969488] EtherCAT DEBUG: 64 00 [ 272.969493] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.969495] EtherCAT DEBUG: 00 20 2B 30 80 04 64 00 00 00 [ 272.999456] EtherCAT DEBUG 0-main-3: Download response: [ 272.999459] EtherCAT DEBUG: 00 30 60 30 80 04 64 00 00 00 [ 272.999470] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:05. [ 272.999472] EtherCAT DEBUG: F4 01 [ 272.999477] EtherCAT DEBUG 0-main-3: Expedited download request: [ 272.999479] EtherCAT DEBUG: 00 20 2B 30 80 05 F4 01 00 00 [ 273.029440] EtherCAT DEBUG 0-main-3: Download response: [ 273.029443] EtherCAT DEBUG: 00 30 60 30 80 05 F4 01 00 00 [ 273.029454] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:06. [ 273.029456] EtherCAT DEBUG: F4 01 [ 273.029461] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.029463] EtherCAT DEBUG: 00 20 2B 30 80 06 F4 01 00 00 [ 273.059425] EtherCAT DEBUG 0-main-3: Download response: [ 273.059428] EtherCAT DEBUG: 00 30 60 30 80 06 F4 01 00 00 [ 273.059439] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:07. [ 273.059441] EtherCAT DEBUG: FA 00 [ 273.059446] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.059448] EtherCAT DEBUG: 00 20 2B 30 80 07 FA 00 00 00 [ 273.089407] EtherCAT DEBUG 0-main-3: Download response: [ 273.089409] EtherCAT DEBUG: 00 30 60 30 80 07 FA 00 00 00 [ 273.089420] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8030:08. [ 273.089423] EtherCAT DEBUG: 2C 01 [ 273.089427] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.089430] EtherCAT DEBUG: 00 20 2B 30 80 08 2C 01 00 00 [ 273.119390] EtherCAT DEBUG 0-main-3: Download response: [ 273.119393] EtherCAT DEBUG: 00 30 60 30 80 08 2C 01 00 00 [ 273.119404] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8032:09. [ 273.119406] EtherCAT DEBUG: 00 [ 273.119410] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.119413] EtherCAT DEBUG: 00 20 2F 32 80 09 00 00 00 00 [ 273.149374] EtherCAT DEBUG 0-main-3: Download response: [ 273.149376] EtherCAT DEBUG: 00 30 60 32 80 09 00 00 00 00 [ 273.149387] EtherCAT DEBUG 0-main-3: Downloading SDO 0x8032:01. [ 273.149389] EtherCAT DEBUG: 00 [ 273.149393] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.149396] EtherCAT DEBUG: 00 20 2F 32 80 01 00 00 00 00 [ 273.179357] EtherCAT DEBUG 0-main-3: Download response: [ 273.179360] EtherCAT DEBUG: 00 30 60 32 80 01 00 00 00 00 [ 273.179379] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1601. [ 273.179383] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:00. [ 273.179387] EtherCAT DEBUG 0-main-3: Upload request: [ 273.179389] EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00 [ 273.185354] EtherCAT DEBUG 0-main-3: Upload response: [ 273.185357] EtherCAT DEBUG: 00 30 4F 01 16 00 07 00 00 00 [ 273.185367] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.185369] EtherCAT DEBUG: 07 [ 273.185373] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 273.185377] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:01. [ 273.185380] EtherCAT DEBUG 0-main-3: Upload request: [ 273.185382] EtherCAT DEBUG: 00 20 40 01 16 01 00 00 00 00 [ 273.191358] EtherCAT DEBUG 0-main-3: Upload response: [ 273.191361] EtherCAT DEBUG: 00 30 43 01 16 01 01 00 00 00 [ 273.191371] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.191374] EtherCAT DEBUG: 01 00 00 00 [ 273.191382] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.191385] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:02. [ 273.191388] EtherCAT DEBUG 0-main-3: Upload request: [ 273.191390] EtherCAT DEBUG: 00 20 40 01 16 02 00 00 00 00 [ 273.197347] EtherCAT DEBUG 0-main-3: Upload response: [ 273.197349] EtherCAT DEBUG: 00 30 43 01 16 02 01 02 00 70 [ 273.197360] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.197362] EtherCAT DEBUG: 01 02 00 70 [ 273.197369] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:02, 1 bit, "???". [ 273.197372] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:03. [ 273.197375] EtherCAT DEBUG 0-main-3: Upload request: [ 273.197377] EtherCAT DEBUG: 00 20 40 01 16 03 00 00 00 00 [ 273.203346] EtherCAT DEBUG 0-main-3: Upload response: [ 273.203348] EtherCAT DEBUG: 00 30 43 01 16 03 01 03 00 70 [ 273.203359] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.203361] EtherCAT DEBUG: 01 03 00 70 [ 273.203368] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:03, 1 bit, "???". [ 273.203371] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:04. [ 273.203374] EtherCAT DEBUG 0-main-3: Upload request: [ 273.203376] EtherCAT DEBUG: 00 20 40 01 16 04 00 00 00 00 [ 273.209340] EtherCAT DEBUG 0-main-3: Upload response: [ 273.209342] EtherCAT DEBUG: 00 30 43 01 16 04 01 04 00 70 [ 273.209352] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.209354] EtherCAT DEBUG: 01 04 00 70 [ 273.209361] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:04, 1 bit, "???". [ 273.209365] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:05. [ 273.209368] EtherCAT DEBUG 0-main-3: Upload request: [ 273.209370] EtherCAT DEBUG: 00 20 40 01 16 05 00 00 00 00 [ 273.215338] EtherCAT DEBUG 0-main-3: Upload response: [ 273.215340] EtherCAT DEBUG: 00 30 43 01 16 05 04 00 00 00 [ 273.215351] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.215353] EtherCAT DEBUG: 04 00 00 00 [ 273.215360] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 273.215364] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:06. [ 273.215367] EtherCAT DEBUG 0-main-3: Upload request: [ 273.215369] EtherCAT DEBUG: 00 20 40 01 16 06 00 00 00 00 [ 273.221341] EtherCAT DEBUG 0-main-3: Upload response: [ 273.221344] EtherCAT DEBUG: 00 30 43 01 16 06 08 00 00 00 [ 273.221354] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.221356] EtherCAT DEBUG: 08 00 00 00 [ 273.221364] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 273.221367] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1601:07. [ 273.221370] EtherCAT DEBUG 0-main-3: Upload request: [ 273.221372] EtherCAT DEBUG: 00 20 40 01 16 07 00 00 00 00 [ 273.227331] EtherCAT DEBUG 0-main-3: Upload response: [ 273.227333] EtherCAT DEBUG: 00 30 43 01 16 07 20 11 00 70 [ 273.227343] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.227345] EtherCAT DEBUG: 20 11 00 70 [ 273.227352] EtherCAT DEBUG 0-main-3: PDO entry 0x7000:11, 32 bit, "???". [ 273.227358] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1603. [ 273.227362] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:00. [ 273.227365] EtherCAT DEBUG 0-main-3: Upload request: [ 273.227367] EtherCAT DEBUG: 00 20 40 03 16 00 00 00 00 00 [ 273.233329] EtherCAT DEBUG 0-main-3: Upload response: [ 273.233332] EtherCAT DEBUG: 00 30 4F 03 16 00 07 00 00 00 [ 273.233342] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.233345] EtherCAT DEBUG: 07 [ 273.233348] EtherCAT DEBUG 0-main-3: 7 PDO entries mapped. [ 273.233352] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:01. [ 273.233355] EtherCAT DEBUG 0-main-3: Upload request: [ 273.233357] EtherCAT DEBUG: 00 20 40 03 16 01 00 00 00 00 [ 273.239324] EtherCAT DEBUG 0-main-3: Upload response: [ 273.239326] EtherCAT DEBUG: 00 30 43 03 16 01 01 00 00 00 [ 273.239336] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.239338] EtherCAT DEBUG: 01 00 00 00 [ 273.239346] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.239349] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:02. [ 273.239352] EtherCAT DEBUG 0-main-3: Upload request: [ 273.239354] EtherCAT DEBUG: 00 20 40 03 16 02 00 00 00 00 [ 273.245333] EtherCAT DEBUG 0-main-3: Upload response: [ 273.245337] EtherCAT DEBUG: 00 30 43 03 16 02 01 02 10 70 [ 273.245349] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.245351] EtherCAT DEBUG: 01 02 10 70 [ 273.245359] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:02, 1 bit, "???". [ 273.245363] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:03. [ 273.245366] EtherCAT DEBUG 0-main-3: Upload request: [ 273.245368] EtherCAT DEBUG: 00 20 40 03 16 03 00 00 00 00 [ 273.251330] EtherCAT DEBUG 0-main-3: Upload response: [ 273.251334] EtherCAT DEBUG: 00 30 43 03 16 03 01 03 10 70 [ 273.251347] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.251349] EtherCAT DEBUG: 01 03 10 70 [ 273.251357] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:03, 1 bit, "???". [ 273.251361] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:04. [ 273.251365] EtherCAT DEBUG 0-main-3: Upload request: [ 273.251367] EtherCAT DEBUG: 00 20 40 03 16 04 00 00 00 00 [ 273.257315] EtherCAT DEBUG 0-main-3: Upload response: [ 273.257317] EtherCAT DEBUG: 00 30 43 03 16 04 01 04 10 70 [ 273.257327] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.257330] EtherCAT DEBUG: 01 04 10 70 [ 273.257336] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:04, 1 bit, "???". [ 273.257340] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:05. [ 273.257343] EtherCAT DEBUG 0-main-3: Upload request: [ 273.257345] EtherCAT DEBUG: 00 20 40 03 16 05 00 00 00 00 [ 273.263323] EtherCAT DEBUG 0-main-3: Upload response: [ 273.263326] EtherCAT DEBUG: 00 30 43 03 16 05 04 00 00 00 [ 273.263338] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.263340] EtherCAT DEBUG: 04 00 00 00 [ 273.263348] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 4 bit, "Gap". [ 273.263352] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:06. [ 273.263355] EtherCAT DEBUG 0-main-3: Upload request: [ 273.263358] EtherCAT DEBUG: 00 20 40 03 16 06 00 00 00 00 [ 273.269308] EtherCAT DEBUG 0-main-3: Upload response: [ 273.269310] EtherCAT DEBUG: 00 30 43 03 16 06 08 00 00 00 [ 273.269321] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.269323] EtherCAT DEBUG: 08 00 00 00 [ 273.269330] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 8 bit, "Gap". [ 273.269333] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1603:07. [ 273.269336] EtherCAT DEBUG 0-main-3: Upload request: [ 273.269339] EtherCAT DEBUG: 00 20 40 03 16 07 00 00 00 00 [ 273.275308] EtherCAT DEBUG 0-main-3: Upload response: [ 273.275311] EtherCAT DEBUG: 00 30 43 03 16 07 20 11 10 70 [ 273.275322] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.275324] EtherCAT DEBUG: 20 11 10 70 [ 273.275331] EtherCAT DEBUG 0-main-3: PDO entry 0x7010:11, 32 bit, "???". [ 273.275341] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1605. [ 273.275345] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1605:00. [ 273.275348] EtherCAT DEBUG 0-main-3: Upload request: [ 273.275350] EtherCAT DEBUG: 00 20 40 05 16 00 00 00 00 00 [ 273.281310] EtherCAT DEBUG 0-main-3: Upload response: [ 273.281313] EtherCAT DEBUG: 00 30 4F 05 16 00 01 00 00 00 [ 273.281323] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.281326] EtherCAT DEBUG: 01 [ 273.281330] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 273.281333] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1605:01. [ 273.281336] EtherCAT DEBUG 0-main-3: Upload request: [ 273.281338] EtherCAT DEBUG: 00 20 40 05 16 01 00 00 00 00 [ 273.287297] EtherCAT DEBUG 0-main-3: Upload response: [ 273.287299] EtherCAT DEBUG: 00 30 43 05 16 01 20 11 20 70 [ 273.287310] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.287312] EtherCAT DEBUG: 20 11 20 70 [ 273.287319] EtherCAT DEBUG 0-main-3: PDO entry 0x7020:11, 32 bit, "???". [ 273.287326] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1608. [ 273.287329] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1608:00. [ 273.287332] EtherCAT DEBUG 0-main-3: Upload request: [ 273.287334] EtherCAT DEBUG: 00 20 40 08 16 00 00 00 00 00 [ 273.293297] EtherCAT DEBUG 0-main-3: Upload response: [ 273.293300] EtherCAT DEBUG: 00 30 4F 08 16 00 01 00 00 00 [ 273.293310] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.293313] EtherCAT DEBUG: 01 [ 273.293316] EtherCAT DEBUG 0-main-3: 1 PDO entries mapped. [ 273.293320] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1608:01. [ 273.293323] EtherCAT DEBUG 0-main-3: Upload request: [ 273.293325] EtherCAT DEBUG: 00 20 40 08 16 01 00 00 00 00 [ 273.299291] EtherCAT DEBUG 0-main-3: Upload response: [ 273.299293] EtherCAT DEBUG: 00 30 43 08 16 01 20 11 30 70 [ 273.299303] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.299305] EtherCAT DEBUG: 20 11 30 70 [ 273.299312] EtherCAT DEBUG 0-main-3: PDO entry 0x7030:11, 32 bit, "???". [ 273.299316] EtherCAT DEBUG 0-main-3: Setting PDO assignment of SM2: [ 273.299319] EtherCAT DEBUG 0-main-3: Currently assigned PDOs: 0x1600 0x1602 0x1604 0x1606 0x1607 0x1609. PDOs to assign: 0x1601 0x1603 0x1604 0x1605 0x1607 0x1608 [ 273.299339] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to zero. [ 273.299343] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:00. [ 273.299346] EtherCAT DEBUG: 00 [ 273.299350] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.299352] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 273.305287] EtherCAT DEBUG 0-main-3: Download response: [ 273.305290] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 273.305306] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1601 at position 1. [ 273.305309] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:01. [ 273.305312] EtherCAT DEBUG: 01 16 [ 273.305317] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.305319] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 273.311292] EtherCAT DEBUG 0-main-3: Download response: [ 273.311295] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 273.311305] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1603 at position 2. [ 273.311309] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:02. [ 273.311311] EtherCAT DEBUG: 03 16 [ 273.311316] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.311318] EtherCAT DEBUG: 00 20 2B 12 1C 02 03 16 00 00 [ 273.317281] EtherCAT DEBUG 0-main-3: Download response: [ 273.317283] EtherCAT DEBUG: 00 30 60 12 1C 02 03 16 00 00 [ 273.317294] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1604 at position 3. [ 273.317297] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:03. [ 273.317299] EtherCAT DEBUG: 04 16 [ 273.317304] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.317307] EtherCAT DEBUG: 00 20 2B 12 1C 03 04 16 00 00 [ 273.323280] EtherCAT DEBUG 0-main-3: Download response: [ 273.323282] EtherCAT DEBUG: 00 30 60 12 1C 03 04 16 00 00 [ 273.323293] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1605 at position 4. [ 273.323296] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:04. [ 273.323299] EtherCAT DEBUG: 05 16 [ 273.323303] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.323306] EtherCAT DEBUG: 00 20 2B 12 1C 04 05 16 00 00 [ 273.329274] EtherCAT DEBUG 0-main-3: Download response: [ 273.329276] EtherCAT DEBUG: 00 30 60 12 1C 04 05 16 00 00 [ 273.329287] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1607 at position 5. [ 273.329290] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:05. [ 273.329292] EtherCAT DEBUG: 07 16 [ 273.329297] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.329299] EtherCAT DEBUG: 00 20 2B 12 1C 05 07 16 00 00 [ 273.335271] EtherCAT DEBUG 0-main-3: Download response: [ 273.335274] EtherCAT DEBUG: 00 30 60 12 1C 05 07 16 00 00 [ 273.335284] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1608 at position 6. [ 273.335288] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:06. [ 273.335290] EtherCAT DEBUG: 08 16 [ 273.335295] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.335297] EtherCAT DEBUG: 00 20 2B 12 1C 06 08 16 00 00 [ 273.341276] EtherCAT DEBUG 0-main-3: Download response: [ 273.341279] EtherCAT DEBUG: 00 30 60 12 1C 06 08 16 00 00 [ 273.341289] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to 6. [ 273.341293] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C12:00. [ 273.341295] EtherCAT DEBUG: 06 [ 273.341299] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.341302] EtherCAT DEBUG: 00 20 2F 12 1C 00 06 00 00 00 [ 273.347264] EtherCAT DEBUG 0-main-3: Download response: [ 273.347267] EtherCAT DEBUG: 00 30 60 12 1C 00 06 00 00 00 [ 273.347282] EtherCAT DEBUG 0-main-3: Successfully configured PDO assignment of SM2. [ 273.347299] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A01. [ 273.347302] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:00. [ 273.347305] EtherCAT DEBUG 0-main-3: Upload request: [ 273.347307] EtherCAT DEBUG: 00 20 40 01 1A 00 00 00 00 00 [ 273.353264] EtherCAT DEBUG 0-main-3: Upload response: [ 273.353267] EtherCAT DEBUG: 00 30 4F 01 1A 00 10 00 00 00 [ 273.353278] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.353280] EtherCAT DEBUG: 10 [ 273.353284] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 273.353287] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:01. [ 273.353290] EtherCAT DEBUG 0-main-3: Upload request: [ 273.353292] EtherCAT DEBUG: 00 20 40 01 1A 01 00 00 00 00 [ 273.359258] EtherCAT DEBUG 0-main-3: Upload response: [ 273.359260] EtherCAT DEBUG: 00 30 43 01 1A 01 01 00 00 00 [ 273.359270] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.359273] EtherCAT DEBUG: 01 00 00 00 [ 273.359280] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.359284] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:02. [ 273.359287] EtherCAT DEBUG 0-main-3: Upload request: [ 273.359289] EtherCAT DEBUG: 00 20 40 01 1A 02 00 00 00 00 [ 273.365254] EtherCAT DEBUG 0-main-3: Upload response: [ 273.365257] EtherCAT DEBUG: 00 30 43 01 1A 02 01 02 00 60 [ 273.365267] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.365269] EtherCAT DEBUG: 01 02 00 60 [ 273.365276] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:02, 1 bit, "???". [ 273.365280] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:03. [ 273.365283] EtherCAT DEBUG 0-main-3: Upload request: [ 273.365285] EtherCAT DEBUG: 00 20 40 01 1A 03 00 00 00 00 [ 273.371261] EtherCAT DEBUG 0-main-3: Upload response: [ 273.371263] EtherCAT DEBUG: 00 30 43 01 1A 03 01 03 00 60 [ 273.371274] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.371276] EtherCAT DEBUG: 01 03 00 60 [ 273.371282] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:03, 1 bit, "???". [ 273.371286] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:04. [ 273.371289] EtherCAT DEBUG 0-main-3: Upload request: [ 273.371291] EtherCAT DEBUG: 00 20 40 01 1A 04 00 00 00 00 [ 273.377248] EtherCAT DEBUG 0-main-3: Upload response: [ 273.377250] EtherCAT DEBUG: 00 30 43 01 1A 04 01 04 00 60 [ 273.377260] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.377262] EtherCAT DEBUG: 01 04 00 60 [ 273.377269] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:04, 1 bit, "???". [ 273.377273] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:05. [ 273.377276] EtherCAT DEBUG 0-main-3: Upload request: [ 273.377278] EtherCAT DEBUG: 00 20 40 01 1A 05 00 00 00 00 [ 273.383247] EtherCAT DEBUG 0-main-3: Upload response: [ 273.383283] EtherCAT DEBUG: 00 30 43 01 1A 05 01 05 00 60 [ 273.383294] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.383296] EtherCAT DEBUG: 01 05 00 60 [ 273.383303] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:05, 1 bit, "???". [ 273.383307] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:06. [ 273.383310] EtherCAT DEBUG 0-main-3: Upload request: [ 273.383312] EtherCAT DEBUG: 00 20 40 01 1A 06 00 00 00 00 [ 273.389241] EtherCAT DEBUG 0-main-3: Upload response: [ 273.389243] EtherCAT DEBUG: 00 30 43 01 1A 06 02 00 00 00 [ 273.389254] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.389256] EtherCAT DEBUG: 02 00 00 00 [ 273.389263] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 273.389267] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:07. [ 273.389269] EtherCAT DEBUG 0-main-3: Upload request: [ 273.389272] EtherCAT DEBUG: 00 20 40 01 1A 07 00 00 00 00 [ 273.395238] EtherCAT DEBUG 0-main-3: Upload response: [ 273.395240] EtherCAT DEBUG: 00 30 43 01 1A 07 01 08 00 60 [ 273.395251] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.395253] EtherCAT DEBUG: 01 08 00 60 [ 273.395259] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:08, 1 bit, "???". [ 273.395263] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:08. [ 273.395266] EtherCAT DEBUG 0-main-3: Upload request: [ 273.395268] EtherCAT DEBUG: 00 20 40 01 1A 08 00 00 00 00 [ 273.401244] EtherCAT DEBUG 0-main-3: Upload response: [ 273.401246] EtherCAT DEBUG: 00 30 43 01 1A 08 01 09 00 60 [ 273.401257] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.401259] EtherCAT DEBUG: 01 09 00 60 [ 273.401266] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:09, 1 bit, "???". [ 273.401269] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:09. [ 273.401272] EtherCAT DEBUG 0-main-3: Upload request: [ 273.401275] EtherCAT DEBUG: 00 20 40 01 1A 09 00 00 00 00 [ 273.407231] EtherCAT DEBUG 0-main-3: Upload response: [ 273.407234] EtherCAT DEBUG: 00 30 43 01 1A 09 01 0A 00 60 [ 273.407244] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.407246] EtherCAT DEBUG: 01 0A 00 60 [ 273.407253] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0A, 1 bit, "???". [ 273.407256] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0A. [ 273.407259] EtherCAT DEBUG 0-main-3: Upload request: [ 273.407261] EtherCAT DEBUG: 00 20 40 01 1A 0A 00 00 00 00 [ 273.413231] EtherCAT DEBUG 0-main-3: Upload response: [ 273.413233] EtherCAT DEBUG: 00 30 43 01 1A 0A 02 00 00 00 [ 273.413243] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.413246] EtherCAT DEBUG: 02 00 00 00 [ 273.413253] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 273.413256] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0B. [ 273.413260] EtherCAT DEBUG 0-main-3: Upload request: [ 273.413262] EtherCAT DEBUG: 00 20 40 01 1A 0B 00 00 00 00 [ 273.419225] EtherCAT DEBUG 0-main-3: Upload response: [ 273.419228] EtherCAT DEBUG: 00 30 43 01 1A 0B 01 0D 00 60 [ 273.419238] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.419240] EtherCAT DEBUG: 01 0D 00 60 [ 273.419247] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0D, 1 bit, "???". [ 273.419250] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0C. [ 273.419253] EtherCAT DEBUG 0-main-3: Upload request: [ 273.419255] EtherCAT DEBUG: 00 20 40 01 1A 0C 00 00 00 00 [ 273.425221] EtherCAT DEBUG 0-main-3: Upload response: [ 273.425224] EtherCAT DEBUG: 00 30 43 01 1A 0C 01 0E 00 60 [ 273.425234] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.425236] EtherCAT DEBUG: 01 0E 00 60 [ 273.425243] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:0E, 1 bit, "???". [ 273.425246] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0D. [ 273.425249] EtherCAT DEBUG 0-main-3: Upload request: [ 273.425252] EtherCAT DEBUG: 00 20 40 01 1A 0D 00 00 00 00 [ 273.431227] EtherCAT DEBUG 0-main-3: Upload response: [ 273.431230] EtherCAT DEBUG: 00 30 43 01 1A 0D 01 00 00 00 [ 273.431240] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.431243] EtherCAT DEBUG: 01 00 00 00 [ 273.431250] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.431253] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0E. [ 273.431256] EtherCAT DEBUG 0-main-3: Upload request: [ 273.431258] EtherCAT DEBUG: 00 20 40 01 1A 0E 00 00 00 00 [ 273.437215] EtherCAT DEBUG 0-main-3: Upload response: [ 273.437218] EtherCAT DEBUG: 00 30 43 01 1A 0E 01 10 00 60 [ 273.437228] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.437230] EtherCAT DEBUG: 01 10 00 60 [ 273.437237] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:10, 1 bit, "???". [ 273.437240] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:0F. [ 273.437243] EtherCAT DEBUG 0-main-3: Upload request: [ 273.437245] EtherCAT DEBUG: 00 20 40 01 1A 0F 00 00 00 00 [ 273.443214] EtherCAT DEBUG 0-main-3: Upload response: [ 273.443217] EtherCAT DEBUG: 00 30 43 01 1A 0F 20 11 00 60 [ 273.443227] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.443229] EtherCAT DEBUG: 20 11 00 60 [ 273.443236] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:11, 32 bit, "???". [ 273.443240] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A01:10. [ 273.443243] EtherCAT DEBUG 0-main-3: Upload request: [ 273.443245] EtherCAT DEBUG: 00 20 40 01 1A 10 00 00 00 00 [ 273.449208] EtherCAT DEBUG 0-main-3: Upload response: [ 273.449210] EtherCAT DEBUG: 00 30 43 01 1A 10 20 12 00 60 [ 273.449220] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.449222] EtherCAT DEBUG: 20 12 00 60 [ 273.449229] EtherCAT DEBUG 0-main-3: PDO entry 0x6000:12, 32 bit, "???". [ 273.449235] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A04. [ 273.449239] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:00. [ 273.449242] EtherCAT DEBUG 0-main-3: Upload request: [ 273.449244] EtherCAT DEBUG: 00 20 40 04 1A 00 00 00 00 00 [ 273.455205] EtherCAT DEBUG 0-main-3: Upload response: [ 273.455207] EtherCAT DEBUG: 00 30 4F 04 1A 00 10 00 00 00 [ 273.455217] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.455220] EtherCAT DEBUG: 10 [ 273.455223] EtherCAT DEBUG 0-main-3: 16 PDO entries mapped. [ 273.455227] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:01. [ 273.455230] EtherCAT DEBUG 0-main-3: Upload request: [ 273.455232] EtherCAT DEBUG: 00 20 40 04 1A 01 00 00 00 00 [ 273.461210] EtherCAT DEBUG 0-main-3: Upload response: [ 273.461212] EtherCAT DEBUG: 00 30 43 04 1A 01 01 00 00 00 [ 273.461223] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.461225] EtherCAT DEBUG: 01 00 00 00 [ 273.461232] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.461236] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:02. [ 273.461239] EtherCAT DEBUG 0-main-3: Upload request: [ 273.461241] EtherCAT DEBUG: 00 20 40 04 1A 02 00 00 00 00 [ 273.467198] EtherCAT DEBUG 0-main-3: Upload response: [ 273.467201] EtherCAT DEBUG: 00 30 43 04 1A 02 01 02 10 60 [ 273.467211] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.467213] EtherCAT DEBUG: 01 02 10 60 [ 273.467219] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:02, 1 bit, "???". [ 273.467223] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:03. [ 273.467226] EtherCAT DEBUG 0-main-3: Upload request: [ 273.467228] EtherCAT DEBUG: 00 20 40 04 1A 03 00 00 00 00 [ 273.473197] EtherCAT DEBUG 0-main-3: Upload response: [ 273.473200] EtherCAT DEBUG: 00 30 43 04 1A 03 01 03 10 60 [ 273.473210] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.473212] EtherCAT DEBUG: 01 03 10 60 [ 273.473219] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:03, 1 bit, "???". [ 273.473223] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:04. [ 273.473226] EtherCAT DEBUG 0-main-3: Upload request: [ 273.473228] EtherCAT DEBUG: 00 20 40 04 1A 04 00 00 00 00 [ 273.479215] EtherCAT DEBUG 0-main-3: Upload response: [ 273.479219] EtherCAT DEBUG: 00 30 43 04 1A 04 01 04 10 60 [ 273.479232] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.479234] EtherCAT DEBUG: 01 04 10 60 [ 273.479242] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:04, 1 bit, "???". [ 273.479246] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:05. [ 273.479250] EtherCAT DEBUG 0-main-3: Upload request: [ 273.479252] EtherCAT DEBUG: 00 20 40 04 1A 05 00 00 00 00 [ 273.485232] EtherCAT DEBUG 0-main-3: Upload response: [ 273.485236] EtherCAT DEBUG: 00 30 43 04 1A 05 01 05 10 60 [ 273.485248] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.485250] EtherCAT DEBUG: 01 05 10 60 [ 273.485258] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:05, 1 bit, "???". [ 273.485262] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:06. [ 273.485266] EtherCAT DEBUG 0-main-3: Upload request: [ 273.485268] EtherCAT DEBUG: 00 20 40 04 1A 06 00 00 00 00 [ 273.491210] EtherCAT DEBUG 0-main-3: Upload response: [ 273.491214] EtherCAT DEBUG: 00 30 43 04 1A 06 02 00 00 00 [ 273.491227] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.491229] EtherCAT DEBUG: 02 00 00 00 [ 273.491238] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 273.491242] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:07. [ 273.491246] EtherCAT DEBUG 0-main-3: Upload request: [ 273.491248] EtherCAT DEBUG: 00 20 40 04 1A 07 00 00 00 00 [ 273.497204] EtherCAT DEBUG 0-main-3: Upload response: [ 273.497209] EtherCAT DEBUG: 00 30 43 04 1A 07 01 08 10 60 [ 273.497221] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.497224] EtherCAT DEBUG: 01 08 10 60 [ 273.497231] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:08, 1 bit, "???". [ 273.497236] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:08. [ 273.497239] EtherCAT DEBUG 0-main-3: Upload request: [ 273.497241] EtherCAT DEBUG: 00 20 40 04 1A 08 00 00 00 00 [ 273.503199] EtherCAT DEBUG 0-main-3: Upload response: [ 273.503203] EtherCAT DEBUG: 00 30 43 04 1A 08 01 09 10 60 [ 273.503215] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.503218] EtherCAT DEBUG: 01 09 10 60 [ 273.503225] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:09, 1 bit, "???". [ 273.503230] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:09. [ 273.503233] EtherCAT DEBUG 0-main-3: Upload request: [ 273.503236] EtherCAT DEBUG: 00 20 40 04 1A 09 00 00 00 00 [ 273.509208] EtherCAT DEBUG 0-main-3: Upload response: [ 273.509212] EtherCAT DEBUG: 00 30 43 04 1A 09 01 0A 10 60 [ 273.509225] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.509227] EtherCAT DEBUG: 01 0A 10 60 [ 273.509235] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0A, 1 bit, "???". [ 273.509240] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0A. [ 273.509243] EtherCAT DEBUG 0-main-3: Upload request: [ 273.509246] EtherCAT DEBUG: 00 20 40 04 1A 0A 00 00 00 00 [ 273.515260] EtherCAT DEBUG 0-main-3: Upload response: [ 273.515264] EtherCAT DEBUG: 00 30 43 04 1A 0A 02 00 00 00 [ 273.515276] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.515279] EtherCAT DEBUG: 02 00 00 00 [ 273.515287] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 2 bit, "Gap". [ 273.515310] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0B. [ 273.515314] EtherCAT DEBUG 0-main-3: Upload request: [ 273.515316] EtherCAT DEBUG: 00 20 40 04 1A 0B 00 00 00 00 [ 273.521202] EtherCAT DEBUG 0-main-3: Upload response: [ 273.521206] EtherCAT DEBUG: 00 30 43 04 1A 0B 01 0D 10 60 [ 273.521219] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.521221] EtherCAT DEBUG: 01 0D 10 60 [ 273.521229] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0D, 1 bit, "???". [ 273.521233] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0C. [ 273.521237] EtherCAT DEBUG 0-main-3: Upload request: [ 273.521239] EtherCAT DEBUG: 00 20 40 04 1A 0C 00 00 00 00 [ 273.527227] EtherCAT DEBUG 0-main-3: Upload response: [ 273.527231] EtherCAT DEBUG: 00 30 43 04 1A 0C 01 0E 10 60 [ 273.527244] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.527246] EtherCAT DEBUG: 01 0E 10 60 [ 273.527254] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:0E, 1 bit, "???". [ 273.527258] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0D. [ 273.527262] EtherCAT DEBUG 0-main-3: Upload request: [ 273.527264] EtherCAT DEBUG: 00 20 40 04 1A 0D 00 00 00 00 [ 273.533196] EtherCAT DEBUG 0-main-3: Upload response: [ 273.533200] EtherCAT DEBUG: 00 30 43 04 1A 0D 01 00 00 00 [ 273.533213] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.533215] EtherCAT DEBUG: 01 00 00 00 [ 273.533224] EtherCAT DEBUG 0-main-3: PDO entry 0x0000:00, 1 bit, "Gap". [ 273.533229] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0E. [ 273.533232] EtherCAT DEBUG 0-main-3: Upload request: [ 273.533235] EtherCAT DEBUG: 00 20 40 04 1A 0E 00 00 00 00 [ 273.539191] EtherCAT DEBUG 0-main-3: Upload response: [ 273.539195] EtherCAT DEBUG: 00 30 43 04 1A 0E 01 10 10 60 [ 273.539207] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.539209] EtherCAT DEBUG: 01 10 10 60 [ 273.539217] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:10, 1 bit, "???". [ 273.539222] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:0F. [ 273.539225] EtherCAT DEBUG 0-main-3: Upload request: [ 273.539228] EtherCAT DEBUG: 00 20 40 04 1A 0F 00 00 00 00 [ 273.545168] EtherCAT DEBUG 0-main-3: Upload response: [ 273.545172] EtherCAT DEBUG: 00 30 43 04 1A 0F 20 11 10 60 [ 273.545185] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.545187] EtherCAT DEBUG: 20 11 10 60 [ 273.545195] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:11, 32 bit, "???". [ 273.545199] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A04:10. [ 273.545203] EtherCAT DEBUG 0-main-3: Upload request: [ 273.545205] EtherCAT DEBUG: 00 20 40 04 1A 10 00 00 00 00 [ 273.551192] EtherCAT DEBUG 0-main-3: Upload response: [ 273.551196] EtherCAT DEBUG: 00 30 43 04 1A 10 20 12 10 60 [ 273.551208] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.551210] EtherCAT DEBUG: 20 12 10 60 [ 273.551218] EtherCAT DEBUG 0-main-3: PDO entry 0x6010:12, 32 bit, "???". [ 273.551231] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A07. [ 273.551268] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:00. [ 273.551271] EtherCAT DEBUG 0-main-3: Upload request: [ 273.551274] EtherCAT DEBUG: 00 20 40 07 1A 00 00 00 00 00 [ 273.557150] EtherCAT DEBUG 0-main-3: Upload response: [ 273.557153] EtherCAT DEBUG: 00 30 4F 07 1A 00 02 00 00 00 [ 273.557164] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.557166] EtherCAT DEBUG: 02 [ 273.557170] EtherCAT DEBUG 0-main-3: 2 PDO entries mapped. [ 273.557173] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:01. [ 273.557177] EtherCAT DEBUG 0-main-3: Upload request: [ 273.557179] EtherCAT DEBUG: 00 20 40 07 1A 01 00 00 00 00 [ 273.563150] EtherCAT DEBUG 0-main-3: Upload response: [ 273.563153] EtherCAT DEBUG: 00 30 43 07 1A 01 10 11 20 60 [ 273.563164] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.563166] EtherCAT DEBUG: 10 11 20 60 [ 273.563173] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:11, 16 bit, "???". [ 273.563177] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A07:02. [ 273.563180] EtherCAT DEBUG 0-main-3: Upload request: [ 273.563183] EtherCAT DEBUG: 00 20 40 07 1A 02 00 00 00 00 [ 273.569155] EtherCAT DEBUG 0-main-3: Upload response: [ 273.569158] EtherCAT DEBUG: 00 30 43 07 1A 02 10 12 20 60 [ 273.569169] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.569171] EtherCAT DEBUG: 10 12 20 60 [ 273.569178] EtherCAT DEBUG 0-main-3: PDO entry 0x6020:12, 16 bit, "???". [ 273.569188] EtherCAT DEBUG 0-main-3: Reading mapping of PDO 0x1A09. [ 273.569192] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:00. [ 273.569195] EtherCAT DEBUG 0-main-3: Upload request: [ 273.569197] EtherCAT DEBUG: 00 20 40 09 1A 00 00 00 00 00 [ 273.575165] EtherCAT DEBUG 0-main-3: Upload response: [ 273.575169] EtherCAT DEBUG: 00 30 4F 09 1A 00 02 00 00 00 [ 273.575182] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.575184] EtherCAT DEBUG: 02 [ 273.575189] EtherCAT DEBUG 0-main-3: 2 PDO entries mapped. [ 273.575193] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:01. [ 273.575197] EtherCAT DEBUG 0-main-3: Upload request: [ 273.575199] EtherCAT DEBUG: 00 20 40 09 1A 01 00 00 00 00 [ 273.581157] EtherCAT DEBUG 0-main-3: Upload response: [ 273.581161] EtherCAT DEBUG: 00 30 43 09 1A 01 10 11 30 60 [ 273.581173] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.581175] EtherCAT DEBUG: 10 11 30 60 [ 273.581183] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:11, 16 bit, "???". [ 273.581187] EtherCAT DEBUG 0-main-3: Uploading SDO 0x1A09:02. [ 273.581191] EtherCAT DEBUG 0-main-3: Upload request: [ 273.581193] EtherCAT DEBUG: 00 20 40 09 1A 02 00 00 00 00 [ 273.587157] EtherCAT DEBUG 0-main-3: Upload response: [ 273.587161] EtherCAT DEBUG: 00 30 43 09 1A 02 10 12 30 60 [ 273.587174] EtherCAT DEBUG 0-main-3: Uploaded data: [ 273.587177] EtherCAT DEBUG: 10 12 30 60 [ 273.587185] EtherCAT DEBUG 0-main-3: PDO entry 0x6030:12, 16 bit, "???". [ 273.587190] EtherCAT DEBUG 0-main-3: Setting PDO assignment of SM3: [ 273.587192] EtherCAT DEBUG 0-main-3: Currently assigned PDOs: 0x1A00 0x1A03 0x1A06 0x1A08. PDOs to assign: 0x1A01 0x1A04 0x1A06 0x1A07 0x1A08 0x1A09 [ 273.587211] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to zero. [ 273.587215] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:00. [ 273.587218] EtherCAT DEBUG: 00 [ 273.587222] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.587225] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 273.593173] EtherCAT DEBUG 0-main-3: Download response: [ 273.593177] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 273.593198] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A01 at position 1. [ 273.593203] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:01. [ 273.593205] EtherCAT DEBUG: 01 1A [ 273.593211] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.593213] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 273.599148] EtherCAT DEBUG 0-main-3: Download response: [ 273.599152] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 273.599166] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A04 at position 2. [ 273.599170] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:02. [ 273.599173] EtherCAT DEBUG: 04 1A [ 273.599178] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.599181] EtherCAT DEBUG: 00 20 2B 13 1C 02 04 1A 00 00 [ 273.605138] EtherCAT DEBUG 0-main-3: Download response: [ 273.605143] EtherCAT DEBUG: 00 30 60 13 1C 02 04 1A 00 00 [ 273.605156] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A06 at position 3. [ 273.605160] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:03. [ 273.605163] EtherCAT DEBUG: 06 1A [ 273.605168] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.605171] EtherCAT DEBUG: 00 20 2B 13 1C 03 06 1A 00 00 [ 273.611134] EtherCAT DEBUG 0-main-3: Download response: [ 273.611137] EtherCAT DEBUG: 00 30 60 13 1C 03 06 1A 00 00 [ 273.611148] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A07 at position 4. [ 273.611152] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:04. [ 273.611155] EtherCAT DEBUG: 07 1A [ 273.611159] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.611162] EtherCAT DEBUG: 00 20 2B 13 1C 04 07 1A 00 00 [ 273.617120] EtherCAT DEBUG 0-main-3: Download response: [ 273.617123] EtherCAT DEBUG: 00 30 60 13 1C 04 07 1A 00 00 [ 273.617134] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A08 at position 5. [ 273.617137] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:05. [ 273.617140] EtherCAT DEBUG: 08 1A [ 273.617145] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.617147] EtherCAT DEBUG: 00 20 2B 13 1C 05 08 1A 00 00 [ 273.623116] EtherCAT DEBUG 0-main-3: Download response: [ 273.623119] EtherCAT DEBUG: 00 30 60 13 1C 05 08 1A 00 00 [ 273.623131] EtherCAT DEBUG 0-main-3: Assigning PDO 0x1A09 at position 6. [ 273.623134] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:06. [ 273.623137] EtherCAT DEBUG: 09 1A [ 273.623142] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.623144] EtherCAT DEBUG: 00 20 2B 13 1C 06 09 1A 00 00 [ 273.629108] EtherCAT DEBUG 0-main-3: Download response: [ 273.629110] EtherCAT DEBUG: 00 30 60 13 1C 06 09 1A 00 00 [ 273.629121] EtherCAT DEBUG 0-main-3: Setting number of assigned PDOs to 6. [ 273.629124] EtherCAT DEBUG 0-main-3: Downloading SDO 0x1C13:00. [ 273.629127] EtherCAT DEBUG: 06 [ 273.629131] EtherCAT DEBUG 0-main-3: Expedited download request: [ 273.629133] EtherCAT DEBUG: 00 20 2F 13 1C 00 06 00 00 00 [ 273.635106] EtherCAT DEBUG 0-main-3: Download response: [ 273.635109] EtherCAT DEBUG: 00 30 60 13 1C 00 06 00 00 00 [ 273.635131] EtherCAT DEBUG 0-main-3: Successfully configured PDO assignment of SM3. [ 273.635145] EtherCAT DEBUG 0-main-3: SM2: Addr 0x1100, Size 24, Ctrl 0x24, En 1 [ 273.635151] EtherCAT DEBUG 0-main-3: SM3: Addr 0x1200, Size 32, Ctrl 0x20, En 1 [ 273.637108] EtherCAT DEBUG 0 47000:0: FMMU: LogOff 0x00000000, Size 24, PhysAddr 0x1100, SM2, Dir out [ 273.637113] EtherCAT DEBUG 0 47000:0: FMMU: LogOff 0x00000018, Size 32, PhysAddr 0x1200, SM3, Dir in [ 273.639104] EtherCAT WARNING 0-main-3: Slave seems not to support distributed clocks! [ 273.647686] EtherCAT DEBUG 0-main-3: Setting DC cycle times to 1000000 / 0. [ 273.649100] EtherCAT DEBUG 0-main-3: Checking for synchrony. [ 273.743070] EtherCAT DEBUG 0-main-3: Sync after 100 ms: 1828300146 ns [ 273.842996] EtherCAT DEBUG 0-main-3: Sync after 200 ms: 1828303744 ns [ 273.942960] EtherCAT DEBUG 0-main-3: Sync after 300 ms: 1828307501 ns [ 274.042886] EtherCAT DEBUG 0-main-3: Sync after 400 ms: 1828311438 ns [ 274.142829] EtherCAT DEBUG 0-main-3: Sync after 500 ms: 1828315567 ns [ 274.242775] EtherCAT DEBUG 0-main-3: Sync after 600 ms: 1828319881 ns [ 274.342722] EtherCAT DEBUG 0-main-3: Sync after 700 ms: 1828324417 ns [ 274.442665] EtherCAT DEBUG 0-main-3: Sync after 800 ms: 1828329181 ns [ 274.542613] EtherCAT DEBUG 0-main-3: Sync after 900 ms: 1828334188 ns [ 274.642557] EtherCAT DEBUG 0-main-3: Sync after 1000 ms: 1828339470 ns [ 274.742503] EtherCAT DEBUG 0-main-3: Sync after 1100 ms: 1828345036 ns [ 274.842461] EtherCAT DEBUG 0-main-3: Sync after 1200 ms: 1828350921 ns [ 274.942392] EtherCAT DEBUG 0-main-3: Sync after 1300 ms: 1828357169 ns [ 275.042338] EtherCAT DEBUG 0-main-3: Sync after 1400 ms: 1828363805 ns [ 275.142282] EtherCAT DEBUG 0-main-3: Sync after 1500 ms: 1828370889 ns [ 275.242227] EtherCAT DEBUG 0-main-3: Sync after 1600 ms: 1828378481 ns [ 275.342174] EtherCAT DEBUG 0-main-3: Sync after 1700 ms: 1828386648 ns [ 275.442116] EtherCAT DEBUG 0-main-3: Sync after 1800 ms: 1828395495 ns [ 275.542084] EtherCAT DEBUG 0-main-3: Sync after 1900 ms: 1828405125 ns [ 275.642027] EtherCAT DEBUG 0-main-3: Sync after 2000 ms: 1828415712 ns [ 275.741952] EtherCAT DEBUG 0-main-3: Sync after 2100 ms: 1828427451 ns [ 275.841897] EtherCAT DEBUG 0-main-3: Sync after 2200 ms: 1828440636 ns [ 275.941845] EtherCAT DEBUG 0-main-3: Sync after 2300 ms: 1828455692 ns [ 276.041796] EtherCAT DEBUG 0-main-3: Sync after 2400 ms: 1828473230 ns [ 276.141734] EtherCAT DEBUG 0-main-3: Sync after 2500 ms: 1828494272 ns [ 276.241677] EtherCAT DEBUG 0-main-3: Sync after 2600 ms: 1828520643 ns [ 276.341681] EtherCAT DEBUG 0-main-3: Sync after 2700 ms: 1828556109 ns [ 276.441569] EtherCAT DEBUG 0-main-3: Sync after 2800 ms: 1828610827 ns [ 276.541514] EtherCAT DEBUG 0-main-3: Sync after 2900 ms: 1828688063 ns [ 276.641458] EtherCAT DEBUG 0-main-3: Sync after 3000 ms: 1828766203 ns [ 276.741406] EtherCAT DEBUG 0-main-3: Sync after 3100 ms: 1828844356 ns [ 276.841347] EtherCAT DEBUG 0-main-3: Sync after 3200 ms: 1828922503 ns [ 276.941293] EtherCAT DEBUG 0-main-3: Sync after 3300 ms: 1829000655 ns [ 277.041241] EtherCAT DEBUG 0-main-3: Sync after 3400 ms: 1829078802 ns [ 277.141200] EtherCAT DEBUG 0-main-3: Sync after 3500 ms: 1829156956 ns [ 277.241131] EtherCAT DEBUG 0-main-3: Sync after 3600 ms: 1829235109 ns [ 277.341073] EtherCAT DEBUG 0-main-3: Sync after 3700 ms: 1829313255 ns [ 277.441021] EtherCAT DEBUG 0-main-3: Sync after 3800 ms: 1829391404 ns [ 277.540973] EtherCAT DEBUG 0-main-3: Sync after 3900 ms: 1829469571 ns [ 277.640911] EtherCAT DEBUG 0-main-3: Sync after 4000 ms: 1829547709 ns [ 277.740855] EtherCAT DEBUG 0-main-3: Sync after 4100 ms: 1829625867 ns [ 277.840800] EtherCAT DEBUG 0-main-3: Sync after 4200 ms: 1829704022 ns [ 277.940744] EtherCAT DEBUG 0-main-3: Sync after 4300 ms: 1829782168 ns [ 278.040690] EtherCAT DEBUG 0-main-3: Sync after 4400 ms: 1829860332 ns [ 278.140637] EtherCAT DEBUG 0-main-3: Sync after 4500 ms: 1829938486 ns [ 278.240581] EtherCAT DEBUG 0-main-3: Sync after 4600 ms: 1830016639 ns [ 278.340526] EtherCAT DEBUG 0-main-3: Sync after 4700 ms: 1830094799 ns [ 278.440471] EtherCAT DEBUG 0-main-3: Sync after 4800 ms: 1830172951 ns [ 278.540418] EtherCAT DEBUG 0-main-3: Sync after 4900 ms: 1830251113 ns [ 278.640369] EtherCAT WARNING 0-main-3: Slave did not sync after 5000 ms. [ 278.648810] EtherCAT DEBUG 0-main-3: app_start_time=0 [ 278.648814] EtherCAT DEBUG 0-main-3: app_time=289356014683 [ 278.648817] EtherCAT DEBUG 0-main-3: start_time=289456014683 [ 278.648820] EtherCAT DEBUG 0-main-3: cycle=1000000 [ 278.648824] EtherCAT DEBUG 0-main-3: shift_time=500000 [ 278.648827] EtherCAT DEBUG 0-main-3: remainder=14683 [ 278.648830] EtherCAT DEBUG 0-main-3: start=289457500000 [ 278.648850] EtherCAT DEBUG 0-main-3: Setting DC cyclic operation start time to 289457500000. [ 278.650379] EtherCAT DEBUG 0-main-3: Setting DC AssignActivate to 0x0300. [ 278.655370] EtherCAT 0: Domain 0: Working counter changed to 2/3. [ 278.663683] KMC: Module ec: Domain 0: WC 2. [ 278.671891] KMC: Module ec: Domain 0: State 1. [ 278.679993] KMC: Module ec: Domain 0: WC 3. [ 278.688003] KMC: Module ec: Domain 0: State 2. [ 278.695998] EtherCAT DEBUG 0-main-3: Now in SAFEOP. [ 278.738518] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP. [ 278.746541] KMC: Module ec: AL states: 0x0E. [ 279.658795] EtherCAT 0: Domain 0: Working counter changed to 3/3. [ 283.688588] EtherCAT ERROR 0-main-3: Timeout while setting state OP. [ 283.726198] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP + ERROR. [ 283.766130] EtherCAT DEBUG 0-main-3: SAFEOP -> SAFEOP + ERROR.