# /flash-data/lecs.sh 
<6>[  102.820409] EtherCAT: Master driver 1.4.0-rc3 stable r1483
<6>[  102.873210] EtherCAT: 1 master waiting for devices.
<4>[  104.253529] fs_enet driver: compiled at Dec  3 2008 15:59:26
<4>[  104.253621] EtherCAT driver for eth0(00:12:ad:00:11:53)
<6>[  104.280299] EC BB MII Bus: probed
<4>[  104.320145] Platform device registred "ec0".
<6>[  104.320332] ec_fs_enet_probe:ec_fs_enet: is called.(c39e93e0)
<6>[  104.320491] EtherCAT: Accepting device 00:12:AD:00:11:53 for master 0.
<6>[  104.321865] EtherCAT: Starting EtherCAT-IDLE thread.
<7>[  104.345100] EtherCAT DEBUG: Idle thread running.
<4>[  104.345296] Driver was registred.
<6>[  107.324178] EtherCAT: Link state changed to UP.
<4>[  107.324224] generic_adjust_link(617)->link is on
<6>[  107.325129] EtherCAT: 2 slave(s) responding.
<6>[  107.325173] EtherCAT: Slave states: PREOP, OP.
<6>[  107.325291] EtherCAT: Scanning bus.
<4>[  107.604637] EtherCAT WARNING: Unknown category type 0x003C in slave 1.
<7>[  107.604682] EtherCAT DEBUG: Scanning Pdo assignment and mapping of slave 1.
<7>[  107.604709] EtherCAT DEBUG: Reading Pdo assignment of SM2.
<7>[  107.604739] EtherCAT DEBUG: Uploading Sdo 0x1C12:00 from slave 1.
<7>[  107.604768] EtherCAT DEBUG: Upload request:
<7>[  107.604787] EtherCAT DEBUG: c337a806:
<4>[  107.604802] 00 20 40 12 1C 00 00 00 00 00 
<7>[  107.605191] EtherCAT DEBUG: Upload response:
<7>[  107.605238] EtherCAT DEBUG: c337a806:
<4>[  107.605253] 00 30 43 20 60 11 7E FF FF FF 
<7>[  107.605301] EtherCAT DEBUG: Invalid Sdo upload expedited response at slave 1!
<7>[  107.605324] EtherCAT DEBUG: c337a806:
<4>[  107.605338] 00 30 43 20 60 11 7E FF FF FF 
<7>[  107.606115] EtherCAT DEBUG: Upload response:
<7>[  107.606163] EtherCAT DEBUG: c337a806:
<4>[  107.606178] 00 30 4F 12 1C 00 01 00 00 00 
<7>[  107.606229] EtherCAT DEBUG: Uploaded data:
<7>[  107.606245] EtherCAT DEBUG: c3312420:
<4>[  107.606259] 01 
<7>[  107.606276] EtherCAT DEBUG: 1 Pdos assigned.
<7>[  107.606299] EtherCAT DEBUG: Uploading Sdo 0x1C12:01 from slave 1.
<7>[  107.606325] EtherCAT DEBUG: Upload request:
<7>[  107.606342] EtherCAT DEBUG: c337a806:
<4>[  107.606357] 00 20 40 12 1C 01 00 00 00 00 
<7>[  107.607259] EtherCAT DEBUG: Upload response:
<7>[  107.607306] EtherCAT DEBUG: c337a806:
<4>[  107.607321] 00 30 4B 12 1C 01 02 16 00 00 
<7>[  107.607371] EtherCAT DEBUG: Uploaded data:
<7>[  107.607388] EtherCAT DEBUG: c3312420:
<4>[  107.607402] 02 16 
<7>[  107.607423] EtherCAT DEBUG: Pdo 0x1602.
<7>[  107.607449] EtherCAT DEBUG: Uploading Sdo 0x1602:00 from slave 1.
<7>[  107.607476] EtherCAT DEBUG: Upload request:
<7>[  107.607493] EtherCAT DEBUG: c337a806:
<4>[  107.607507] 00 20 40 02 16 00 00 00 00 00 
<7>[  107.608339] EtherCAT DEBUG: Upload response:
<7>[  107.608386] EtherCAT DEBUG: c337a806:
<4>[  107.608401] 00 30 4F 02 16 00 06 00 00 00 
<7>[  107.608450] EtherCAT DEBUG: Uploaded data:
<7>[  107.608466] EtherCAT DEBUG: c33123e0:
<4>[  107.608481] 06 
<7>[  107.608497] EtherCAT DEBUG: 6 Pdo entries mapped.
<7>[  107.608523] EtherCAT DEBUG: Uploading Sdo 0x1602:01 from slave 1.
<7>[  107.608550] EtherCAT DEBUG: Upload request:
<7>[  107.608567] EtherCAT DEBUG: c337a806:
<4>[  107.608581] 00 20 40 02 16 01 00 00 00 00 
<7>[  107.609412] EtherCAT DEBUG: Upload response:
<7>[  107.609459] EtherCAT DEBUG: c337a806:
<4>[  107.609474] 00 30 43 02 16 01 01 01 20 70 
<7>[  107.609524] EtherCAT DEBUG: Uploaded data:
<7>[  107.609540] EtherCAT DEBUG: c33123e0:
<4>[  107.609555] 01 01 20 70 
<7>[  107.609590] EtherCAT DEBUG: Pdo entry 0x7020:01, 1 bit, "???".
<7>[  107.609618] EtherCAT DEBUG: Uploading Sdo 0x1602:02 from slave 1.
<7>[  107.609646] EtherCAT DEBUG: Upload request:
<7>[  107.609663] EtherCAT DEBUG: c337a806:
<4>[  107.609677] 00 20 40 02 16 02 00 00 00 00 
<7>[  107.610541] EtherCAT DEBUG: Upload response:
<7>[  107.610588] EtherCAT DEBUG: c337a806:
<4>[  107.610603] 00 30 43 02 16 02 01 02 20 70 
<7>[  107.610649] EtherCAT DEBUG: Uploaded data:
<7>[  107.610665] EtherCAT DEBUG: c33123e0:
<4>[  107.610679] 01 02 20 70 
<7>[  107.610715] EtherCAT DEBUG: Pdo entry 0x7020:02, 1 bit, "???".
<7>[  107.610743] EtherCAT DEBUG: Uploading Sdo 0x1602:03 from slave 1.
<7>[  107.610770] EtherCAT DEBUG: Upload request:
<7>[  107.610788] EtherCAT DEBUG: c337a806:
<4>[  107.610802] 00 20 40 02 16 03 00 00 00 00 
<7>[  107.611660] EtherCAT DEBUG: Upload response:
<7>[  107.611708] EtherCAT DEBUG: c337a806:
<4>[  107.611723] 00 30 43 02 16 03 01 03 20 70 
<7>[  107.611769] EtherCAT DEBUG: Uploaded data:
<7>[  107.611785] EtherCAT DEBUG: c33123e0:
<4>[  107.611799] 01 03 20 70 
<7>[  107.611835] EtherCAT DEBUG: Pdo entry 0x7020:03, 1 bit, "???".
<7>[  107.611863] EtherCAT DEBUG: Uploading Sdo 0x1602:04 from slave 1.
<7>[  107.611890] EtherCAT DEBUG: Upload request:
<7>[  107.611908] EtherCAT DEBUG: c337a806:
<4>[  107.611922] 00 20 40 02 16 04 00 00 00 00 
<7>[  107.612901] EtherCAT DEBUG: Upload response:
<7>[  107.613031] EtherCAT DEBUG: c337a806:
<4>[  107.613054] 00 30 43 02 16 04 01 04 20 70 
<7>[  107.613100] EtherCAT DEBUG: Uploaded data:
<7>[  107.613117] EtherCAT DEBUG: c33123e0:
<4>[  107.613131] 01 04 20 70 
<7>[  107.613167] EtherCAT DEBUG: Pdo entry 0x7020:04, 1 bit, "???".
<7>[  107.613195] EtherCAT DEBUG: Uploading Sdo 0x1602:05 from slave 1.
<7>[  107.613223] EtherCAT DEBUG: Upload request:
<7>[  107.613240] EtherCAT DEBUG: c337a806:
<4>[  107.613254] 00 20 40 02 16 05 00 00 00 00 
<7>[  107.614205] EtherCAT DEBUG: Upload response:
<7>[  107.614252] EtherCAT DEBUG: c337a806:
<4>[  107.614267] 00 30 43 02 16 05 0C 00 00 00 
<7>[  107.614312] EtherCAT DEBUG: Uploaded data:
<7>[  107.614329] EtherCAT DEBUG: c33123e0:
<4>[  107.614343] 0C 00 00 00 
<7>[  107.614384] EtherCAT DEBUG: Pdo entry 0x0000:00, 12 bit, "Gap".
<7>[  107.614412] EtherCAT DEBUG: Uploading Sdo 0x1602:06 from slave 1.
<7>[  107.614439] EtherCAT DEBUG: Upload request:
<7>[  107.614457] EtherCAT DEBUG: c337a806:
<4>[  107.614471] 00 20 40 02 16 06 00 00 00 00 
<7>[  107.615353] EtherCAT DEBUG: Upload response:
<7>[  107.615400] EtherCAT DEBUG: c337a806:
<4>[  107.615415] 00 30 43 02 16 06 20 11 20 70 
<7>[  107.615461] EtherCAT DEBUG: Uploaded data:
<7>[  107.615477] EtherCAT DEBUG: c33123e0:
<4>[  107.615491] 20 11 20 70 
<7>[  107.615528] EtherCAT DEBUG: Pdo entry 0x7020:11, 32 bit, "???".
<7>[  107.615587] EtherCAT DEBUG: Reading Pdo assignment of SM3.
<7>[  107.615613] EtherCAT DEBUG: Uploading Sdo 0x1C13:00 from slave 1.
<7>[  107.615640] EtherCAT DEBUG: Upload request:
<7>[  107.615657] EtherCAT DEBUG: c337a806:
<4>[  107.615671] 00 20 40 13 1C 00 00 00 00 00 
<7>[  107.616562] EtherCAT DEBUG: Upload response:
<7>[  107.616610] EtherCAT DEBUG: c337a806:
<4>[  107.616625] 00 30 4F 13 1C 00 01 00 00 00 
<7>[  107.616671] EtherCAT DEBUG: Uploaded data:
<7>[  107.616687] EtherCAT DEBUG: c3312420:
<4>[  107.616702] 01 
<7>[  107.616717] EtherCAT DEBUG: 1 Pdos assigned.
<7>[  107.616741] EtherCAT DEBUG: Uploading Sdo 0x1C13:01 from slave 1.
<7>[  107.616767] EtherCAT DEBUG: Upload request:
<7>[  107.616784] EtherCAT DEBUG: c337a806:
<4>[  107.616798] 00 20 40 13 1C 01 00 00 00 00 
<7>[  107.617694] EtherCAT DEBUG: Upload response:
<7>[  107.617741] EtherCAT DEBUG: c337a806:
<4>[  107.617756] 00 30 4B 13 1C 01 02 1A 00 00 
<7>[  107.617801] EtherCAT DEBUG: Uploaded data:
<7>[  107.617818] EtherCAT DEBUG: c3312420:
<4>[  107.617832] 02 1A 
<7>[  107.617854] EtherCAT DEBUG: Pdo 0x1A02.
<7>[  107.617880] EtherCAT DEBUG: Uploading Sdo 0x1A02:00 from slave 1.
<7>[  107.617907] EtherCAT DEBUG: Upload request:
<7>[  107.617924] EtherCAT DEBUG: c337a806:
<4>[  107.618036] 00 20 40 02 1A 00 00 00 00 00 
<7>[  107.618860] EtherCAT DEBUG: Upload response:
<7>[  107.618896] EtherCAT DEBUG: c337a806:
<4>[  107.618910] 00 30 4F 02 1A 00 0B 00 00 00 
<7>[  107.619053] EtherCAT DEBUG: Uploaded data:
<7>[  107.619074] EtherCAT DEBUG: c33123e0:
<4>[  107.619089] 0B 
<7>[  107.619105] EtherCAT DEBUG: 11 Pdo entries mapped.
<7>[  107.619130] EtherCAT DEBUG: Uploading Sdo 0x1A02:01 from slave 1.
<7>[  107.619158] EtherCAT DEBUG: Upload request:
<7>[  107.619175] EtherCAT DEBUG: c337a806:
<4>[  107.619189] 00 20 40 02 1A 01 00 00 00 00 
<7>[  107.620200] EtherCAT DEBUG: Upload response:
<7>[  107.620248] EtherCAT DEBUG: c337a806:
<4>[  107.620263] 00 30 43 02 1A 01 01 01 20 60 
<7>[  107.620308] EtherCAT DEBUG: Uploaded data:
<7>[  107.620325] EtherCAT DEBUG: c33123e0:
<4>[  107.620339] 01 01 20 60 
<7>[  107.620376] EtherCAT DEBUG: Pdo entry 0x6020:01, 1 bit, "???".
<7>[  107.620404] EtherCAT DEBUG: Uploading Sdo 0x1A02:02 from slave 1.
<7>[  107.620431] EtherCAT DEBUG: Upload request:
<7>[  107.620448] EtherCAT DEBUG: c337a806:
<4>[  107.620462] 00 20 40 02 1A 02 00 00 00 00 
<7>[  107.621327] EtherCAT DEBUG: Upload response:
<7>[  107.621374] EtherCAT DEBUG: c337a806:
<4>[  107.621389] 00 30 43 02 1A 02 01 02 20 60 
<7>[  107.621435] EtherCAT DEBUG: Uploaded data:
<7>[  107.621451] EtherCAT DEBUG: c33123e0:
<4>[  107.621466] 01 02 20 60 
<7>[  107.621501] EtherCAT DEBUG: Pdo entry 0x6020:02, 1 bit, "???".
<7>[  107.621530] EtherCAT DEBUG: Uploading Sdo 0x1A02:03 from slave 1.
<7>[  107.621557] EtherCAT DEBUG: Upload request:
<7>[  107.621574] EtherCAT DEBUG: c337a806:
<4>[  107.621588] 00 20 40 02 1A 03 00 00 00 00 
<7>[  107.622467] EtherCAT DEBUG: Upload response:
<7>[  107.622515] EtherCAT DEBUG: c337a806:
<4>[  107.622530] 00 30 43 02 1A 03 01 03 20 60 
<7>[  107.622576] EtherCAT DEBUG: Uploaded data:
<7>[  107.622592] EtherCAT DEBUG: c33123e0:
<4>[  107.622606] 01 03 20 60 
<7>[  107.622642] EtherCAT DEBUG: Pdo entry 0x6020:03, 1 bit, "???".
<7>[  107.622671] EtherCAT DEBUG: Uploading Sdo 0x1A02:04 from slave 1.
<7>[  107.622698] EtherCAT DEBUG: Upload request:
<7>[  107.622715] EtherCAT DEBUG: c337a806:
<4>[  107.622729] 00 20 40 02 1A 04 00 00 00 00 
<7>[  107.623613] EtherCAT DEBUG: Upload response:
<7>[  107.623661] EtherCAT DEBUG: c337a806:
<4>[  107.623676] 00 30 43 02 1A 04 01 04 20 60 
<7>[  107.623721] EtherCAT DEBUG: Uploaded data:
<7>[  107.623738] EtherCAT DEBUG: c33123e0:
<4>[  107.623752] 01 04 20 60 
<7>[  107.623788] EtherCAT DEBUG: Pdo entry 0x6020:04, 1 bit, "???".
<7>[  107.623816] EtherCAT DEBUG: Uploading Sdo 0x1A02:05 from slave 1.
<7>[  107.623843] EtherCAT DEBUG: Upload request:
<7>[  107.623861] EtherCAT DEBUG: c337a806:
<4>[  107.623875] 00 20 40 02 1A 05 00 00 00 00 
<7>[  107.624813] EtherCAT DEBUG: Upload response:
<7>[  107.624860] EtherCAT DEBUG: c337a806:
<4>[  107.624876] 00 30 43 02 1A 05 01 05 20 60 
<7>[  107.624921] EtherCAT DEBUG: Uploaded data:
<7>[  107.625034] EtherCAT DEBUG: c33123e0:
<4>[  107.625056] 01 05 20 60 
<7>[  107.625092] EtherCAT DEBUG: Pdo entry 0x6020:05, 1 bit, "???".
<7>[  107.625120] EtherCAT DEBUG: Uploading Sdo 0x1A02:06 from slave 1.
<7>[  107.625148] EtherCAT DEBUG: Upload request:
<7>[  107.625165] EtherCAT DEBUG: c337a806:
<4>[  107.625179] 00 20 40 02 1A 06 00 00 00 00 
<7>[  107.626185] EtherCAT DEBUG: Upload response:
<7>[  107.626233] EtherCAT DEBUG: c337a806:
<4>[  107.626248] 00 30 43 02 1A 06 01 06 20 60 
<7>[  107.626293] EtherCAT DEBUG: Uploaded data:
<7>[  107.626310] EtherCAT DEBUG: c33123e0:
<4>[  107.626324] 01 06 20 60 
<7>[  107.626359] EtherCAT DEBUG: Pdo entry 0x6020:06, 1 bit, "???".
<7>[  107.626388] EtherCAT DEBUG: Uploading Sdo 0x1A02:07 from slave 1.
<7>[  107.626415] EtherCAT DEBUG: Upload request:
<7>[  107.626432] EtherCAT DEBUG: c337a806:
<4>[  107.626446] 00 20 40 02 1A 07 00 00 00 00 
<7>[  107.627355] EtherCAT DEBUG: Upload response:
<7>[  107.627403] EtherCAT DEBUG: c337a806:
<4>[  107.627418] 00 30 43 02 1A 07 07 00 00 00 
<7>[  107.627463] EtherCAT DEBUG: Uploaded data:
<7>[  107.627479] EtherCAT DEBUG: c33123e0:
<4>[  107.627494] 07 00 00 00 
<7>[  107.627534] EtherCAT DEBUG: Pdo entry 0x0000:00, 7 bit, "Gap".
<7>[  107.627562] EtherCAT DEBUG: Uploading Sdo 0x1A02:08 from slave 1.
<7>[  107.627590] EtherCAT DEBUG: Upload request:
<7>[  107.627607] EtherCAT DEBUG: c337a806:
<4>[  107.627621] 00 20 40 02 1A 08 00 00 00 00 
<7>[  107.628513] EtherCAT DEBUG: Upload response:
<7>[  107.628560] EtherCAT DEBUG: c337a806:
<4>[  107.628575] 00 30 43 02 1A 08 01 20 32 1C 
<7>[  107.628621] EtherCAT DEBUG: Uploaded data:
<7>[  107.628637] EtherCAT DEBUG: c33123e0:
<4>[  107.628652] 01 20 32 1C 
<7>[  107.628687] EtherCAT DEBUG: Pdo entry 0x1C32:20, 1 bit, "???".
<7>[  107.628716] EtherCAT DEBUG: Uploading Sdo 0x1A02:09 from slave 1.
<7>[  107.628742] EtherCAT DEBUG: Upload request:
<7>[  107.628760] EtherCAT DEBUG: c337a806:
<4>[  107.628774] 00 20 40 02 1A 09 00 00 00 00 
<7>[  107.629650] EtherCAT DEBUG: Upload response:
<7>[  107.629697] EtherCAT DEBUG: c337a806:
<4>[  107.629712] 00 30 43 02 1A 09 01 00 00 00 
<7>[  107.629757] EtherCAT DEBUG: Uploaded data:
<7>[  107.629774] EtherCAT DEBUG: c33123e0:
<4>[  107.629788] 01 00 00 00 
<7>[  107.629828] EtherCAT DEBUG: Pdo entry 0x0000:00, 1 bit, "Gap".
<7>[  107.629856] EtherCAT DEBUG: Uploading Sdo 0x1A02:0A from slave 1.
<7>[  107.629884] EtherCAT DEBUG: Upload request:
<7>[  107.629901] EtherCAT DEBUG: c337a806:
<4>[  107.629915] 00 20 40 02 1A 0A 00 00 00 00 
<7>[  107.630911] EtherCAT DEBUG: Upload response:
<7>[  107.631043] EtherCAT DEBUG: c337a806:
<4>[  107.631066] 00 30 43 02 1A 0A 01 09 02 18 
<7>[  107.631112] EtherCAT DEBUG: Uploaded data:
<7>[  107.631129] EtherCAT DEBUG: c33123e0:
<4>[  107.631143] 01 09 02 18 
<7>[  107.631178] EtherCAT DEBUG: Pdo entry 0x1802:09, 1 bit, "???".
<7>[  107.631207] EtherCAT DEBUG: Uploading Sdo 0x1A02:0B from slave 1.
<7>[  107.631235] EtherCAT DEBUG: Upload request:
<7>[  107.631252] EtherCAT DEBUG: c337a806:
<4>[  107.631267] 00 20 40 02 1A 0B 00 00 00 00 
<7>[  107.632184] EtherCAT DEBUG: Upload response:
<7>[  107.632231] EtherCAT DEBUG: c337a806:
<4>[  107.632246] 00 30 43 02 1A 0B 20 11 20 60 
<7>[  107.632292] EtherCAT DEBUG: Uploaded data:
<7>[  107.632308] EtherCAT DEBUG: c33123e0:
<4>[  107.632323] 20 11 20 60 
<7>[  107.632359] EtherCAT DEBUG: Pdo entry 0x6020:11, 32 bit, "???".
<7>[  107.632432] EtherCAT DEBUG: Reading of Pdo configuration finished.
<6>[  107.632459] EtherCAT: Bus scanning completed in 307 ms.
<7>[  107.634112] EtherCAT DEBUG: Changing state of slave 0 from PREOP to PREOP (forced).
<7>[  107.634158] EtherCAT DEBUG: Configuring slave 0...
<7>[  107.634326] EtherCAT DEBUG: Slave 0 is now in INIT.
<7>[  107.634359] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
<7>[  107.634472] EtherCAT DEBUG: Slave 0 does not support mailbox communication.
<7>[  107.634645] EtherCAT DEBUG: Slave 0 is now in PREOP.
<7>[  107.634678] EtherCAT DEBUG: Finished configuration of slave 0.
<7>[  107.635126] EtherCAT DEBUG: Changing state of slave 1 from OP to PREOP (forced).
<7>[  107.635169] EtherCAT DEBUG: Configuring slave 1...
<7>[  107.635440] EtherCAT DEBUG: Slave 1 is now in INIT.
<7>[  107.635473] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
<7>[  107.635577] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
<7>[  107.635626] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
<7>[  107.635654] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
<7>[  107.636287] EtherCAT DEBUG: Slave 1 is now in PREOP.
<7>[  107.636323] EtherCAT DEBUG: Finished configuration of slave 1.
<6>[  107.637107] EtherCAT: Slave states: PREOP.
<4>[  109.542716] EcKApp: Init Fct -> Start Kernel-Thread
<4>[  109.542766] EcKApp: EcKApp_InitMainInfoStruct
<4>[  109.542788] EcKApp: MINI_CreateDomainStruct( 0 )
<4>[  109.564200] EcKApp: Entering EcatKApp_kthread
<4>[  109.564247] EcKApp: MyInit
<6>[  109.564267] EtherCAT: Requesting master 0...
<7>[  109.564291] EtherCAT DEBUG: IDLE -> OPERATION.
<6>[  109.564315] EtherCAT: Successfully requested master 0.
<4>[  109.564333] EcKApp: Requesting master 0 OK!
<4>[  109.564352] EcKApp: -> link to Master OK -> continue
<4>[  109.564370] EcKApp: -> all slaves responding -> continue
<7>[  110.565092] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xc30b8800, request_cb = 0xc50c8050,  release_cb = 0xc50c8058, cb_data = 0x0)
<4>[  110.565148] EcKApp: -> Registering domain...
<7>[  110.565168] EtherCAT DEBUG: ecrt_master_create_domain(master = 0xc30b8800)
<7>[  110.565199] EtherCAT DEBUG: Created domain 0.
<4>[  110.565216] EcKApp: -> domain registered
<4>[  110.566105] EcKApp: -> Starting cyclic sample thread in HZ 1000 Freq 1000 cycle 1.
<4>[  110.566146] EcKApp: -> create new timer
<4>[  110.566168] EcKApp: Init done -> entering loop
<4>[  113.244901] EcKApp: -> Status Info von UApp
<4>[  113.245093] EcKApp: rec connection status request -> send response
<4>[  117.259098] EcKApp: -> Domain-Slot-Parameter von UApp
<4>[  117.259254] EcKApp: MINI_HandleSlotParam( 0 )
<4>[  117.259286] EcKApp: -> send Slot-Param confirmation
<4>[  117.259306] EcKApp: MINI_EcKAppParamCreateSlotMem() 1 Lines
<4>[  117.259377] EcKApp: pu32LineDataOff angelegt -> 4 Bytes at c3312f00
<4>[  117.259402] EcKApp: pu32LineBitPos angelegt -> 4 Bytes at c3312ee0
<4>[  117.259491] EcKApp: MINI_ParamSlotInit()
<4>[  117.259526] EcKApp: MINI_ConnectToEcMaster
<7>[  117.259558] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc30b8800, alias = 0, position = 1, vendor_id = 4781, product_code = 98447442)
<7>[  117.259600] EtherCAT DEBUG: Creating slave configuration for 0:1, 0x000012AD/0x05DE3052.
<7>[  117.259643] EtherCAT DEBUG: Attached slave 1 to config 0:1.
<4>[  117.259707] EcKApp: Configuring Pdos...
<7>[  117.259730] EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xc331d000, n_syncs = 4294967295, syncs = 0xc50cbbfc)
<7>[  117.259767] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc331d000, sync_index = 2, dir = 1)
<7>[  117.259799] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc331d000, sync_index = 2)
<7>[  117.259841] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc331d000, sync_index = 2, pdo_index = 0x1602)
<7>[  117.259878] EtherCAT DEBUG: Loading default mapping for Pdo 0x1602 in config 0:1.
<7>[  117.259912] EtherCAT DEBUG: Entry 0x7020:01.
<7>[  117.260053] EtherCAT DEBUG: Entry 0x7020:02.
<7>[  117.260079] EtherCAT DEBUG: Entry 0x7020:03.
<7>[  117.260096] EtherCAT DEBUG: Entry 0x7020:04.
<7>[  117.260114] EtherCAT DEBUG: Entry 0x0000:00.
<7>[  117.260132] EtherCAT DEBUG: Entry 0x7020:11.
<7>[  117.260157] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc331d000, pdo_index = 0x1602)
<7>[  117.260205] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x01, entry_bit_length = 1)
<7>[  117.260259] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x02, entry_bit_length = 1)
<7>[  117.260310] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x03, entry_bit_length = 1)
<7>[  117.260361] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x04, entry_bit_length = 1)
<7>[  117.260411] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 12)
<7>[  117.260461] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 32)
<7>[  117.260510] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc331d000, sync_index = 3, dir = 2)
<7>[  117.260542] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc331d000, sync_index = 3)
<7>[  117.260583] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc331d000, sync_index = 3, pdo_index = 0x1A02)
<7>[  117.260619] EtherCAT DEBUG: Loading default mapping for Pdo 0x1A02 in config 0:1.
<7>[  117.260663] EtherCAT DEBUG: Entry 0x6020:01.
<7>[  117.260681] EtherCAT DEBUG: Entry 0x6020:02.
<7>[  117.260699] EtherCAT DEBUG: Entry 0x6020:03.
<7>[  117.260717] EtherCAT DEBUG: Entry 0x6020:04.
<7>[  117.260735] EtherCAT DEBUG: Entry 0x6020:05.
<7>[  117.260753] EtherCAT DEBUG: Entry 0x6020:06.
<7>[  117.260771] EtherCAT DEBUG: Entry 0x0000:00.
<7>[  117.260789] EtherCAT DEBUG: Entry 0x1C32:20.
<7>[  117.260806] EtherCAT DEBUG: Entry 0x0000:00.
<7>[  117.260824] EtherCAT DEBUG: Entry 0x1802:09.
<7>[  117.260842] EtherCAT DEBUG: Entry 0x6020:11.
<7>[  117.260864] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc331d000, pdo_index = 0x1A02)
<7>[  117.260908] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
<7>[  117.261058] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
<7>[  117.261117] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 1)
<7>[  117.261168] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x04, entry_bit_length = 1)
<7>[  117.261219] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 1)
<7>[  117.261270] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x06, entry_bit_length = 1)
<7>[  117.261320] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 7)
<7>[  117.261371] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x1C32, entry_subindex = 0x20, entry_bit_length = 1)
<7>[  117.261421] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
<7>[  117.261472] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
<7>[  117.261523] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc331d000, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 32)
<4>[  117.261566] EcKApp: Creating Sdo requests...
<7>[  117.261592] EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc331d000, index = 0x6020, subindex = 0x11, size = 4)
<4>[  117.261634] EcKApp: Create Sdo c3327f20
<4>[  117.261649] EcKApp: -> Registering PDOs...
<7>[  117.261675] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xc3033520, regs = 0xc3327f60)
<7>[  117.261711] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc30b8800, alias = 0, position = 1, vendor_id = 4781, product_code = 98447442)
<7>[  117.261758] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc331d000, index = 0x6020, subindex = 0x11, domain = 0xc3033520, bit_position = 0xc3312ee0)
<7>[  117.261807] EtherCAT DEBUG: Domain 0: Added 6 bytes, total 6.
<4>[  117.261831] EcKApp: -> Activating master c30b8800 ...
<7>[  117.261852] EtherCAT DEBUG: ecrt_master_activate(master = 0xc30b8800)
<6>[  117.261903] EtherCAT: Domain0: Logical address 0x00000000, 6 byte, expected working counter 1.
<6>[  117.262038] EtherCAT:   Datagram domain0-0: Logical offset 0x00000000, 6 byte, type LRD.
<7>[  117.262074] EtherCAT DEBUG: Stopping master thread.
<7>[  117.279191] EtherCAT DEBUG: Master IDLE thread exiting...
<6>[  117.279369] EtherCAT: Master thread exited.
<7>[  117.279436] EtherCAT DEBUG: FSM datagram is c30b8b54.
<6>[  117.279466] EtherCAT: Starting EtherCAT-OP thread.
<4>[  117.281414]  -> Master activated
<4>[  117.281487] EcKApp: -> Parametrierung vollstaendig
<4>[  117.282048] EcKApp: Master-State changed link_up = 1.
<7>[  117.283126] EtherCAT DEBUG: Operation thread running.
<7>[  117.283256] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
<7>[  117.283287] EtherCAT DEBUG: Configuring slave 1...
<7>[  117.287096] EtherCAT DEBUG: Slave 1 is now in INIT.
<7>[  117.287187] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
<7>[  117.289126] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
<7>[  117.289222] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
<7>[  117.289254] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
<7>[  117.295092] EtherCAT DEBUG: Slave 1 is now in PREOP.
<7>[  117.295198] EtherCAT DEBUG: Pdo assignment for SM0 is already configured correctly.
<7>[  117.295231] EtherCAT DEBUG: Pdo assignment for SM1 is already configured correctly.
<7>[  117.295579] EtherCAT DEBUG: Mapping of Pdo 0x1602 is already configured correctly.
<7>[  117.295664] EtherCAT DEBUG: Pdo assignment for SM2 is already configured correctly.
<7>[  117.296207] EtherCAT DEBUG: Mapping of Pdo 0x1A02 is already configured correctly.
<7>[  117.296313] EtherCAT DEBUG: Pdo assignment for SM3 is already configured correctly.
<7>[  117.296381] EtherCAT DEBUG: SM2: Addr 0x1100, Size   6, Ctrl 0x24, En 1
<7>[  117.296409] EtherCAT DEBUG: SM3: Addr 0x1180, Size   6, Ctrl 0x20, En 1
<7>[  117.298118] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size   6, PhysAddr 0x1180, SM3, Dir in
<6>[  117.303051] EtherCAT: Domain 0: Working counter changed to 1/1.
<7>[  117.304130] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
<7>[  117.308091] EtherCAT DEBUG: Slave 1 is now in OP.
<7>[  117.308182] EtherCAT DEBUG: Finished configuration of slave 1.
<6>[  117.311528] EtherCAT: Slave states: PREOP, OP.
<7>[  121.290150] EtherCAT DEBUG: Processing Sdo request for slave 1...
<7>[  121.290244] EtherCAT DEBUG: Uploading Sdo 0x6020:11 from slave 1.
<7>[  121.290278] EtherCAT DEBUG: Upload request:
<7>[  121.290297] EtherCAT DEBUG: c337a806:
<4>[  121.290311] 00 20 40 20 60 11 00 00 00 00 
<7>[  121.296081] EtherCAT DEBUG: Upload response:
<7>[  121.296180] EtherCAT DEBUG: c337a806:
<4>[  121.296199] 00 30 43 20 60 11 0C FF FF FF 
<7>[  121.296248] EtherCAT DEBUG: Uploaded data:
<7>[  121.296264] EtherCAT DEBUG: c3312c20:
<4>[  121.296278] 0C FF FF FF 
<7>[  121.296306] EtherCAT DEBUG: Finished Sdo request for slave 1.
<4>[  121.297106] EcKApp: Sdo value: 0xFFFFFF0C
<4>[  121.298113] EcKApp: First entry...c3327f20
<4>[  121.298150] EcKApp: Still busy...
<4>[  121.299110] EcKApp: First entry...c3327f20
<7>[  121.303152] EtherCAT DEBUG: Processing Sdo request for slave 1...
<7>[  121.303246] EtherCAT DEBUG: Uploading Sdo 0x6020:11 from slave 1.
<7>[  121.303279] EtherCAT DEBUG: Upload request:
<7>[  121.303298] EtherCAT DEBUG: c337a806:
<4>[  121.303313] 00 20 40 20 60 11 00 00 00 00 
<7>[  121.309083] EtherCAT DEBUG: Upload response:
<7>[  121.309185] EtherCAT DEBUG: c337a806:
<4>[  121.309204] 00 30 43 20 60 11 0C FF FF FF 
<7>[  121.309253] EtherCAT DEBUG: Uploaded data:
<7>[  121.309269] EtherCAT DEBUG: c3312c20:
<4>[  121.309284] 0C FF FF FF 
<7>[  121.309311] EtherCAT DEBUG: Finished Sdo request for slave 1.
<7>[  121.315148] EtherCAT DEBUG: Processing Sdo request for slave 1...
<7>[  121.315241] EtherCAT DEBUG: Uploading Sdo 0x6020:11 from slave 1.
<7>[  121.315274] EtherCAT DEBUG: Upload request:
<7>[  121.315293] EtherCAT DEBUG: c337a806:
<4>[  121.315308] 00 20 40 20 60 11 00 00 00 00 
<7>[  121.321084] EtherCAT DEBUG: Upload response:
<7>[  121.321185] EtherCAT DEBUG: c337a806:
<4>[  121.321204] 00 30 43 20 60 11 0C FF FF FF 
<7>[  121.321253] EtherCAT DEBUG: Uploaded data:
<7>[  121.321270] EtherCAT DEBUG: c3312c20:
<4>[  121.321284] 0C FF FF FF 
<7>[  121.321311] EtherCAT DEBUG: Finished Sdo request for slave 1.
<7>[  121.327149] EtherCAT DEBUG: Processing Sdo request for slave 1...
<7>[  121.327242] EtherCAT DEBUG: Uploading Sdo 0x6020:11 from slave 1.
<7>[  121.327275] EtherCAT DEBUG: Upload request:
<7>[  121.327294] EtherCAT DEBUG: c337a806:
<4>[  121.327309] 00 20 40 20 60 11 00 00 00 00 
<7>[  121.333084] EtherCAT DEBUG: Upload response:
<7>[  121.333185] EtherCAT DEBUG: c337a806:
<4>[  121.333203] 00 30 43 20 60 11 0C FF FF FF 
<7>[  121.333253] EtherCAT DEBUG: Uploaded data:
<7>[  121.333269] EtherCAT DEBUG: c3312c20:
<4>[  121.333283] 0C FF FF FF 
<7>[  121.333311] EtherCAT DEBUG: Finished Sdo request for slave 1.
<7>[  121.339149] EtherCAT DEBUG: Processing Sdo request for slave 1...
<7>[  121.339242] EtherCAT DEBUG: Uploading Sdo 0x6020:11 from slave 1.
<7>[  121.339274] EtherCAT DEBUG: Upload request:
<7>[  121.339293] EtherCAT DEBUG: c337a806:
<4>[  121.339308] 00 20 40 20 60 11 00 00 00 00 
<7>[  121.345081] EtherCAT DEBUG: Upload response:
<7>[  121.345181] EtherCAT DEBUG: c337a806:
<4>[  121.345200] 00 30 43 20 60 11 0C FF FF FF 
<7>[  121.345249] EtherCAT DEBUG: Uploaded data:
<7>[  121.345266] EtherCAT DEBUG: c3312c20:
<4>[  121.345280] 0C FF FF FF 
# 




# 
# /flash-data/ethercat domain -v
Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 1/1
  SlaveConfig 0:1, SM3 ( Input), LogAddr 0x00000000, Size 6
    0x00 0x00 0x00 0x00 0x00 0x00 






# /flash-data/ethercat slaves -v  
=== Slave 0 ===
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x000012ad
  Product code:    0x044c2c52
  Revision number: 0x00110000
  Serial number:   0x00000000
General:
  Group: IDS_System
  Image name: 
  Order number: cEC71A
  Device name: cEC71A EtherCAT-Koppler (2A E-Bus)
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: -2000 mA
=== Slave 1 ===
State: OP
Flag: +
Identity:
  Vendor Id:       0x000012ad
  Product code:    0x05de3052
  Revision number: 0x00100000
  Serial number:   0x00000000
Mailboxes:
  RX: 0x1000/128, TX: 0x1080/128
  Supported protocols: CoE, FoE
General:
  Group: IDS_DigIn
  Image name: 
  Order number: cCI70A
  Device name: cCI70A 2K. +/- Zaehler 24V, 100kHz
  CoE details:
    Enable Sdo: yes
    Enable Sdo Info: yes
    Enable Pdo Assign: yes
    Enable Pdo Configuration: no
    Enable Upload at startup: no
    Enable Sdo complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 130 mA







# /flash-data/ethercat pdos     
=== Slave 0 ===
=== Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    6, ControlRegister 0x24, Enable 1
  RxPdo 0x1602 ""
    Pdo entry 0x7020:01,  1 bit, ""
    Pdo entry 0x7020:02,  1 bit, ""
    Pdo entry 0x7020:03,  1 bit, ""
    Pdo entry 0x7020:04,  1 bit, ""
    Pdo entry 0x0000:00, 12 bit, "Gap"
    Pdo entry 0x7020:11, 32 bit, ""
SM3: PhysAddr 0x1180, DefaultSize    6, ControlRegister 0x20, Enable 1
  TxPdo 0x1a02 ""
    Pdo entry 0x6020:01,  1 bit, ""
    Pdo entry 0x6020:02,  1 bit, ""
    Pdo entry 0x6020:03,  1 bit, ""
    Pdo entry 0x6020:04,  1 bit, ""
    Pdo entry 0x6020:05,  1 bit, ""
    Pdo entry 0x6020:06,  1 bit, ""
    Pdo entry 0x0000:00,  7 bit, "Gap"
    Pdo entry 0x1c32:20,  1 bit, ""
    Pdo entry 0x0000:00,  1 bit, "Gap"
    Pdo entry 0x1802:09,  1 bit, ""
    Pdo entry 0x6020:11, 32 bit, ""






# /flash-data/ethercat sdos
=== Slave 0 ===
=== Slave 1 ===
# /flash-data/ethercat sdos -v
=== Slave 0 ===
=== Slave 1 ===
# 





# /flash-data/ethercat config -v
Alias: 0
Position: 1
Vendor Id: 0x000012ad
Product code: 0x05de3052
Attached slave: 1 (OP)
SM2 (Output)
  Pdo 0x1602
    Pdo entry 0x7020:01,  1 bit
    Pdo entry 0x7020:02,  1 bit
    Pdo entry 0x7020:03,  1 bit
    Pdo entry 0x7020:04,  1 bit
    Pdo entry 0x0000:00, 12 bit
    Pdo entry 0x7020:11, 32 bit
SM3 (Input)
  Pdo 0x1a02
    Pdo entry 0x6020:01,  1 bit
    Pdo entry 0x6020:02,  1 bit
    Pdo entry 0x6020:03,  1 bit
    Pdo entry 0x6020:04,  1 bit
    Pdo entry 0x6020:05,  1 bit
    Pdo entry 0x6020:06,  1 bit
    Pdo entry 0x0000:00,  7 bit
    Pdo entry 0x1c32:20,  1 bit
    Pdo entry 0x0000:00,  1 bit
    Pdo entry 0x1802:09,  1 bit
    Pdo entry 0x6020:11, 32 bit
Sdo configuration:
  None.

#