<6>[ 65.767489] EtherCAT: Master driver 1.4.0-rc3 stable r1483 <6>[ 65.809423] EtherCAT: 1 master waiting for devices. <4>[ 67.189295] fs_enet driver: compiled at Dec 3 2008 15:59:26 <4>[ 67.189385] EtherCAT driver for eth0(00:12:ad:00:11:53) <6>[ 67.216173] EC BB MII Bus: probed <4>[ 67.258661] Platform device registred "ec0". <6>[ 67.258847] ec_fs_enet_probe:ec_fs_enet: is called.(c39e9260) <6>[ 67.259122] EtherCAT: Accepting device 00:12:AD:00:11:53 for master 0. <6>[ 67.260458] EtherCAT: Starting EtherCAT-IDLE thread. <7>[ 67.279197] EtherCAT DEBUG: Idle thread running. <4>[ 67.281748] Driver was registred. <6>[ 70.262177] EtherCAT: Link state changed to UP. <4>[ 70.262224] generic_adjust_link(617)->link is on <6>[ 70.263136] EtherCAT: 2 slave(s) responding. <6>[ 70.263178] EtherCAT: Slave states: INIT. <6>[ 70.263295] EtherCAT: Scanning bus. <4>[ 70.542449] EtherCAT WARNING: Unknown category type 0x003C in slave 1. <7>[ 70.542493] EtherCAT DEBUG: Slave 1 is not in the state to do mailbox com, setting to PREOP. <7>[ 70.542522] EtherCAT DEBUG: Configuring slave 1... <7>[ 70.542707] EtherCAT DEBUG: Slave 1 is now in INIT. <7>[ 70.542739] EtherCAT DEBUG: Clearing FMMU configurations of slave 1... <7>[ 70.542848] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1. <7>[ 70.542896] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 <7>[ 70.542924] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 <7>[ 70.543658] EtherCAT DEBUG: Slave 1 is now in PREOP. <7>[ 70.543694] EtherCAT DEBUG: Finished configuration of slave 1. <7>[ 70.543718] EtherCAT DEBUG: Scanning Pdo assignment and mapping of slave 1. <7>[ 70.543745] EtherCAT DEBUG: Reading Pdo assignment of SM2. <7>[ 70.543778] EtherCAT DEBUG: Uploading Sdo 0x1C12:00 from slave 1. <7>[ 70.543805] EtherCAT DEBUG: Upload request: <7>[ 70.543824] EtherCAT DEBUG: c302b806: <4>[ 70.543839] 00 20 40 12 1C 00 00 00 00 00 <7>[ 70.544679] EtherCAT DEBUG: Upload response: <7>[ 70.544726] EtherCAT DEBUG: c302b806: <4>[ 70.544741] 00 30 4F 12 1C 00 01 00 00 00 <7>[ 70.544793] EtherCAT DEBUG: Uploaded data: <7>[ 70.544809] EtherCAT DEBUG: c3320420: <4>[ 70.544824] 01 <7>[ 70.544840] EtherCAT DEBUG: 1 Pdos assigned. <7>[ 70.544863] EtherCAT DEBUG: Uploading Sdo 0x1C12:01 from slave 1. <7>[ 70.544889] EtherCAT DEBUG: Upload request: <7>[ 70.544906] EtherCAT DEBUG: c302b806: <4>[ 70.544921] 00 20 40 12 1C 01 00 00 00 00 <7>[ 70.545914] EtherCAT DEBUG: Upload response: <7>[ 70.546044] EtherCAT DEBUG: c302b806: <4>[ 70.546066] 00 30 4B 12 1C 01 02 16 00 00 <7>[ 70.546120] EtherCAT DEBUG: Uploaded data: <7>[ 70.546136] EtherCAT DEBUG: c3320420: <4>[ 70.546151] 02 16 <7>[ 70.546172] EtherCAT DEBUG: Pdo 0x1602. <7>[ 70.546198] EtherCAT DEBUG: Uploading Sdo 0x1602:00 from slave 1. <7>[ 70.546226] EtherCAT DEBUG: Upload request: <7>[ 70.546243] EtherCAT DEBUG: c302b806: <4>[ 70.546257] 00 20 40 02 16 00 00 00 00 00 <7>[ 70.547169] EtherCAT DEBUG: Upload response: <7>[ 70.547216] EtherCAT DEBUG: c302b806: <4>[ 70.547231] 00 30 4F 02 16 00 06 00 00 00 <7>[ 70.547280] EtherCAT DEBUG: Uploaded data: <7>[ 70.547297] EtherCAT DEBUG: c33203e0: <4>[ 70.547311] 06 <7>[ 70.547328] EtherCAT DEBUG: 6 Pdo entries mapped. <7>[ 70.547353] EtherCAT DEBUG: Uploading Sdo 0x1602:01 from slave 1. <7>[ 70.547381] EtherCAT DEBUG: Upload request: <7>[ 70.547397] EtherCAT DEBUG: c302b806: <4>[ 70.547412] 00 20 40 02 16 01 00 00 00 00 <7>[ 70.548296] EtherCAT DEBUG: Upload response: <7>[ 70.548343] EtherCAT DEBUG: c302b806: <4>[ 70.548358] 00 30 43 02 16 01 01 01 20 70 <7>[ 70.548408] EtherCAT DEBUG: Uploaded data: <7>[ 70.548424] EtherCAT DEBUG: c33203e0: <4>[ 70.548438] 01 01 20 70 <7>[ 70.548473] EtherCAT DEBUG: Pdo entry 0x7020:01, 1 bit, "???". <7>[ 70.548502] EtherCAT DEBUG: Uploading Sdo 0x1602:02 from slave 1. <7>[ 70.548529] EtherCAT DEBUG: Upload request: <7>[ 70.548546] EtherCAT DEBUG: c302b806: <4>[ 70.548560] 00 20 40 02 16 02 00 00 00 00 <7>[ 70.549385] EtherCAT DEBUG: Upload response: <7>[ 70.549432] EtherCAT DEBUG: c302b806: <4>[ 70.549447] 00 30 43 02 16 02 01 02 20 70 <7>[ 70.549493] EtherCAT DEBUG: Uploaded data: <7>[ 70.549509] EtherCAT DEBUG: c33203e0: <4>[ 70.549524] 01 02 20 70 <7>[ 70.549560] EtherCAT DEBUG: Pdo entry 0x7020:02, 1 bit, "???". <7>[ 70.549588] EtherCAT DEBUG: Uploading Sdo 0x1602:03 from slave 1. <7>[ 70.549615] EtherCAT DEBUG: Upload request: <7>[ 70.549632] EtherCAT DEBUG: c302b806: <4>[ 70.549646] 00 20 40 02 16 03 00 00 00 00 <7>[ 70.550514] EtherCAT DEBUG: Upload response: <7>[ 70.550561] EtherCAT DEBUG: c302b806: <4>[ 70.550576] 00 30 43 02 16 03 01 03 20 70 <7>[ 70.550622] EtherCAT DEBUG: Uploaded data: <7>[ 70.550638] EtherCAT DEBUG: c33203e0: <4>[ 70.550652] 01 03 20 70 <7>[ 70.550688] EtherCAT DEBUG: Pdo entry 0x7020:03, 1 bit, "???". <7>[ 70.550716] EtherCAT DEBUG: Uploading Sdo 0x1602:04 from slave 1. <7>[ 70.550743] EtherCAT DEBUG: Upload request: <7>[ 70.550761] EtherCAT DEBUG: c302b806: <4>[ 70.550775] 00 20 40 02 16 04 00 00 00 00 <7>[ 70.551661] EtherCAT DEBUG: Upload response: <7>[ 70.551708] EtherCAT DEBUG: c302b806: <4>[ 70.551723] 00 30 43 02 16 04 01 04 20 70 <7>[ 70.551768] EtherCAT DEBUG: Uploaded data: <7>[ 70.551785] EtherCAT DEBUG: c33203e0: <4>[ 70.551799] 01 04 20 70 <7>[ 70.551835] EtherCAT DEBUG: Pdo entry 0x7020:04, 1 bit, "???". <7>[ 70.551863] EtherCAT DEBUG: Uploading Sdo 0x1602:05 from slave 1. <7>[ 70.551890] EtherCAT DEBUG: Upload request: <7>[ 70.551907] EtherCAT DEBUG: c302b806: <4>[ 70.551921] 00 20 40 02 16 05 00 00 00 00 <7>[ 70.552868] EtherCAT DEBUG: Upload response: <7>[ 70.552907] EtherCAT DEBUG: c302b806: <4>[ 70.552921] 00 30 43 02 16 05 0C 00 00 00 <7>[ 70.553064] EtherCAT DEBUG: Uploaded data: <7>[ 70.553086] EtherCAT DEBUG: c33203e0: <4>[ 70.553100] 0C 00 00 00 <7>[ 70.553141] EtherCAT DEBUG: Pdo entry 0x0000:00, 12 bit, "Gap". <7>[ 70.553169] EtherCAT DEBUG: Uploading Sdo 0x1602:06 from slave 1. <7>[ 70.553197] EtherCAT DEBUG: Upload request: <7>[ 70.553214] EtherCAT DEBUG: c302b806: <4>[ 70.553229] 00 20 40 02 16 06 00 00 00 00 <7>[ 70.554183] EtherCAT DEBUG: Upload response: <7>[ 70.554230] EtherCAT DEBUG: c302b806: <4>[ 70.554245] 00 30 43 02 16 06 20 11 20 70 <7>[ 70.554291] EtherCAT DEBUG: Uploaded data: <7>[ 70.554307] EtherCAT DEBUG: c33203e0: <4>[ 70.554321] 20 11 20 70 <7>[ 70.554357] EtherCAT DEBUG: Pdo entry 0x7020:11, 32 bit, "???". <7>[ 70.554416] EtherCAT DEBUG: Reading Pdo assignment of SM3. <7>[ 70.554442] EtherCAT DEBUG: Uploading Sdo 0x1C13:00 from slave 1. <7>[ 70.554469] EtherCAT DEBUG: Upload request: <7>[ 70.554486] EtherCAT DEBUG: c302b806: <4>[ 70.554500] 00 20 40 13 1C 00 00 00 00 00 <7>[ 70.555383] EtherCAT DEBUG: Upload response: <7>[ 70.555430] EtherCAT DEBUG: c302b806: <4>[ 70.555445] 00 30 4F 13 1C 00 01 00 00 00 <7>[ 70.555490] EtherCAT DEBUG: Uploaded data: <7>[ 70.555507] EtherCAT DEBUG: c3320420: <4>[ 70.555521] 01 <7>[ 70.555537] EtherCAT DEBUG: 1 Pdos assigned. <7>[ 70.555559] EtherCAT DEBUG: Uploading Sdo 0x1C13:01 from slave 1. <7>[ 70.555586] EtherCAT DEBUG: Upload request: <7>[ 70.555603] EtherCAT DEBUG: c302b806: <4>[ 70.555617] 00 20 40 13 1C 01 00 00 00 00 <7>[ 70.556484] EtherCAT DEBUG: Upload response: <7>[ 70.556531] EtherCAT DEBUG: c302b806: <4>[ 70.556546] 00 30 4B 13 1C 01 02 1A 00 00 <7>[ 70.556591] EtherCAT DEBUG: Uploaded data: <7>[ 70.556608] EtherCAT DEBUG: c3320420: <4>[ 70.556622] 02 1A <7>[ 70.556644] EtherCAT DEBUG: Pdo 0x1A02. <7>[ 70.556670] EtherCAT DEBUG: Uploading Sdo 0x1A02:00 from slave 1. <7>[ 70.556696] EtherCAT DEBUG: Upload request: <7>[ 70.556713] EtherCAT DEBUG: c302b806: <4>[ 70.556727] 00 20 40 02 1A 00 00 00 00 00 <7>[ 70.557563] EtherCAT DEBUG: Upload response: <7>[ 70.557609] EtherCAT DEBUG: c302b806: <4>[ 70.557624] 00 30 4F 02 1A 00 0B 00 00 00 <7>[ 70.557669] EtherCAT DEBUG: Uploaded data: <7>[ 70.557685] EtherCAT DEBUG: c33203e0: <4>[ 70.557700] 0B <7>[ 70.557716] EtherCAT DEBUG: 11 Pdo entries mapped. <7>[ 70.557741] EtherCAT DEBUG: Uploading Sdo 0x1A02:01 from slave 1. <7>[ 70.557768] EtherCAT DEBUG: Upload request: <7>[ 70.557785] EtherCAT DEBUG: c302b806: <4>[ 70.557799] 00 20 40 02 1A 01 00 00 00 00 <7>[ 70.558686] EtherCAT DEBUG: Upload response: <7>[ 70.558734] EtherCAT DEBUG: c302b806: <4>[ 70.558749] 00 30 43 02 1A 01 01 01 20 60 <7>[ 70.558794] EtherCAT DEBUG: Uploaded data: <7>[ 70.558810] EtherCAT DEBUG: c33203e0: <4>[ 70.558824] 01 01 20 60 <7>[ 70.558860] EtherCAT DEBUG: Pdo entry 0x6020:01, 1 bit, "???". <7>[ 70.558888] EtherCAT DEBUG: Uploading Sdo 0x1A02:02 from slave 1. <7>[ 70.558915] EtherCAT DEBUG: Upload request: <7>[ 70.559028] EtherCAT DEBUG: c302b806: <4>[ 70.559051] 00 20 40 02 1A 02 00 00 00 00 <7>[ 70.560036] EtherCAT DEBUG: Upload response: <7>[ 70.560081] EtherCAT DEBUG: c302b806: <4>[ 70.560096] 00 30 43 02 1A 02 01 02 20 60 <7>[ 70.560142] EtherCAT DEBUG: Uploaded data: <7>[ 70.560159] EtherCAT DEBUG: c33203e0: <4>[ 70.560173] 01 02 20 60 <7>[ 70.560209] EtherCAT DEBUG: Pdo entry 0x6020:02, 1 bit, "???". <7>[ 70.560237] EtherCAT DEBUG: Uploading Sdo 0x1A02:03 from slave 1. <7>[ 70.560265] EtherCAT DEBUG: Upload request: <7>[ 70.560282] EtherCAT DEBUG: c302b806: <4>[ 70.560296] 00 20 40 02 1A 03 00 00 00 00 <7>[ 70.561198] EtherCAT DEBUG: Upload response: <7>[ 70.561245] EtherCAT DEBUG: c302b806: <4>[ 70.561260] 00 30 43 02 1A 03 01 03 20 60 <7>[ 70.561306] EtherCAT DEBUG: Uploaded data: <7>[ 70.561322] EtherCAT DEBUG: c33203e0: <4>[ 70.561336] 01 03 20 60 <7>[ 70.561372] EtherCAT DEBUG: Pdo entry 0x6020:03, 1 bit, "???". <7>[ 70.561400] EtherCAT DEBUG: Uploading Sdo 0x1A02:04 from slave 1. <7>[ 70.561427] EtherCAT DEBUG: Upload request: <7>[ 70.561445] EtherCAT DEBUG: c302b806: <4>[ 70.561459] 00 20 40 02 1A 04 00 00 00 00 <7>[ 70.562337] EtherCAT DEBUG: Upload response: <7>[ 70.562384] EtherCAT DEBUG: c302b806: <4>[ 70.562399] 00 30 43 02 1A 04 01 04 20 60 <7>[ 70.562445] EtherCAT DEBUG: Uploaded data: <7>[ 70.562462] EtherCAT DEBUG: c33203e0: <4>[ 70.562476] 01 04 20 60 <7>[ 70.562511] EtherCAT DEBUG: Pdo entry 0x6020:04, 1 bit, "???". <7>[ 70.562539] EtherCAT DEBUG: Uploading Sdo 0x1A02:05 from slave 1. <7>[ 70.562566] EtherCAT DEBUG: Upload request: <7>[ 70.562584] EtherCAT DEBUG: c302b806: <4>[ 70.562598] 00 20 40 02 1A 05 00 00 00 00 <7>[ 70.563514] EtherCAT DEBUG: Upload response: <7>[ 70.563561] EtherCAT DEBUG: c302b806: <4>[ 70.563576] 00 30 43 02 1A 05 01 05 20 60 <7>[ 70.563621] EtherCAT DEBUG: Uploaded data: <7>[ 70.563638] EtherCAT DEBUG: c33203e0: <4>[ 70.563652] 01 05 20 60 <7>[ 70.563687] EtherCAT DEBUG: Pdo entry 0x6020:05, 1 bit, "???". <7>[ 70.563716] EtherCAT DEBUG: Uploading Sdo 0x1A02:06 from slave 1. <7>[ 70.563743] EtherCAT DEBUG: Upload request: <7>[ 70.563760] EtherCAT DEBUG: c302b806: <4>[ 70.563774] 00 20 40 02 1A 06 00 00 00 00 <7>[ 70.564662] EtherCAT DEBUG: Upload response: <7>[ 70.564709] EtherCAT DEBUG: c302b806: <4>[ 70.564724] 00 30 43 02 1A 06 01 06 20 60 <7>[ 70.564769] EtherCAT DEBUG: Uploaded data: <7>[ 70.564786] EtherCAT DEBUG: c33203e0: <4>[ 70.564800] 01 06 20 60 <7>[ 70.564836] EtherCAT DEBUG: Pdo entry 0x6020:06, 1 bit, "???". <7>[ 70.564864] EtherCAT DEBUG: Uploading Sdo 0x1A02:07 from slave 1. <7>[ 70.564891] EtherCAT DEBUG: Upload request: <7>[ 70.564909] EtherCAT DEBUG: c302b806: <4>[ 70.564923] 00 20 40 02 1A 07 00 00 00 00 <7>[ 70.565889] EtherCAT DEBUG: Upload response: <7>[ 70.565928] EtherCAT DEBUG: c302b806: <4>[ 70.566036] 00 30 43 02 1A 07 07 00 00 00 <7>[ 70.566089] EtherCAT DEBUG: Uploaded data: <7>[ 70.566106] EtherCAT DEBUG: c33203e0: <4>[ 70.566120] 07 00 00 00 <7>[ 70.566161] EtherCAT DEBUG: Pdo entry 0x0000:00, 7 bit, "Gap". <7>[ 70.566189] EtherCAT DEBUG: Uploading Sdo 0x1A02:08 from slave 1. <7>[ 70.566217] EtherCAT DEBUG: Upload request: <7>[ 70.566234] EtherCAT DEBUG: c302b806: <4>[ 70.566249] 00 20 40 02 1A 08 00 00 00 00 <7>[ 70.567208] EtherCAT DEBUG: Upload response: <7>[ 70.567255] EtherCAT DEBUG: c302b806: <4>[ 70.567271] 00 30 43 02 1A 08 01 20 32 1C <7>[ 70.567316] EtherCAT DEBUG: Uploaded data: <7>[ 70.567333] EtherCAT DEBUG: c33203e0: <4>[ 70.567347] 01 20 32 1C <7>[ 70.567383] EtherCAT DEBUG: Pdo entry 0x1C32:20, 1 bit, "???". <7>[ 70.567411] EtherCAT DEBUG: Uploading Sdo 0x1A02:09 from slave 1. <7>[ 70.567438] EtherCAT DEBUG: Upload request: <7>[ 70.567455] EtherCAT DEBUG: c302b806: <4>[ 70.567469] 00 20 40 02 1A 09 00 00 00 00 <7>[ 70.568357] EtherCAT DEBUG: Upload response: <7>[ 70.568404] EtherCAT DEBUG: c302b806: <4>[ 70.568419] 00 30 43 02 1A 09 01 00 00 00 <7>[ 70.568464] EtherCAT DEBUG: Uploaded data: <7>[ 70.568480] EtherCAT DEBUG: c33203e0: <4>[ 70.568494] 01 00 00 00 <7>[ 70.568535] EtherCAT DEBUG: Pdo entry 0x0000:00, 1 bit, "Gap". <7>[ 70.568563] EtherCAT DEBUG: Uploading Sdo 0x1A02:0A from slave 1. <7>[ 70.568590] EtherCAT DEBUG: Upload request: <7>[ 70.568607] EtherCAT DEBUG: c302b806: <4>[ 70.568622] 00 20 40 02 1A 0A 00 00 00 00 <7>[ 70.569510] EtherCAT DEBUG: Upload response: <7>[ 70.569557] EtherCAT DEBUG: c302b806: <4>[ 70.569572] 00 30 43 02 1A 0A 01 09 02 18 <7>[ 70.569617] EtherCAT DEBUG: Uploaded data: <7>[ 70.569634] EtherCAT DEBUG: c33203e0: <4>[ 70.569648] 01 09 02 18 <7>[ 70.569684] EtherCAT DEBUG: Pdo entry 0x1802:09, 1 bit, "???". <7>[ 70.569712] EtherCAT DEBUG: Uploading Sdo 0x1A02:0B from slave 1. <7>[ 70.569739] EtherCAT DEBUG: Upload request: <7>[ 70.569757] EtherCAT DEBUG: c302b806: <4>[ 70.569771] 00 20 40 02 1A 0B 00 00 00 00 <7>[ 70.570666] EtherCAT DEBUG: Upload response: <7>[ 70.570713] EtherCAT DEBUG: c302b806: <4>[ 70.570728] 00 30 43 02 1A 0B 20 11 20 60 <7>[ 70.570774] EtherCAT DEBUG: Uploaded data: <7>[ 70.570791] EtherCAT DEBUG: c33203e0: <4>[ 70.570805] 20 11 20 60 <7>[ 70.570841] EtherCAT DEBUG: Pdo entry 0x6020:11, 32 bit, "???". <7>[ 70.570913] EtherCAT DEBUG: Reading of Pdo configuration finished. <6>[ 70.571044] EtherCAT: Bus scanning completed in 308 ms. <6>[ 70.572112] EtherCAT: Slave states: INIT, PREOP. <7>[ 70.573123] EtherCAT DEBUG: Changing state of slave 0 from INIT to PREOP (forced). <7>[ 70.573168] EtherCAT DEBUG: Configuring slave 0... <7>[ 70.573336] EtherCAT DEBUG: Slave 0 is now in INIT. <7>[ 70.573369] EtherCAT DEBUG: Clearing FMMU configurations of slave 0... <7>[ 70.573477] EtherCAT DEBUG: Slave 0 does not support mailbox communication. <7>[ 70.573651] EtherCAT DEBUG: Slave 0 is now in PREOP. <7>[ 70.573684] EtherCAT DEBUG: Finished configuration of slave 0. <6>[ 70.575097] EtherCAT: Slave states: PREOP. <6>[ 72.403470] EtherCAT: Requesting master 0... <7>[ 72.403495] EtherCAT DEBUG: IDLE -> OPERATION. <6>[ 72.403520] EtherCAT: Successfully requested master 0. <7>[ 73.404096] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xc3029800, request_cb = 0xc50c8050, release_cb = 0xc50c8058, cb_data = 0x0) <7>[ 73.404170] EtherCAT DEBUG: ecrt_master_create_domain(master = 0xc3029800) <7>[ 73.404201] EtherCAT DEBUG: Created domain 0. <7>[ 80.117825] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc3029800, alias = 0, position = 1, vendor_id = 4781, product_code = 98447442) <7>[ 80.117866] EtherCAT DEBUG: Creating slave configuration for 0:1, 0x000012AD/0x05DE3052. <7>[ 80.117908] EtherCAT DEBUG: Attached slave 1 to config 0:1. <7>[ 80.118133] EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xc3b23400, n_syncs = 4294967295, syncs = 0xc50cb758) <7>[ 80.118168] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc3b23400, sync_index = 2, dir = 1) <7>[ 80.118201] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc3b23400, sync_index = 2) <7>[ 80.118243] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc3b23400, sync_index = 2, pdo_index = 0x1602) <7>[ 80.118280] EtherCAT DEBUG: Loading default mapping for Pdo 0x1602 in config 0:1. <7>[ 80.118314] EtherCAT DEBUG: Entry 0x7020:01. <7>[ 80.118333] EtherCAT DEBUG: Entry 0x7020:02. <7>[ 80.118351] EtherCAT DEBUG: Entry 0x7020:03. <7>[ 80.118369] EtherCAT DEBUG: Entry 0x7020:04. <7>[ 80.118386] EtherCAT DEBUG: Entry 0x0000:00. <7>[ 80.118404] EtherCAT DEBUG: Entry 0x7020:11. <7>[ 80.118428] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc3b23400, pdo_index = 0x1602) <7>[ 80.118473] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x01, entry_bit_length = 1) <7>[ 80.118525] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x02, entry_bit_length = 1) <7>[ 80.118576] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x03, entry_bit_length = 1) <7>[ 80.118626] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x04, entry_bit_length = 1) <7>[ 80.118677] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 12) <7>[ 80.118727] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 32) <7>[ 80.118774] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc3b23400, sync_index = 3, dir = 2) <7>[ 80.118805] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc3b23400, sync_index = 3) <7>[ 80.118844] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc3b23400, sync_index = 3, pdo_index = 0x1A02) <7>[ 80.118878] EtherCAT DEBUG: Loading default mapping for Pdo 0x1A02 in config 0:1. <7>[ 80.118916] EtherCAT DEBUG: Entry 0x6020:01. <7>[ 80.119034] EtherCAT DEBUG: Entry 0x6020:02. <7>[ 80.119059] EtherCAT DEBUG: Entry 0x6020:03. <7>[ 80.119077] EtherCAT DEBUG: Entry 0x6020:04. <7>[ 80.119095] EtherCAT DEBUG: Entry 0x6020:05. <7>[ 80.119113] EtherCAT DEBUG: Entry 0x6020:06. <7>[ 80.119131] EtherCAT DEBUG: Entry 0x0000:00. <7>[ 80.119149] EtherCAT DEBUG: Entry 0x1C32:20. <7>[ 80.119166] EtherCAT DEBUG: Entry 0x0000:00. <7>[ 80.119184] EtherCAT DEBUG: Entry 0x1802:09. <7>[ 80.119202] EtherCAT DEBUG: Entry 0x6020:11. <7>[ 80.119226] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc3b23400, pdo_index = 0x1A02) <7>[ 80.119274] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1) <7>[ 80.119328] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1) <7>[ 80.119378] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 1) <7>[ 80.119429] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x04, entry_bit_length = 1) <7>[ 80.119480] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 1) <7>[ 80.119530] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x06, entry_bit_length = 1) <7>[ 80.119581] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 7) <7>[ 80.119631] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x1C32, entry_subindex = 0x20, entry_bit_length = 1) <7>[ 80.119682] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1) <7>[ 80.119732] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1) <7>[ 80.119783] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 32) <7>[ 80.119851] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xc3034360, regs = 0xc3034460) <7>[ 80.119888] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc3029800, alias = 0, position = 1, vendor_id = 4781, product_code = 98447442) <7>[ 80.119935] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc3b23400, index = 0x6020, subindex = 0x11, domain = 0xc3034360, bit_position = 0xc3320e80) <7>[ 80.120073] EtherCAT DEBUG: Domain 0: Added 6 bytes, total 6. <7>[ 80.120129] EtherCAT DEBUG: ecrt_master_activate(master = 0xc3029800) <6>[ 80.120177] EtherCAT: Domain0: Logical address 0x00000000, 6 byte, expected working counter 1. <6>[ 80.120213] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 6 byte, type LRD. <7>[ 80.120241] EtherCAT DEBUG: Stopping master thread. <7>[ 80.135622] EtherCAT DEBUG: Master IDLE thread exiting... <6>[ 80.135790] EtherCAT: Master thread exited. <7>[ 80.135856] EtherCAT DEBUG: FSM datagram is c3029b54. <6>[ 80.135885] EtherCAT: Starting EtherCAT-OP thread. <7>[ 80.139694] EtherCAT DEBUG: Operation thread running. <7>[ 80.144196] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP. <7>[ 80.144286] EtherCAT DEBUG: Configuring slave 1... <7>[ 80.148090] EtherCAT DEBUG: Slave 1 is now in INIT. <7>[ 80.148178] EtherCAT DEBUG: Clearing FMMU configurations of slave 1... <7>[ 80.150138] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1. <7>[ 80.150248] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 <7>[ 80.150280] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1 <7>[ 80.156091] EtherCAT DEBUG: Slave 1 is now in PREOP. <7>[ 80.156196] EtherCAT DEBUG: Pdo assignment for SM0 is already configured correctly. <7>[ 80.156228] EtherCAT DEBUG: Pdo assignment for SM1 is already configured correctly. <7>[ 80.157864] EtherCAT DEBUG: Mapping of Pdo 0x1602 is already configured correctly. <7>[ 80.158149] EtherCAT DEBUG: Pdo assignment for SM2 is already configured correctly. <7>[ 80.159813] EtherCAT DEBUG: Mapping of Pdo 0x1A02 is already configured correctly. <7>[ 80.159916] EtherCAT DEBUG: Pdo assignment for SM3 is already configured correctly. <7>[ 80.160182] EtherCAT DEBUG: SM2: Addr 0x1100, Size 6, Ctrl 0x24, En 1 <7>[ 80.160226] EtherCAT DEBUG: SM3: Addr 0x1180, Size 6, Ctrl 0x20, En 1 <7>[ 80.162166] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 6, PhysAddr 0x1180, SM3, Dir in <6>[ 80.167052] EtherCAT: Domain 0: Working counter changed to 1/1. <4>[ 80.167151] EcKApp: -> new CI-Data uij 0 uiOff 0 pu8DomData c3320bc2 Val ffffff6a <7>[ 80.169188] EtherCAT DEBUG: Slave 1 is now in SAFEOP. <7>[ 80.173093] EtherCAT DEBUG: Slave 1 is now in OP. <7>[ 80.173179] EtherCAT DEBUG: Finished configuration of slave 1. <6>[ 80.175175] EtherCAT: Slave states: PREOP, OP.