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That helped a little I am now in OP mode. I turned on DC and the drive goes through SafeOp into OP mode so the sync must be O.K.<BR>
The realtime behavior is very good I am using a xenomai in kernel mode driver on a 1Ghz AMCC460EX PowerPC processor.<BR>
<BR>
I still have one major problem I still get 0s for the cyclic data even though I am in OP mode!!! <BR>
<BR>
SDO's report valid data. I previously used the Copley and Kollmorgen drives and had no problem reading and writing cyclic data.<BR>
<BR>
Can you see any mistakes I have from the debug messages?<BR>
<BR>
<BR>
<BR>
EtherCAT 0: Starting EtherCAT-IDLE thread.<BR>
EtherCAT DEBUG 0: OPERATION -> IDLE.<BR>
EtherCAT 0: Released.<BR>
EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max data si0<BR>
EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).<BR>
EtherCAT DEBUG 0-0: Configuring...<BR>
EtherCAT DEBUG 0-0: Now in INIT.<BR>
EtherCAT DEBUG 0-0: Clearing FMMU configurations...<BR>
EtherCAT DEBUG 0-0: Clearing sync manager configurations...<BR>
EtherCAT DEBUG 0-0: Clearing DC assignment...<BR>
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<BR>
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1<BR>
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1<BR>
EtherCAT DEBUG 0-0: Now in PREOP.<BR>
EtherCAT DEBUG 0-0: Finished configuration.<BR>
EtherCAT 0: Slave states: PREOP.<BR>
EtherCAT: Requesting master 0...<BR>
EtherCAT DEBUG 0: IDLE -> OPERATION.<BR>
EtherCAT: Successfully requested master 0.<BR>
EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xafbfb800, send_cb = 0xb91796)<BR>
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)<BR>
EtherCAT DEBUG 0: Created domain 0.<BR>
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)<BR>
EtherCAT DEBUG 0: Created domain 1.<BR>
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)<BR>
EtherCAT DEBUG 0: Created domain 2.<BR>
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)<BR>
EtherCAT DEBUG 0: Created domain 3.<BR>
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos)<BR>
EtherCAT DEBUG 0: Creating slave configuration for 64:0, 0x00000539/0x02200001.<BR>
EtherCAT DEBUG 0 64:0: Attached slave 0.<BR>
Configure n_pdos 0<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf1f3000, n_syncs = 2, syn)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000, sync_ind)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 0xaf1f3000, sync)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000, sync_i)<BR>
EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601.<BR>
EtherCAT DEBUG 0 64:0: Entry 0x6040:00.<BR>
EtherCAT DEBUG 0 64:0: Entry 0x607A:00.<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xaf1f3000, pdo)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000, sync_ind)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 0xaf1f3000, sync)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000, sync_i)<BR>
EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01.<BR>
EtherCAT DEBUG 0 64:0: Entry 0x6041:00.<BR>
EtherCAT DEBUG 0 64:0: Entry 0x6064:00.<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xaf1f3000, pdo)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 0xaf1f3000, pdo_i)<BR>
Configure PDOs on SM2.<BR>
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8c80, regs = 0x)<BR>
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =)<BR>
EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6.<BR>
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =)<BR>
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece83c0, regs = 0x)<BR>
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =)<BR>
EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6.<BR>
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias = 64, pos)<BR>
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000, index =)<BR>
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8900, regs = 0x)<BR>
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8600, regs = 0x)<BR>
EtherCAT DEBUG 0: ecrt_master_activate(master = 0xafbfb800)<BR>
EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working count.<BR>
EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 6 byte, type LRD.<BR>
EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected working count.<BR>
EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 6 byte, type LWR.<BR>
EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected working count.<BR>
EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected working count.<BR>
EtherCAT DEBUG 0: Stopping master thread.<BR>
EtherCAT DEBUG 0: Master IDLE thread exiting...<BR>
EtherCAT 0: Master thread exited.<BR>
EtherCAT DEBUG 0: FSM datagram is afbfbbe4.<BR>
EtherCAT 0: Starting EtherCAT-OP thread.<BR>
EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max dat0<BR>
EtherCAT DEBUG 0-0: Changing state from PREOP to OP.<BR>
EtherCAT DEBUG 0-0: Configuring...<BR>
EtherCAT DEBUG 0-0: Now in INIT.<BR>
EtherCAT DEBUG 0-0: Clearing FMMU configurations...<BR>
EtherCAT DEBUG 0-0: Clearing sync manager configurations...<BR>
EtherCAT DEBUG 0-0: Clearing DC assignment...<BR>
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<BR>
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1<BR>
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1<BR>
EtherCAT DEBUG 0-0: Now in PREOP.<BR>
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1601.<BR>
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. En2<BR>
EtherCAT DEBUG 0-0: Setting entry count to zero.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.<BR>
EtherCAT DEBUG: 00 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 16 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:01.<BR>
EtherCAT DEBUG: 10 00 40 60 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 16 01 10 00 40 60 <BR>
EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:02.<BR>
EtherCAT DEBUG: 20 00 7A 60 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 16 02 20 00 7A 60 <BR>
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.<BR>
EtherCAT DEBUG: 02 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 16 00 02 00 00 00 <BR>
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1601.<BR>
EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:<BR>
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601<BR>
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<BR>
EtherCAT DEBUG: 00 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Assigning PDO 0x1601 at position 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.<BR>
EtherCAT DEBUG: 01 16 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 12 1C 01 01 16 00 00 <BR>
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<BR>
EtherCAT DEBUG: 01 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 <BR>
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.<BR>
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A01.<BR>
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32. En2<BR>
EtherCAT DEBUG 0-0: Setting entry count to zero.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.<BR>
EtherCAT DEBUG: 00 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 1A 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:01.<BR>
EtherCAT DEBUG: 10 00 41 60 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 1A 01 10 00 41 60 <BR>
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:02.<BR>
EtherCAT DEBUG: 20 00 64 60 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 1A 02 20 00 64 60 <BR>
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.<BR>
EtherCAT DEBUG: 02 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 01 1A 00 02 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 01 1A 00 02 00 00 00 <BR>
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A01.<BR>
EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:<BR>
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01<BR>
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<BR>
EtherCAT DEBUG: 00 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 <BR>
EtherCAT DEBUG 0-0: Assigning PDO 0x1A01 at position 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.<BR>
EtherCAT DEBUG: 01 1A <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 13 1C 01 01 1A 00 00 <BR>
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<BR>
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<BR>
EtherCAT DEBUG: 01 <BR>
EtherCAT DEBUG 0-0: Expedited download request:<BR>
EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 <BR>
EtherCAT DEBUG 0-0: Download response:<BR>
EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 <BR>
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.<BR>
EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 6, Ctrl 0x74, En 1<BR>
EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 6, Ctrl 0x30, En 1<BR>
EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000000, Size 6, PhysAddr 0x1400, SM3n<BR>
EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000006, Size 6, PhysAddr 0x1100, SM2t<BR>
EtherCAT DEBUG 0-0: Now in SAFEOP.<BR>
EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<BR>
EtherCAT 0: Slave states: OP.<BR>
EtherCAT DEBUG 0: Configuration changed.<BR>
EtherCAT DEBUG 0: Writing system time offsets...<BR>
EtherCAT DEBUG 0-0: DC system time offset calculation: system_time=3754851127 (6<BR>
EtherCAT DEBUG 0-0: Setting time offset to 195945056 (was 0)<BR>
EtherCAT DEBUG 0: Writing system time offsets...<BR>
EtherCAT DEBUG 0: Requesting OP...<BR>
<BR>
On Tue, 2010-10-05 at 09:51 +0200, Andreas Stewering-Bone wrote:
<BLOCKQUOTE TYPE=CITE>
<PRE>
Hello Henry,
for drives there are some points you have to look for:
- Does the drive require DC?
- Does the DC sync well?
If not the slave will get into Safeop+Err State
- Does the master has good realtime behavior?
If not you will get Mailbox Error and you are not able to get the
drive working
Normally the Master steps into SafeOP to check if the drive is DC sync.
if it syncs it goes to OP.
Greatings
Andreas
Henry Bausley schrieb:
>
> When attempting to use the latest Yaskawa drive I cannot get PDO's to
> update with valid data I just get 0s as the slave stays in preop
> after calling ecrt_master_activate.
>
> Is there away to make the master goes through SafeOP? I didn't see
> the what to use in the API. According to Yaskawa the SafeOp state is
> required see the correspondence below:
>
> Also should the Yaskawa interface have SafeOp set in the SII? When I
> do a ethercat slaves -v it comes back with Enable SafeOp: no
>
> Below is the correspondence with Yaskawa where they tell me SafeOp is
> required.
>
> I placed the debugging logs at the end of this email.
>
> _______________________________________________________________________________
>
> Hi Henry,
>
> This could indicate that the drive is not yet in OP mode. One way to
> verify is to check if the RUN LED is solid green. If it's not solid
> green, it's not in OP mode, so no PDO data is exchanged. The drive
> can send SDO data in certain modes other than OP mode, so being able
> to read SDO information is not a good indicator of the drive's mode.
>
> As for bringing the drive to OP mode, our manual shows the ECAT State
> Machine. Be sure to follow this state machine. There is no way to
> jump from Pre-OP to OP mode without first going through Safe-OP.
> Perhaps that is what your master is trying to do? You might be able
> to verify this by reading a wireshark trace.
>
>
>
> Derek Lee
> Motion Product Engineer
> Yaskawa America Inc.
> 2121 Norman Dr. S.
> Waukegan, IL 60085
>
> Phone: 847-887-7235
> Fax: 847-887-7280
>
>
> *Henry Bausley <<A HREF="mailto:hbausley@deltatau.com">hbausley@deltatau.com</A>>*
>
> 09/29/2010 04:06 PM
>
>
>
> To
> <A HREF="mailto:Derek_Lee@Yaskawa.com">Derek_Lee@Yaskawa.com</A>
> cc
>
> Subject
> Re: Fw: Ethercat Module
>
>
>
>
>
>
>
> Thank you for sending another drive it arrived at my desk this morning.
>
> I do have a question for the developers.
>
> What would cause 0's to always be sent for the Process Data
> communication?
> If I read objects of the Service Dictionary Object via mailbox
> communication I can read index=$6064 subindex=0 and I get the encoder
> position.
> However if I use the default PDO mapping 0 is always returned for
> objects $6064 and $6041. In addition I cannot set the output objects
> $607a and $6040
> they always get overwritten to 0.
>
> Is there a special sequence I need to perform to make cyclic Process
> data communication possible?
>
> _____________________________________________________________________________________
>
> EtherCAT: Master driver devel unknown
> EtherCAT: 1 master waiting for devices.
> ec_r8169 Gigabit Ethernet driver 2.3LK-NAPI loaded
> ec_r8169 0000:81:00.0: no MSI. Back to INTx.
> EtherCAT: Accepting device 00:0A:CD:17:F3:7D for master 0.
> ec0: RTL8168b/8111b at 0xb91f8000, 00:0a:cd:17:f3:7d, XID 38000000 IRQ 18
> EtherCAT 0: Starting EtherCAT-IDLE thread.
> EtherCAT 0: Link state changed to UP.
> EtherCAT 0: 1 slave(s) responding.
> EtherCAT 0: Slave states: PREOP.
> EtherCAT 0: Scanning bus.
> EtherCAT 0: Bus scanning completed in 9 ms.
> EtherCAT ERROR 0-0: Corrupt mailbox response received!
> EtherCAT DEBUG: 8F 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00
> EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72
> EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60
> EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60
> EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60
> EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60
> EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60
> EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60
> EtherCAT 0: Master debug level set to 1.
> EtherCAT: Requesting master 0...
> EtherCAT DEBUG 0: IDLE -> OPERATION.
> EtherCAT: Successfully requested master 0.
> EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xaf33f000, send_cb =
> 0xb917963c, receive_cb = 0xb91795c4, cb_data = 0xaf33f000)
> EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> EtherCAT DEBUG 0: Created domain 0.
> EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> EtherCAT DEBUG 0: Created domain 1.
> EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> EtherCAT DEBUG 0: Created domain 2.
> EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> EtherCAT DEBUG 0: Created domain 3.
> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias
> = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> EtherCAT DEBUG 0: Creating slave configuration for 64:0,
> 0x00000539/0x02200001.
> EtherCAT DEBUG 0 64:0: Attached slave 0.
> Configure n_pdos 0
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf0e4000, n_syncs
> = 2, syncs = 0xbcee87e0)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000,
> sync_index = 2, dir = 1, watchdog_mode = 0)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc =
> 0xaf0e4000, sync_index = 2)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc =
> 0xaf0e4000, sync_index = 2, pdo_index = 0x1601)
> EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601.
> EtherCAT DEBUG 0 64:0: Entry 0x6040:00.
> EtherCAT DEBUG 0 64:0: Entry 0x607A:00.
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc =
> 0xaf0e4000, pdo_index = 0x1601)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
> 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex =
> 0x00, entry_bit_length = 16)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
> 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex =
> 0x00, entry_bit_length = 32)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000,
> sync_index = 3, dir = 2, watchdog_mode = 0)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc =
> 0xaf0e4000, sync_index = 3)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc =
> 0xaf0e4000, sync_index = 3, pdo_index = 0x1A01)
> EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01.
> EtherCAT DEBUG 0 64:0: Entry 0x6041:00.
> EtherCAT DEBUG 0 64:0: Entry 0x6064:00.
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc =
> 0xaf0e4000, pdo_index = 0x1A01)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
> 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex =
> 0x00, entry_bit_length = 16)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
> 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex =
> 0x00, entry_bit_length = 32)
> Configure PDOs on SM2.
> EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca640,
> regs = 0xbcf7b50c)
> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias
> = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc =
> 0xaf0e4000, index = 0x6041, subindex = 0x00, domain = 0xaf3ca640,
> bit_position = 0xbcf6b560)
> EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6.
> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias
> = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc =
> 0xaf0e4000, index = 0x6064, subindex = 0x00, domain = 0xaf3ca640,
> bit_position = 0xbcf6b580)
> EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca740,
> regs = 0xbcf8750c)
> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias
> = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc =
> 0xaf0e4000, index = 0x6040, subindex = 0x00, domain = 0xaf3ca740,
> bit_position = 0xbcf6b520)
> EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6.
> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias
> = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc =
> 0xaf0e4000, index = 0x607A, subindex = 0x00, domain = 0xaf3ca740,
> bit_position = 0xbcf6b540)
> EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca600,
> regs = 0xbcfa3510)
> EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3caf80,
> regs = 0xbcfaf510)
> EtherCAT DEBUG 0: ecrt_master_activate(master = 0xaf33f000)
> EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected
> working counter 1.
> EtherCAT 0: Datagram domain0-0: Logical offset 0x00000000, 6 byte,
> type LRD.
> EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected
> working counter 1.
> EtherCAT 0: Datagram domain1-6: Logical offset 0x00000006, 6 byte,
> type LWR.
> EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected
> working counter 0.
> EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected
> working counter 0.
> EtherCAT DEBUG 0: Stopping master thread.
> EtherCAT DEBUG 0: Master IDLE thread exiting...
> EtherCAT 0: Master thread exited.
> EtherCAT DEBUG 0: FSM datagram is af33f3e4.
> EtherCAT 0: Starting EtherCAT-OP thread.
> EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000
> us, max data size=11250
> <A HREF="mailto:root@10.34.9.212">root@10.34.9.212</A>:/opt/ppmac#
>
>
>
>
> ------------------------------------------------------------------------
>
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