<div dir="ltr"><div>Hi Zhiyong,<br><br>about the SII:<br>When the slave only have a EEPROM of 128 byte, it is impossible to write the whole SII to the slave. You've done a great job by hardcoding the SII to the source code. <br>
If you need to have it more flexible in the future, I once tried the patch from Jesper Smith <a href="http://lists.etherlab.org/pipermail/etherlab-users/2011/001458.html" target="_blank">http://lists.etherlab.org/pipermail/etherlab-users/2011/001458.html</a>, which load the SII file from your file system as a firmware, and it worked nice.<br>
<br></div><div>To your question:<br></div><div>The SyncManager StartAddress is its physical address in the ESC's memory. And the object index is only an index for the object retrieval, though sometimes people call it object address, but basically it has nothing to do with physical address.<br>
<br></div><div>It is unusual that the engineer from Metronix pick up exactly the same number 0x1600 and 0x1a00 for as the physical address of SyncM in ESC, but yes they can do that. I think either they didn't understand the meaning of StartAddress when they design the ESC, or they just want to make a joke.<br>
<br></div><div>To the problem you have:<br></div><div>Your slave is in OP. Domain 1 has data exchange. But the domain0 is missing. Did you forget to send the domain0 frame out in your loop?<br></div><div>And the source code in your last email makes the pdo data only sending out every 1 second. This is too slow for the EtherLab master, which would complain if it can't receive the PDO data in 1 second. Change your code back like the following<br>
<br>void cyclic_task()<br>{<br> // receive process data<br> ecrt_master_receive(master);<br> ecrt_domain_process(domain0);<br> ecrt_domain_process(domain1);<br><br> // check process data state (optional)<br>
check_domain1_state();<br><br> if (counter) {<br> counter--;<br> } else { // do this at 1 Hz<br> counter = FREQUENCY;<br><br> // check for master state (optional)<br> check_master_state();<br>
<br> // check for islave configuration state(s) (optional)<br> check_slave_config_states();<br><br>#if SDO_ACCESS<br> // read process data SDO<br> read_sdo();<br>#endif<br><br> }<br><br> // send process data<br>
ecrt_domain_queue(domain0);<br> ecrt_domain_queue(domain1);<br> ecrt_master_send(master);<br>}<br><br></div><div><br><br></div><div>Regards,<br>Jun<br></div><div><br></div><a href="http://lists.etherlab.org/pipermail/etherlab-users/2011/001458.html" target="_blank"><span></span><span></span></a>
</div><div class="gmail_extra"><br><br><div class="gmail_quote">On Tue, Feb 11, 2014 at 3:40 AM, Zhiyong Weng <span dir="ltr"><<a href="mailto:zhiyong.weng@gmail.com" target="_blank">zhiyong.weng@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Hi ALL,<div><br></div><div> The problem is : no PDO data exchanged.</div><div><br></div><div> I find in esi file, the sync manager 2 and 3 address are same with PDO index. Is it normal?</div>
<div><br>
</div><div> I attached logs and esi xml.</div><div><br></div><div> Thanks.</div><div><br></div><div>Regards,</div><div>Max</div><div><br></div><font size="1">Feb 11 09:24:15 MAX kernel: [ 2867.475505] EtherCAT 0: Releasing master...<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475519] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff88019fbae000)<br>Feb 11 09:24:15 MAX kernel: [ 2867.475527] EtherCAT DEBUG 0: Stopping master thread.<br>Feb 11 09:24:15 MAX kernel: [ 2867.475551] EtherCAT DEBUG 0: Master OP thread exiting...<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475603] EtherCAT 0: Master thread exited.<br>Feb 11 09:24:15 MAX kernel: [ 2867.475627] EtherCAT 0: Starting EtherCAT-IDLE thread.<br>Feb 11 09:24:15 MAX kernel: [ 2867.475750] EtherCAT DEBUG 0: OPERATION -> IDLE.<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475755] EtherCAT 0: Released.<br>Feb 11 09:24:15 MAX kernel: [ 2867.475810] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000<br>Feb 11 09:24:15 MAX kernel: [ 2867.475829] EtherCAT DEBUG 0: UNMATCHED datagram:<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475833] EtherCAT DEBUG: 0B 7C 08 00 00 00 08 80 00 00 00 00 00 00 00 00 <br>Feb 11 09:24:15 MAX kernel: [ 2867.475853] EtherCAT DEBUG: 00 00 01 00 <br>Feb 11 09:24:15 MAX kernel: [ 2867.475861] EtherCAT DEBUG 0: UNMATCHED datagram:<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475864] EtherCAT DEBUG: 0A 7D 00 00 00 00 08 80 00 00 00 00 00 00 00 00 <br>Feb 11 09:24:15 MAX kernel: [ 2867.475883] EtherCAT DEBUG: 00 00 00 00 <br>Feb 11 09:24:15 MAX kernel: [ 2867.475896] EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).<br>
Feb 11 09:24:15 MAX kernel: [ 2867.475901] EtherCAT DEBUG 0-0: Configuring...<br>Feb 11 09:24:15 MAX kernel: [ 2867.476155] EtherCAT DEBUG 0-0: Now in INIT.<br>Feb 11 09:24:15 MAX kernel: [ 2867.476160] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>
Feb 11 09:24:15 MAX kernel: [ 2867.476304] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>Feb 11 09:24:15 MAX kernel: [ 2867.476455] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>Feb 11 09:24:15 MAX kernel: [ 2867.476463] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 16, Ctrl 0x26, En 1<br>
Feb 11 09:24:15 MAX kernel: [ 2867.476469] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 16, Ctrl 0x12, En 1<br>Feb 11 09:24:15 MAX kernel: [ 2867.476886] EtherCAT DEBUG 0-0: Now in PREOP.<br>Feb 11 09:24:15 MAX kernel: [ 2867.476890] EtherCAT DEBUG 0-0: Finished configuration.<br>
Feb 11 09:24:15 MAX kernel: [ 2867.479134] EtherCAT 0: Slave states on main device: PREOP.<br>Feb 11 09:24:16 MAX kernel: [ 2868.275983] EtherCAT: Requesting master 0...<br>Feb 11 09:24:16 MAX kernel: [ 2868.275993] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.275999] EtherCAT: Successfully requested master 0.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276007] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88019fbae000)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276013] EtherCAT DEBUG 0: Created domain 0.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276019] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88019fbae000)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276024] EtherCAT DEBUG 0: Created domain 1.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276033] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276042] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x000000E4/0x00001133.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276050] EtherCAT DEBUG 0 0:0: Attached slave 0.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276127] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 0, dir = 1, watchdog_mode = 2)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276136] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 1, dir = 2, watchdog_mode = 2)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276144] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 2, dir = 1, watchdog_mode = 2)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276155] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880175cd6800, sync_index = 2)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276166] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880175cd6800, sync_index = 2, pdo_index = 0x1600)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276173] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276178] EtherCAT DEBUG 0 0:0: No default mapping found.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276186] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880175cd6800, pdo_index = 0x1600)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276197] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276208] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276218] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 3, dir = 2, watchdog_mode = 2)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276226] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880175cd6800, sync_index = 3)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276234] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880175cd6800, sync_index = 3, pdo_index = 0x1A00)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276241] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276245] EtherCAT DEBUG 0 0:0: No default mapping found.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276251] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880175cd6800, pdo_index = 0x1A00)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276259] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276270] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276280] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276289] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index = 0x1A00, entry_index = 0x1001, entry_subindex = 0x00, entry_bit_length = 8)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276302] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276314] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x607A, subindex = 0x00, domain = 0xffff8801b52bb700, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276323] EtherCAT DEBUG 0: Domain 1: Added 8 bytes, total 8.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276330] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276340] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x60FF, subindex = 0x00, domain = 0xffff8801b52bb700, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276349] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276359] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6041, subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276368] EtherCAT DEBUG 0: Domain 0: Added 8 bytes, total 8.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276373] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276383] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6064, subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276392] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276402] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6061, subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276411] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276421] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x1001, subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position = 0xffff880151691ca4)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276469] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8801b52bbd00, mem = 0xffffc900193c4000)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276476] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8801b52bb700, mem = 0xffffc900193c4008)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276483] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff88019fbae000, send_cb = 0xffffffffa056c8f0, receive_cb = 0xffffffffa056d020, cb_data = 0xffff88019fbae000)<br>Feb 11 09:24:16 MAX kernel: [ 2868.276491] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff88019fbae000)<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276499] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276505] EtherCAT 0: Domain0: Logical address 0x00000000, 8 byte, expected working counter 1.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276511] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 8 byte, type LRD.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276518] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276523] EtherCAT 0: Domain1: Logical address 0x00000008, 8 byte, expected working counter 1.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276529] EtherCAT 0: Datagram domain1-8-main: Logical offset 0x00000008, 8 byte, type LWR.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276534] EtherCAT DEBUG 0: Stopping master thread.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276550] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>Feb 11 09:24:16 MAX kernel: [ 2868.276585] EtherCAT 0: Master thread exited.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276592] EtherCAT DEBUG 0: FSM datagram is ffff88019fbae678.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276597] EtherCAT 0: Starting EtherCAT-OP thread.<br>Feb 11 09:24:16 MAX kernel: [ 2868.276768] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000<br>
Feb 11 09:24:16 MAX kernel: [ 2868.276777] EtherCAT DEBUG 0: mmap()<br>Feb 11 09:24:16 MAX kernel: [ 2868.276785] EtherCAT WARNING 0: 2 datagrams UNMATCHED!<br>Feb 11 09:24:16 MAX kernel: [ 2868.276792] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007f979608d000, offset = 0, page = ffffea000695bd00<br>
Feb 11 09:24:16 MAX kernel: [ 2868.278887] EtherCAT DEBUG 0: Configuration changed.<br>Feb 11 09:24:16 MAX kernel: [ 2868.278897] EtherCAT WARNING 0: No app_time received up to now, but master already active.<br>Feb 11 09:24:16 MAX kernel: [ 2868.278905] EtherCAT DEBUG 0: Requesting OP...<br>
Feb 11 09:24:16 MAX kernel: [ 2868.318833] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.<br>Feb 11 09:24:16 MAX kernel: [ 2868.318840] EtherCAT DEBUG 0-0: Configuring...<br>Feb 11 09:24:16 MAX kernel: [ 2868.347855] EtherCAT DEBUG 0-0: Now in INIT.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.347857] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>Feb 11 09:24:16 MAX kernel: [ 2868.367847] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>Feb 11 09:24:16 MAX kernel: [ 2868.387835] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>
Feb 11 09:24:16 MAX kernel: [ 2868.387838] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 16, Ctrl 0x26, En 1<br>Feb 11 09:24:16 MAX kernel: [ 2868.387840] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 16, Ctrl 0x12, En 1<br>
Feb 11 09:24:16 MAX kernel: [ 2868.427833] EtherCAT DEBUG 0-0: Now in PREOP.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.427839] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1600.<br>Feb 11 09:24:16 MAX kernel: [ 2868.427841] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.<br>Feb 11 09:24:16 MAX kernel: [ 2868.427843] EtherCAT DEBUG 0-0: Upload request:<br>
Feb 11 09:24:16 MAX kernel: [ 2868.427844] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 <br>Feb 11 09:24:16 MAX kernel: [ 2868.467812] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:16 MAX kernel: [ 2868.467814] EtherCAT DEBUG: 00 30 4F 00 16 00 02 00 00 00 <br>
Feb 11 09:24:16 MAX kernel: [ 2868.467818] EtherCAT DEBUG 0-0: Uploaded data:<br>Feb 11 09:24:16 MAX kernel: [ 2868.467819] EtherCAT DEBUG: 02 <br>Feb 11 09:24:16 MAX kernel: [ 2868.467821] EtherCAT DEBUG 0-0: 2 PDO entries mapped.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.467822] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01.<br>Feb 11 09:24:16 MAX kernel: [ 2868.467823] EtherCAT DEBUG 0-0: Upload request:<br>Feb 11 09:24:16 MAX kernel: [ 2868.467824] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 <br>
Feb 11 09:24:16 MAX kernel: [ 2868.507802] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:16 MAX kernel: [ 2868.507804] EtherCAT DEBUG: 00 30 43 00 16 01 20 00 7A 60 <br>Feb 11 09:24:16 MAX kernel: [ 2868.507808] EtherCAT DEBUG 0-0: Uploaded data:<br>
Feb 11 09:24:16 MAX kernel: [ 2868.507809] EtherCAT DEBUG: 20 00 7A 60 <br>Feb 11 09:24:16 MAX kernel: [ 2868.507812] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".<br>Feb 11 09:24:16 MAX kernel: [ 2868.507814] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02.<br>
Feb 11 09:24:16 MAX kernel: [ 2868.507816] EtherCAT DEBUG 0-0: Upload request:<br>Feb 11 09:24:16 MAX kernel: [ 2868.507817] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 <br>Feb 11 09:24:16 MAX kernel: [ 2868.547788] EtherCAT DEBUG 0-0: Upload response:<br>
Feb 11 09:24:16 MAX kernel: [ 2868.547790] EtherCAT DEBUG: 00 30 43 00 16 02 20 00 FF 60 <br>Feb 11 09:24:16 MAX kernel: [ 2868.547795] EtherCAT DEBUG 0-0: Uploaded data:<br>Feb 11 09:24:16 MAX kernel: [ 2868.547796] EtherCAT DEBUG: 20 00 FF 60 <br>
Feb 11 09:24:16 MAX kernel: [ 2868.547800] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".<br>Feb 11 09:24:16 MAX kernel: [ 2868.547801] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.<br>Feb 11 09:24:16 MAX kernel: [ 2868.547803] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x607A:00/32 0x60FF:00/32. Entries to map: 0x607A:00/32 0x60FF:00/32<br>
Feb 11 09:24:16 MAX kernel: [ 2868.547824] EtherCAT DEBUG 0-0: Setting entry count to zero.<br>Feb 11 09:24:16 MAX kernel: [ 2868.547826] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.<br>Feb 11 09:24:16 MAX kernel: [ 2868.547827] EtherCAT DEBUG: 00 <br>
Feb 11 09:24:16 MAX kernel: [ 2868.547829] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:16 MAX kernel: [ 2868.547830] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.587775] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.587777] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.587781] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 1.<br>Feb 11 09:24:17 MAX kernel: [ 2868.587783] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.587784] EtherCAT DEBUG: 20 00 7A 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.587786] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.587787] EtherCAT DEBUG: 00 20 23 00 16 01 20 00 7A 60 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.627764] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.627766] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.627772] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.627775] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.<br>Feb 11 09:24:17 MAX kernel: [ 2868.627776] EtherCAT DEBUG: 20 00 FF 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.627779] EtherCAT DEBUG 0-0: Expedited download request:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.627780] EtherCAT DEBUG: 00 20 23 00 16 02 20 00 FF 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.667749] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.667751] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.667755] EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.<br>Feb 11 09:24:17 MAX kernel: [ 2868.667756] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.<br>Feb 11 09:24:17 MAX kernel: [ 2868.667757] EtherCAT DEBUG: 02 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.667759] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.667760] EtherCAT DEBUG: 00 20 2F 00 16 00 02 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.707743] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.707745] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.707749] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.<br>Feb 11 09:24:17 MAX kernel: [ 2868.707751] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.707752] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1600<br>Feb 11 09:24:17 MAX kernel: [ 2868.707756] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.707758] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<br>Feb 11 09:24:17 MAX kernel: [ 2868.707759] EtherCAT DEBUG: 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.707760] EtherCAT DEBUG 0-0: Expedited download request:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.707761] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.747725] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.747727] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.747733] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.<br>Feb 11 09:24:17 MAX kernel: [ 2868.747735] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.<br>Feb 11 09:24:17 MAX kernel: [ 2868.747736] EtherCAT DEBUG: 00 16 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.747739] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.747740] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.787713] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.787714] EtherCAT DEBUG: 00 30 60 12 1C 01 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.787719] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<br>Feb 11 09:24:17 MAX kernel: [ 2868.787720] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.787721] EtherCAT DEBUG: 01 <br>Feb 11 09:24:17 MAX kernel: [ 2868.787723] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.787724] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.827699] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.827701] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.827707] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.827710] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A00.<br>Feb 11 09:24:17 MAX kernel: [ 2868.827713] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.<br>Feb 11 09:24:17 MAX kernel: [ 2868.827714] EtherCAT DEBUG 0-0: Upload request:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.827715] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.867685] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.867686] EtherCAT DEBUG: 00 30 4F 00 1A 00 04 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.867691] EtherCAT DEBUG 0-0: Uploaded data:<br>Feb 11 09:24:17 MAX kernel: [ 2868.867692] EtherCAT DEBUG: 04 <br>Feb 11 09:24:17 MAX kernel: [ 2868.867693] EtherCAT DEBUG 0-0: 4 PDO entries mapped.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.867694] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01.<br>Feb 11 09:24:17 MAX kernel: [ 2868.867696] EtherCAT DEBUG 0-0: Upload request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.867696] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.907679] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.907680] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.907685] EtherCAT DEBUG 0-0: Uploaded data:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.907686] EtherCAT DEBUG: 10 00 41 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.907689] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".<br>Feb 11 09:24:17 MAX kernel: [ 2868.907691] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02.<br>
Feb 11 09:24:17 MAX kernel: [ 2868.907692] EtherCAT DEBUG 0-0: Upload request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.907693] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.947660] EtherCAT DEBUG 0-0: Upload response:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.947662] EtherCAT DEBUG: 00 30 43 00 1A 02 20 00 64 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.947667] EtherCAT DEBUG 0-0: Uploaded data:<br>Feb 11 09:24:17 MAX kernel: [ 2868.947668] EtherCAT DEBUG: 20 00 64 60 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.947672] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".<br>Feb 11 09:24:17 MAX kernel: [ 2868.947674] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03.<br>Feb 11 09:24:17 MAX kernel: [ 2868.947675] EtherCAT DEBUG 0-0: Upload request:<br>
Feb 11 09:24:17 MAX kernel: [ 2868.947676] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2868.987649] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:17 MAX kernel: [ 2868.987650] EtherCAT DEBUG: 00 30 43 00 1A 03 08 00 61 60 <br>
Feb 11 09:24:17 MAX kernel: [ 2868.987654] EtherCAT DEBUG 0-0: Uploaded data:<br>Feb 11 09:24:17 MAX kernel: [ 2868.987655] EtherCAT DEBUG: 08 00 61 60 <br>Feb 11 09:24:17 MAX kernel: [ 2868.987658] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???".<br>
Feb 11 09:24:17 MAX kernel: [ 2868.987659] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:04.<br>Feb 11 09:24:17 MAX kernel: [ 2868.987660] EtherCAT DEBUG 0-0: Upload request:<br>Feb 11 09:24:17 MAX kernel: [ 2868.987661] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.027635] EtherCAT DEBUG 0-0: Upload response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.027637] EtherCAT DEBUG: 00 30 43 00 1A 04 08 00 01 10 <br>Feb 11 09:24:17 MAX kernel: [ 2869.027642] EtherCAT DEBUG 0-0: Uploaded data:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.027643] EtherCAT DEBUG: 08 00 01 10 <br>Feb 11 09:24:17 MAX kernel: [ 2869.027647] EtherCAT DEBUG 0-0: PDO entry 0x1001:00, 8 bit, "???".<br>Feb 11 09:24:17 MAX kernel: [ 2869.027649] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.027650] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8. Entries to map: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8<br>Feb 11 09:24:17 MAX kernel: [ 2869.027659] EtherCAT DEBUG 0-0: Setting entry count to zero.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.027661] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.<br>Feb 11 09:24:17 MAX kernel: [ 2869.027662] EtherCAT DEBUG: 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.027664] EtherCAT DEBUG 0-0: Expedited download request:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.027666] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.067622] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.067623] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.067627] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.<br>Feb 11 09:24:17 MAX kernel: [ 2869.067629] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.<br>Feb 11 09:24:17 MAX kernel: [ 2869.067630] EtherCAT DEBUG: 10 00 41 60 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.067632] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.067633] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 <br>Feb 11 09:24:17 MAX kernel: [ 2869.107614] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.107617] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.107621] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.<br>Feb 11 09:24:17 MAX kernel: [ 2869.107623] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.107624] EtherCAT DEBUG: 20 00 64 60 <br>Feb 11 09:24:17 MAX kernel: [ 2869.107626] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.107627] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.147593] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.147595] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.147600] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 3.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.147602] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.<br>Feb 11 09:24:17 MAX kernel: [ 2869.147603] EtherCAT DEBUG: 08 00 61 60 <br>Feb 11 09:24:17 MAX kernel: [ 2869.147606] EtherCAT DEBUG 0-0: Expedited download request:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.147607] EtherCAT DEBUG: 00 20 23 00 1A 03 08 00 61 60 <br>Feb 11 09:24:17 MAX kernel: [ 2869.187585] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.187586] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.187590] EtherCAT DEBUG 0-0: Mapping PDO entry 0x1001:00 (8 bit) at position 4.<br>Feb 11 09:24:17 MAX kernel: [ 2869.187592] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.<br>Feb 11 09:24:17 MAX kernel: [ 2869.187593] EtherCAT DEBUG: 08 00 01 10 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.187595] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.187596] EtherCAT DEBUG: 00 20 23 00 1A 04 08 00 01 10 <br>Feb 11 09:24:17 MAX kernel: [ 2869.227574] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.227576] EtherCAT DEBUG: 00 30 60 00 1A 04 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.227582] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.<br>Feb 11 09:24:17 MAX kernel: [ 2869.227584] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.227585] EtherCAT DEBUG: 04 <br>Feb 11 09:24:17 MAX kernel: [ 2869.227588] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.227589] EtherCAT DEBUG: 00 20 2F 00 1A 00 04 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.267559] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.267560] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.267564] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.267566] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:<br>Feb 11 09:24:17 MAX kernel: [ 2869.267568] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A00<br>Feb 11 09:24:17 MAX kernel: [ 2869.267571] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.267573] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<br>Feb 11 09:24:17 MAX kernel: [ 2869.267574] EtherCAT DEBUG: 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.267575] EtherCAT DEBUG 0-0: Expedited download request:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.267576] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.307546] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.307548] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.307553] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.<br>Feb 11 09:24:17 MAX kernel: [ 2869.307555] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.<br>Feb 11 09:24:17 MAX kernel: [ 2869.307556] EtherCAT DEBUG: 00 1A <br>
Feb 11 09:24:17 MAX kernel: [ 2869.307558] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.307559] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.347534] EtherCAT DEBUG 0-0: Download response:<br>
Feb 11 09:24:17 MAX kernel: [ 2869.347536] EtherCAT DEBUG: 00 30 60 13 1C 01 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.347541] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<br>Feb 11 09:24:17 MAX kernel: [ 2869.347544] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.347545] EtherCAT DEBUG: 01 <br>Feb 11 09:24:17 MAX kernel: [ 2869.347547] EtherCAT DEBUG 0-0: Expedited download request:<br>Feb 11 09:24:17 MAX kernel: [ 2869.347548] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 <br>
Feb 11 09:24:17 MAX kernel: [ 2869.387521] EtherCAT DEBUG 0-0: Download response:<br>Feb 11 09:24:17 MAX kernel: [ 2869.387522] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 <br>Feb 11 09:24:17 MAX kernel: [ 2869.387527] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.387532] EtherCAT DEBUG 0-0: SM2: Addr 0x1600, Size 8, Ctrl 0x24, En 1<br>Feb 11 09:24:17 MAX kernel: [ 2869.387534] EtherCAT DEBUG 0-0: SM3: Addr 0x1A00, Size 8, Ctrl 0x10, En 1<br>
Feb 11 09:24:17 MAX kernel: [ 2869.407520] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000008, Size 8, PhysAddr 0x1600, SM2, Dir out<br>
Feb 11 09:24:17 MAX kernel: [ 2869.407522] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 8, PhysAddr 0x1A00, SM3, Dir in<br>Feb 11 09:24:17 MAX kernel: [ 2869.437507] EtherCAT 0: Domain 1: Working counter changed to 1/1.<br>
Feb 11 09:24:17 MAX kernel: [ 2869.447503] EtherCAT DEBUG 0-0: Now in SAFEOP.<br>Feb 11 09:24:17 MAX kernel: [ 2869.477491] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<br>Feb 11 09:24:17 MAX kernel: [ 2869.498564] EtherCAT 0: Slave states on main device: OP.<br>
Feb 11 09:24:20 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port 67 interval 20</font></div>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Jun Yuan<br>[Aussprache: Djün Üän]<br><br>Robotics Technology Leaders GmbH<br>Am Loferfeld 58, D-81249 München<br>Tel: +49 89 189 0465 24<br>Mobile: +49 176 2176 5238<br>
Fax: +49 89 189 0465 11<br>mailto: <a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a><br><br>Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü, qu => tschü, xu => schü.
</div>