<div dir="ltr">Hi Jun Yuan,<div><br></div><div> Thank you so much for sharing the knowledge about ethercat. It means a lot for me.</div><div> Now I can get the PDO data as expected. </div><div> </div><div> Here is what happened yesterday:</div>
<div> The codes your gave are correct. My vendor also did some configuration using twincat. </div><div> so the whole story is,before the vendor use twincat, the code still get zero data of pdo.</div><div> but after twincat config, same code return correct data.</div>
<div> </div><div> Two thing changed I notice: </div><div> 1. now can not change PDO index (0x1600,0x1A00),I mean reset the number of mapped object and the PDO mapping. </div><div> before that, I can use SDO to write data to adress,like 0x1600:0 ,0x1600:1.</div>
<div> In the log, can see the "WARNING 0-0: Failed to clear PDO mapping."</div><div><br></div><div> 2. now the value in PDO index changed. for example, I check 0x1A00:1 as below. It is <span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px">0x60610008. I notice the byte order of the value is diff. according to vendor's xml file, it shall be 0x</span><font color="#000000" face="Helvetica, Arial, Droid Sans, sans-serif"><span style="font-size:14px;line-height:19.984375px">08006160.</span></font><span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px"> </span></div>
<div><font size="1"><span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">/opt/etherlab/bin$ sudo ./ethercat upload --type=uint32 6656 1</span><br clear="none" style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">
<span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px">0x60610008 1616969736</span><br></font></div><div><span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;font-size:14px;line-height:19.984375px"><br>
</span></div><div><span style="color:rgb(0,0,0);font-family:Helvetica,Arial,'Droid Sans',sans-serif;line-height:19.984375px"><div style="font-size:x-small"><InitCmd></div><div style="font-size:x-small"><span class="" style="white-space:pre"> </span><Transition>PS</Transition> </div>
<div style="font-size:x-small"><span class="" style="white-space:pre"> </span><Index>#x1A00</Index> </div><div style="font-size:x-small"><span class="" style="white-space:pre"> </span><SubIndex>3</SubIndex> </div>
<div style="font-size:x-small"><span class="" style="white-space:pre"> </span><Data>08006160</Data> </div><div style="font-size:x-small"><span class="" style="white-space:pre"> </span><Comment>TxPDO1,Obj.3: mode of operation display</Comment> </div>
<div style="font-size:x-small"></InitCmd></div><div style="font-size:x-small"><br></div><div><font size="1"> </font>I am not sure what vendor do with twincat. Anyway it works.</div><div> Thank you again. Happy New Year.</div>
<div><br></div><div>Regards,</div><div>Max</div><div><br></div><div><font size="1">Feb 11 20:14:09 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port 67 interval 8</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854663] EtherCAT: Requesting master 0...</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854669] EtherCAT DEBUG 0: IDLE -> OPERATION.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854672] EtherCAT: Successfully requested master 0.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854677] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88019fbae000)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854680] EtherCAT DEBUG 0: Created domain 0.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854683] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88019fbae000)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854685] EtherCAT DEBUG 0: Created domain 1.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854689] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854693] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x000000E4/0x00001133.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854699] EtherCAT DEBUG 0 0:0: Attached slave 0.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854757] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 0, dir = 1, watchdog_mode = 2)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854761] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 1, dir = 2, watchdog_mode = 2)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854764] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 2, dir = 1, watchdog_mode = 2)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854769] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880106d3d000, sync_index = 2)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854774] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880106d3d000, sync_index = 2, pdo_index = 0x1600)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854777] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854780] EtherCAT DEBUG 0 0:0: Found PDO name "Outputs".</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854782] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854784] EtherCAT DEBUG 0 0:0: Entry 0x6060:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854786] EtherCAT DEBUG 0 0:0: Entry 0x6098:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854787] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854789] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854790] EtherCAT DEBUG 0 0:0: Entry 0x6071:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854794] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880106d3d000, pdo_index = 0x1600)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854800] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854805] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854809] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 3, dir = 2, watchdog_mode = 2)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854812] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880106d3d000, sync_index = 3)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854815] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880106d3d000, sync_index = 3, pdo_index = 0x1A00)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854818] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854820] EtherCAT DEBUG 0 0:0: Found PDO name "Inputs".</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854822] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854824] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854825] EtherCAT DEBUG 0 0:0: Entry 0x6061:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854827] EtherCAT DEBUG 0 0:0: Entry 0x1001:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854829] EtherCAT DEBUG 0 0:0: Entry 0x606C:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854831] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854833] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880106d3d000, pdo_index = 0x1A00)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854837] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854841] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854845] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854849] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index = 0x1A00, entry_index = 0x1001, entry_subindex = 0x00, entry_bit_length = 8)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854854] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854860] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6040, subindex = 0x00, domain = 0xffff8801597f3d00, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854865] EtherCAT DEBUG 0: Domain 1: Added 3 bytes, total 3.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854867] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854871] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6060, subindex = 0x00, domain = 0xffff8801597f3d00, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854875] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854879] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6041, subindex = 0x00, domain = 0xffff8801597f3900, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854883] EtherCAT DEBUG 0: Domain 0: Added 8 bytes, total 8.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854885] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854889] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6064, subindex = 0x00, domain = 0xffff8801597f3900, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854893] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854897] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6061, subindex = 0x00, domain = 0xffff8801597f3900, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854901] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position = 0, vendor_id = 0x000000e4, product_code = 0x00001133)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854904] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x1001, subindex = 0x00, domain = 0xffff8801597f3900, bit_position = 0xffff8801b2f4bca4)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854941] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8801597f3900, mem = 0xffffc90018eb4000)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854944] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8801597f3d00, mem = 0xffffc90018eb4008)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854947] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff88019fbae000, send_cb = 0xffffffffa056c8f0, receive_cb = 0xffffffffa056d020, cb_data = 0xffff88019fbae000)</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854951] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff88019fbae000)</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854955] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854958] EtherCAT 0: Domain0: Logical address 0x00000000, 8 byte, expected working counter 1.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854961] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 8 byte, type LRD.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854963] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854965] EtherCAT 0: Domain1: Logical address 0x00000008, 3 byte, expected working counter 1.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854968] EtherCAT 0: Datagram domain1-8-main: Logical offset 0x00000008, 3 byte, type LWR.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.854971] EtherCAT DEBUG 0: Stopping master thread.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855023] EtherCAT DEBUG 0: Master IDLE thread exiting...</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855091] EtherCAT 0: Master thread exited.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855096] EtherCAT DEBUG 0: FSM datagram is ffff88019fbae678.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855099] EtherCAT 0: Starting EtherCAT-OP thread.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855224] EtherCAT DEBUG 0: mmap()</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855233] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007f1ecc8a6000, offset = 0, page = ffffea0006c1be00</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855247] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.855252] EtherCAT WARNING 0: 77 datagrams TIMED OUT!</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.856731] EtherCAT DEBUG 0: Configuration changed (aborting state check).</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.856763] EtherCAT WARNING 0: No app_time received up to now, but master already active.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.856776] EtherCAT DEBUG 0: Requesting OP...</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.872760] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.872770] EtherCAT DEBUG 0-0: Configuring...</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.879615] EtherCAT DEBUG 0-0: Now in INIT.</font></div><div>
<font size="1">Feb 11 20:14:09 MAX kernel: [37974.879617] EtherCAT DEBUG 0-0: Clearing FMMU configurations...</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.886326] EtherCAT DEBUG 0-0: Clearing sync manager configurations...</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.892941] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.892944] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 16, Ctrl 0x26, En 1</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.892946] EtherCAT DEBUG 0-0: SM1: Addr 0x1900, Size 16, Ctrl 0x12, En 1</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906270] EtherCAT DEBUG 0-0: Now in PREOP.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906277] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906278] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x6098:00/8 0x607A:00/32 0x60FF:00/32 0x6071:00/16. Entries to map: 0x6040:00/16 0x6060:00/8</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906294] EtherCAT DEBUG 0-0: Setting entry count to zero.</font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906296] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906305] EtherCAT DEBUG: 00 </font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.906308] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div>
<font size="1">Feb 11 20:14:09 MAX kernel: [37974.906309] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 </font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.919597] EtherCAT DEBUG 0-0: Download response:</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.919599] EtherCAT DEBUG: 00 30 80 00 16 00 22 00 00 08 </font></div><div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.919603] EtherCAT DEBUG 0-0: Invalid SDO download response! Retrying...</font></div>
<div><font size="1">Feb 11 20:14:09 MAX kernel: [37974.919604] EtherCAT DEBUG: 00 30 80 00 16 00 22 00 00 08 </font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909187] EtherCAT ERROR 0-0: Timeout after 1000 ms while waiting for SDO 0x1600:0 download response.</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909191] EtherCAT WARNING 0-0: Failed to clear PDO mapping.</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909192] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x6098:00/8 0x607A:00/32 0x60FF:00/32 0x6071:00/16. Entries to map: 0x6040:00/16 0x6060:00/8</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909202] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1600.</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909212] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909214] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909217] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909220] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909221] EtherCAT DEBUG: 00 </font></div><div>
<font size="1">Feb 11 20:14:10 MAX kernel: [37975.909223] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.909224] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922511] EtherCAT DEBUG 0-0: Download response:</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922513] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922519] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922520] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922521] EtherCAT DEBUG: 00 16 </font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922523] EtherCAT DEBUG 0-0: Expedited download request:</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.922524] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 </font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935852] EtherCAT DEBUG 0-0: Download response:</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935855] EtherCAT DEBUG: 00 30 60 12 1C 01 00 00 00 00 </font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935862] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.</font></div>
<div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935864] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935865] EtherCAT DEBUG: 01 </font></div><div>
<font size="1">Feb 11 20:14:10 MAX kernel: [37975.935868] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div><font size="1">Feb 11 20:14:10 MAX kernel: [37975.935869] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949171] EtherCAT DEBUG 0-0: Download response:</font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949175] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949184] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.</font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949191] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.</font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949193] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8</font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949208] EtherCAT DEBUG 0-0: Setting entry count to zero.</font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949211] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.</font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949212] EtherCAT DEBUG: 00 </font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.949215] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div>
<font size="1">Feb 11 20:14:11 MAX kernel: [37975.949217] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 </font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.962495] EtherCAT DEBUG 0-0: Download response:</font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.962497] EtherCAT DEBUG: 00 30 80 00 1A 00 22 00 00 08 </font></div><div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.962501] EtherCAT DEBUG 0-0: Invalid SDO download response! Retrying...</font></div>
<div><font size="1">Feb 11 20:14:11 MAX kernel: [37975.962502] EtherCAT DEBUG: 00 30 80 00 1A 00 22 00 00 08 </font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952110] EtherCAT ERROR 0-0: Timeout after 1000 ms while waiting for SDO 0x1a00:0 download response.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952113] EtherCAT WARNING 0-0: Failed to clear PDO mapping.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952115] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952126] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A00.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952128] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952129] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A00</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952133] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952135] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952137] EtherCAT DEBUG: 00 </font></div><div>
<font size="1">Feb 11 20:14:12 MAX kernel: [37976.952139] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.952140] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965410] EtherCAT DEBUG 0-0: Download response:</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965413] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965419] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965422] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965423] EtherCAT DEBUG: 00 1A </font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965425] EtherCAT DEBUG 0-0: Expedited download request:</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.965426] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 </font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978737] EtherCAT DEBUG 0-0: Download response:</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978738] EtherCAT DEBUG: 00 30 60 13 1C 01 00 00 00 00 </font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978743] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978745] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978746] EtherCAT DEBUG: 01 </font></div><div>
<font size="1">Feb 11 20:14:12 MAX kernel: [37976.978747] EtherCAT DEBUG 0-0: Expedited download request:</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.978748] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.992064] EtherCAT DEBUG 0-0: Download response:</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.992065] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 </font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.992071] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.992075] EtherCAT DEBUG 0-0: SM2: Addr 0x1600, Size 3, Ctrl 0x24, En 1</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.992077] EtherCAT DEBUG 0-0: SM3: Addr 0x1A00, Size 8, Ctrl 0x10, En 1</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.998730] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000008, Size 3, PhysAddr 0x1600, SM2, Dir out</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37976.998732] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 8, PhysAddr 0x1A00, SM3, Dir in</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37977.008725] EtherCAT 0: Domain 1: Working counter changed to 1/1.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37977.012054] EtherCAT DEBUG 0-0: Now in SAFEOP.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37977.018719] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.</font></div>
<div><font size="1">Feb 11 20:14:12 MAX kernel: [37977.022173] EtherCAT 0: Domain 0: Working counter changed to 1/1.</font></div><div><font size="1">Feb 11 20:14:12 MAX kernel: [37977.028095] EtherCAT 0: Slave states on main device: OP.</font></div>
<div><font size="1">Feb 11 20:14:17 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port 67 interval 14</font></div><div><font size="1">Feb 11 20:14:31 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port 67 interval 12</font></div>
<div> </div></span></div><div><br></div></div><div class="gmail_extra"><br><br><div class="gmail_quote">2014-02-11 19:14 GMT+08:00 Jun Yuan <span dir="ltr"><<a href="mailto:j.yuan@rtleaders.com" target="_blank">j.yuan@rtleaders.com</a>></span>:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><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"><div><div class="h5">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>
</div></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div><div class="h5"><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><span class="HOEnZb"><font color="#888888"><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: <a href="tel:%2B49%2089%20189%200465%2024" value="+4989189046524" target="_blank">+49 89 189 0465 24</a><br>
Mobile: <a href="tel:%2B49%20176%202176%205238" value="+4917621765238" target="_blank">+49 176 2176 5238</a><br>
Fax: <a href="tel:%2B49%2089%20189%200465%2011" value="+4989189046511" target="_blank">+49 89 189 0465 11</a><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.
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