<div dir="ltr"><div><font size="4">Thanks for your explain, Graeme.<br><br></font></div><font size="4">I moved on a little bit, Dmesg as follow:</font><br><br> 1489.381676] ec_mini: Starting...<br>[ 1489.381686] EtherCAT: Requesting master 0...<br>[ 1489.381692] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>[ 1489.381695] EtherCAT: Successfully requested master 0.<br>[ 1489.381700] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xf59d2000, send_cb = 0xf8138030, receive_cb = 0xf8138000, cb_data = 0xf59d2000)<br>[ 1489.381703] ec_mini: Registering domain...<br>[ 1489.381706] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf59d2000)<br>[ 1489.381710] EtherCAT DEBUG 0: Created domain 0.<br>[ 1489.381713] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf59d2000)<br>[ 1489.381716] EtherCAT DEBUG 0: Created domain 1.<br>[ 1489.381720] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381723] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000539/0x02200001.<br>[ 1489.381729] EtherCAT DEBUG 0 0:0: Attached slave 0.<br>[ 1489.381735] ec_mini: Configuring PDOs...<br>[ 1489.381740] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdos(sc = 0xf1432000, n_syncs = 4294967295, syncs = 0xf813a000)<br>[ 1489.381745] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 0, dir = 1, watchdog_mode = 2)<br>[ 1489.381748] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 1, dir = 2, watchdog_mode = 2)<br>[ 1489.381752] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 2, dir = 1, watchdog_mode = 1)<br>[ 1489.381755] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf1432000, sync_index = 2)<br>[ 1489.381760] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf1432000, sync_index = 2, pdo_index = 0x1602)<br>[ 1489.381763] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602.<br>[ 1489.381767] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.<br>[ 1489.381770] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00.<br>[ 1489.381772] EtherCAT DEBUG 0 0:0: Entry 0x6060:00.<br>[ 1489.381776] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf1432000, pdo_index = 0x1602)<br>[ 1489.381782] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)<br>[ 1489.381787] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)<br>[ 1489.381791] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)<br>[ 1489.381795] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 3, dir = 2, watchdog_mode = 2)<br>[ 1489.381799] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf1432000, sync_index = 3)<br>[ 1489.381802] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf1432000, sync_index = 3, pdo_index = 0x1A02)<br>[ 1489.381805] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02.<br>[ 1489.381808] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.<br>[ 1489.381811] EtherCAT DEBUG 0 0:0: Entry 0x6061:00.<br>[ 1489.381814] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.<br>[ 1489.381817] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf1432000, pdo_index = 0x1A02)<br>[ 1489.381822] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)<br>[ 1489.381827] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)<br>[ 1489.381831] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)<br>[ 1489.381834] ec_mini: Registering PDO entries...<br>[ 1489.381837] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xe55bbf40, regs = 0xf81390a0)<br>[ 1489.381841] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381846] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6040, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null))<br>[ 1489.381850] EtherCAT DEBUG 0: Domain 0: Added 7 bytes, total 7.<br>[ 1489.381853] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381857] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x60FF, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null))<br>[ 1489.381861] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381865] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6060, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null))<br>[ 1489.381868] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xe55bbf80, regs = 0xf8139040)<br>[ 1489.381872] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381876] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6041, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null))<br>[ 1489.381879] EtherCAT DEBUG 0: Domain 1: Added 7 bytes, total 7.<br>[ 1489.381883] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381887] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6064, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null))<br>[ 1489.381890] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)<br>[ 1489.381894] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6061, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null))<br>[ 1489.381897] ec_mini: Activating master...<br>[ 1489.381900] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf59d2000)<br>[ 1489.381906] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>[ 1489.381909] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 1.<br>[ 1489.381913] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LWR.<br>[ 1489.381916] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.<br>[ 1489.381920] EtherCAT 0: Domain1: Logical address 0x00000007, 7 byte, expected working counter 1.<br>[ 1489.381923] EtherCAT 0: Datagram domain1-7-main: Logical offset 0x00000007, 7 byte, type LRD.<br>[ 1489.381925] EtherCAT DEBUG 0: Stopping master thread.<br>[ 1489.381941] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>[ 1489.381999] EtherCAT 0: Master thread exited.<br>[ 1489.382005] EtherCAT DEBUG 0: FSM datagram is f59d2420.<br>[ 1489.382009] EtherCAT 0: Starting EtherCAT-OP thread.<br>[ 1489.383753] ec_mini: Starting cyclic sample thread.<br>[ 1489.383761] ec_mini: Started.<br>[ 1489.387224] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000<br>[ 1489.387239] EtherCAT WARNING 0: 2 datagrams UNMATCHED!<br>[ 1489.420045] ec_mini: 1 slave(s).<br>[ 1489.420047] EtherCAT DEBUG 0: Configuration changed.<br><span style="color:rgb(255,0,0)"><font size="4">[ 1489.420052] EtherCAT WARNING 0: No app_time received up to now, but master already active.</font></span><br>[ 1489.420054] EtherCAT DEBUG 0: Requesting OP...<br>[ 1489.420058] ec_mini: AL states: 0x02.<br>[ 1489.420060] ec_mini: Link is up.<br>[ 1489.420063] ec_mini: AnaIn: State 0x02.<br>[ 1489.420065] ec_mini: AnaIn: online.<br>[ 1489.420068] inputdata = 00000000<br>[ 1489.420072] inputdata = 00000000<br>[ 1489.448017] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.<br>[ 1489.448023] EtherCAT DEBUG 0-0: Configuring...<br>[ 1489.468033] EtherCAT DEBUG 0-0: Now in INIT.<br>[ 1489.468041] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>[ 1489.484110] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>[ 1489.500037] EtherCAT DEBUG 0-0: Clearing DC assignment...<br>[ 1489.516020] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>[ 1489.516028] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1<br>[ 1489.516032] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1<br>[ 1489.560001] EtherCAT DEBUG 0-0: Now in PREOP.<br>[ 1489.560001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602.<br>[ 1489.560001] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x60FF:00/32 0x6060:00/8. Entries to map: 0x6040:00/16 0x60FF:00/32 0x6060:00/8<br>[ 1489.560001] EtherCAT DEBUG 0-0: Setting entry count to zero.<br>[ 1489.560001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.<br>[ 1489.560001] EtherCAT DEBUG: 00 <br>[ 1489.560001] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.560001] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00 <br>[ 1489.612014] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.612019] EtherCAT DEBUG: 00 30 62 02 16 00 00 00 00 00 <br>[ 1489.612035] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.<br>[ 1489.612040] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01.<br>[ 1489.612042] EtherCAT DEBUG: 10 00 40 60 <br>[ 1489.612050] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.612052] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60 <br>[ 1489.660013] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.660018] EtherCAT DEBUG: 00 30 62 02 16 01 10 00 40 60 <br>[ 1489.660034] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2.<br>[ 1489.660038] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02.<br>[ 1489.660040] EtherCAT DEBUG: 20 00 FF 60 <br>[ 1489.660047] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.660049] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60 <br>[ 1489.708005] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.708005] EtherCAT DEBUG: 00 30 62 02 16 02 20 00 FF 60 <br>[ 1489.708005] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 3.<br>[ 1489.708005] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:03.<br>[ 1489.708005] EtherCAT DEBUG: 08 00 60 60 <br>[ 1489.708005] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.708005] EtherCAT DEBUG: 00 20 23 02 16 03 08 00 60 60 <br>[ 1489.756001] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.756001] EtherCAT DEBUG: 00 30 62 02 16 03 08 00 60 60 <br>[ 1489.756001] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.<br>[ 1489.756001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00.<br>[ 1489.756001] EtherCAT DEBUG: 03 <br>[ 1489.756001] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.756001] EtherCAT DEBUG: 00 20 2F 02 16 00 03 00 00 00 <br>[ 1489.804027] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.804034] EtherCAT DEBUG: 00 30 62 02 16 00 03 00 00 00 <br>[ 1489.804049] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1602.<br>[ 1489.804052] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:<br>[ 1489.804055] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1602. PDOs to assign: 0x1602<br>[ 1489.804063] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<br>[ 1489.804067] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<br>[ 1489.804069] EtherCAT DEBUG: 00 <br>[ 1489.804075] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.804077] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 <br>[ 1489.852015] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.852020] EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 <br>[ 1489.852037] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1.<br>[ 1489.852041] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.<br>[ 1489.852043] EtherCAT DEBUG: 02 16 <br>[ 1489.852048] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.852050] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00 <br>[ 1489.900007] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.900007] EtherCAT DEBUG: 00 30 62 12 1C 01 02 16 00 00 <br>[ 1489.900007] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<br>[ 1489.900007] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.<br>[ 1489.900007] EtherCAT DEBUG: 01 <br>[ 1489.900007] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.900007] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 <br>[ 1489.948001] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.948001] EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 <br>[ 1489.948001] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.<br>[ 1489.948001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02.<br>[ 1489.948001] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32<br>[ 1489.948001] EtherCAT DEBUG 0-0: Setting entry count to zero.<br>[ 1489.948001] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.<br>[ 1489.948001] EtherCAT DEBUG: 00 <br>[ 1489.948001] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.948001] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00 <br>[ 1489.996052] EtherCAT DEBUG 0-0: Download response:<br>[ 1489.996060] EtherCAT DEBUG: 00 30 62 02 1A 00 00 00 00 00 <br>[ 1489.996077] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.<br>[ 1489.996082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01.<br>[ 1489.996084] EtherCAT DEBUG: 10 00 41 60 <br>[ 1489.996093] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1489.996095] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60 <br>[ 1490.044002] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.044002] EtherCAT DEBUG: 00 30 62 02 1A 01 10 00 41 60 <br>[ 1490.044002] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 2.<br>[ 1490.044002] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02.<br>[ 1490.044002] EtherCAT DEBUG: 08 00 61 60 <br>[ 1490.044002] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.044002] EtherCAT DEBUG: 00 20 23 02 1A 02 08 00 61 60 <br>[ 1490.092052] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.092060] EtherCAT DEBUG: 00 30 62 02 1A 02 08 00 61 60 <br>[ 1490.092076] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 3.<br>[ 1490.092082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03.<br>[ 1490.092084] EtherCAT DEBUG: 20 00 64 60 <br>[ 1490.092092] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.092094] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 64 60 <br>[ 1490.140004] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.140004] EtherCAT DEBUG: 00 30 62 02 1A 03 20 00 64 60 <br>[ 1490.140004] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.<br>[ 1490.140004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00.<br>[ 1490.140004] EtherCAT DEBUG: 03 <br>[ 1490.140004] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.140004] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00 <br>[ 1490.188056] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.188064] EtherCAT DEBUG: 00 30 62 02 1A 00 03 00 00 00 <br>[ 1490.188080] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A02.<br>[ 1490.188084] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:<br>[ 1490.188087] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A02. PDOs to assign: 0x1A02<br>[ 1490.188097] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.<br>[ 1490.188101] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<br>[ 1490.188103] EtherCAT DEBUG: 00 <br>[ 1490.188108] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.188110] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 <br>[ 1490.236016] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.236022] EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 <br>[ 1490.236040] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1.<br>[ 1490.236044] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.<br>[ 1490.236046] EtherCAT DEBUG: 02 1A <br>[ 1490.236052] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.236054] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00 <br>[ 1490.284068] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.284076] EtherCAT DEBUG: 00 30 62 13 1C 01 02 1A 00 00 <br>[ 1490.284092] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.<br>[ 1490.284096] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.<br>[ 1490.284098] EtherCAT DEBUG: 01 <br>[ 1490.284104] EtherCAT DEBUG 0-0: Expedited download request:<br>[ 1490.284106] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 <br>[ 1490.332036] EtherCAT DEBUG 0-0: Download response:<br>[ 1490.332044] EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 <br>[ 1490.332063] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.<br>[ 1490.332071] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 7, Ctrl 0x74, En 1<br>[ 1490.332075] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 7, Ctrl 0x30, En 1<br>[ 1490.348024] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 7, PhysAddr 0x1100, SM2, Dir out<br>[ 1490.348031] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000007, Size 7, PhysAddr 0x1400, SM3, Dir in<br>[ 1490.388046] EtherCAT 0: Domain 0: Working counter changed to 1/1.<br>[ 1490.388053] EtherCAT 0: Domain 1: Working counter changed to 1/1.<br>[ 1490.396063] EtherCAT DEBUG 0-0: Now in SAFEOP.<br>[ 1490.420053] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<br>[ 1490.440036] EtherCAT 0: Slave states on main device: OP.<br>[ 1497.428021] ec_mini: Read Domain: WC 1.<br>[ 1497.428026] ec_mini: Read Domain: State 2.<br>[ 1497.428029] ec_mini: Write Domain: WC 1.<br>[ 1497.428031] ec_mini: Write Domain: State 2.<br>[ 1497.428034] ec_mini: AL states: 0x08.<br>[ 1497.428037] ec_mini: AnaIn: State 0x08.<br>[ 1497.428039] ec_mini: AnaIn: operational.<br><span style="color:rgb(255,0,0)"><font size="4">[ 1497.428042] inputdata = 00000650<br>[ 1497.428046] inputdata = 00000001<br>[ 1505.436014] inputdata = 00000650<br>[ 1505.436021] inputdata = 00000001<br>[ 1513.444059] inputdata = 00000650<br>[ 1513.444067] inputdata = 00000001</font></span><br><div><br></div><div><font size="4">As Highlight shows, this mini example start to do pdo exchange. I refer <b>to Henry Bausley's </b>post <<a href="http://lists.etherlab.org/pipermail/etherlab-users/2010/000969.html">http://lists.etherlab.org/pipermail/etherlab-users/2010/000969.html</a>><b> </b>and his code: </font><br><br><pre>void cyclic_task(unsigned long data)
{
unsigned short inputdata;
static unsigned short ctrlword = 0;
// receive process data
down(&master_sem);
ecrt_master_receive(master);
#ifdef ENABLE_INPUTS
ecrt_domain_process(domainInput);
#endif
ecrt_domain_process(domainOutput);
up(&master_sem);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY*10;///10;
// calculate new process data
// blink ^= 0xFFFF;
blink *= 2;
// check process data state (optional)
check_domainInput_state();
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
if (blink > 0x8000)
blink = 1;
}
// write process data
<span style="color:rgb(255,0,0)">EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword);</span>
#ifdef ENABLE_INPUTS
inputdata = EC_READ_U16(domainInput_pd + ofs_statusword_coe);
if(counter == FREQUENCY*10)
printk(KERN_ALERT "inputdata = %08X\n",inputdata);
inputdata = EC_READ_U16(domainInput_pd + ofs_feedbackword_coe);
if(counter == FREQUENCY*10)
printk(KERN_ALERT "inputdata = %08X\n",inputdata);
#endif
// send process data
down(&master_sem);
ecrt_domain_queue(domainInput);
ecrt_domain_queue(domainOutput);
ecrt_master_send(master);
up(&master_sem);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
if(ctrlword == 0)
ctrlword = 6;
else if(ctrlword == 6)
ctrlword = 7;
else if(ctrlword == 7)
ctrlword = 15;
}<br><br></pre><pre><font size="4">The problem is control word 0x6040 never been updated .<br></font></pre><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword); it means write failed.<br><br></span></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">So I am trying to figure it out as follow:<br></span></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">1. Should I configure DC and check DC sync?<br></span></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)"> most of time I refer to </span></span><a href="http://thread.gmane.org/gmane.network.etherlab.user/1335/focus=1346">http://thread.gmane.org/gmane.network.etherlab.user/1335/focus=1346</a> . and when i start to configure DC as follow code before active master:<br><br> <font> #if CONFIG_DC<br> printk(KERN_INFO PFX "Config DC...\n");<br> dc->assignActivate=0x300;<br> dc->sync0Cycle=1000000;<br> dc->sync0Shift=0;<br> dc->sync1Cycle=0;<br> dc->sync1Shift=0; ecrt_slave_config_dc(sc_ana_in,dc->assignActivate,dc->sync0Cycle,dc->sync0Shift,dc->sync1Cycle,dc->sync1Shift);<br> #endif</font><br><br></font></div><div><font size="4">Kernel Oops as George Broz mentioned in the thread.<br></font></div><div><font size="4"><br></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">2. Should I start a real time thread? Since I am using xenomai as a real time kernel </span><br></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"> <span style="color:rgb(0,0,0)">I am trying to use example/xenomai , but it can not find libethercat-rtdm.<br><br></span></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">I am appreciated if anyone have any suggestions.<br></span></span></font></div><div><font size="4"><span style="color:rgb(255,0,0)"><span style="color:rgb(0,0,0)">Thanks!<br></span></span></font></div><div><span style="color:rgb(255,0,0)"><font size="4"> </font><br></span></div><div><div><div><div class="gmail_extra"><br><div class="gmail_quote">On Tue, Mar 24, 2015 at 6:00 AM, Graeme Foot <span dir="ltr"><<a href="mailto:Graeme.Foot@touchcut.com" target="_blank">Graeme.Foot@touchcut.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">
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<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">Hi,<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">Firstly, error messages:<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">a) see:
<a href="http://stackoverflow.com/questions/24975377/kvm-module-verification-failed-signature-and-or-required-key-missing-taintin" target="_blank">
http://stackoverflow.com/questions/24975377/kvm-module-verification-failed-signature-and-or-required-key-missing-taintin</a> or similar<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">b) don’t know<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">c) Often get a datagram timeout when switching to cyclic operation<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">1) SDO_ACCESS
</span><span style="font-size:11pt;font-family:Wingdings;color:rgb(31,73,125)">à</span><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"> sorry, don’t know<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">2) Enabling servo motor:<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">Unfortunately I don’t think you can just set the control word to 15. You need to go through a few stages.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">a) first if there are any faults make sure they are reset (by setting, waiting say 100ms, and resetting the faultReset control bit)<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">b) set the enableVoltage and quickStop control bits<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">c) wait for the readyToSwitchOn status bit<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">d) set the switchOn control bit<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">e) wait for the switchedOn status bit<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">f) set the enableOperation control bit<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">g) wait for the operationEnabled status bit<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">See page 8-21 of the manual (Device Control, Details on Bits 0 to 3).<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">Once the servo is fully enabled then you should be able to set the required velocity. One thing of note here is that you control the target velocity at every
time period in cyclic velocity mode and the amp will try to ramp to that velocity in one time period. So if you want to accelerate / decelerate nicely you will need to ramp the velocity over time yourself.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"><u></u> <u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)">Graeme.<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11pt;font-family:"Calibri","sans-serif";color:rgb(31,73,125)"> </span></p></div></div></blockquote></div><br></div></div></div></div></div>