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<p>Hi,<br>
<br>
I would try to read the values from the domain in one block
instead of seperatly.<br>
like<br>
<tt><span lang="EN-NZ">const static ec_pdo_entry_reg_t
domain1_regs[] = {</span></tt><tt><span lang="EN-NZ"><br>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01,
&offOutput[0]</span></tt><tt><span lang="EN-NZ">}<br>
};</span></tt></p>
<div class="moz-cite-prefix">instead of <br>
<br>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
const static ec_pdo_entry_reg_t domain1_regs[] = {</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>> </span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01,
&offOutput[0],</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[0]},</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>> </span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02,
&offOutput[1],</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[1]},</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>> </span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03,
&offOutput[2],</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[2]},</span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>> </span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06,
&offOutput[3],</span></p>
<span lang="EN-NZ">...</span><br>
<br>
And then extract the different bits and bytes manually.<br>
I worked with a EL6731 card and in one setting it had two PDOs
(0x6000 0x1 and 0x6000 0x2) but I had to read them as one ,
otherwise the second part was 0 similar to your problem.<br>
You could also try to group them like in TwinCat:<br>
<br>
<tt><span lang="EN-NZ">const static ec_pdo_entry_reg_t
domain1_regs[] = {</span></tt><tt><span lang="EN-NZ"><br>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01,
&offOutput[0]</span></tt><tt><span lang="EN-NZ">}, //
status bits grouped like TC<br>
</span></tt><tt><span lang="EN-NZ"><tt><span lang="EN-NZ">{0,
5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[1]</span></tt><tt><span
lang="EN-NZ">},</span></tt><br>
</span></tt><tt><span lang="EN-NZ"><tt><span lang="EN-NZ">
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12,
&offOutput[2]</span></tt><tt><span lang="EN-NZ">},<br>
</span></tt>
};</span></tt><br>
<br>
Good luck,<br>
Michael Reeder<br>
<br>
On 26.05.20 18:07, BUSSIERES Vincent wrote:<br>
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<div class="WordSection1">
<p class="MsoNormal"><span style="color:#1F497D">I think issue
is due to gap in PDO with index 0x0000 but I don’t know how
to solve it.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">I am using
Gavin patchset 20190904.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">I read to use
ecrt_domain_reg_pdo_entry() instead of
ecrt_domain_reg_pdo_entry_list() but I don’t fund this
function.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<p class="MsoNormal"><span
style="color:#1F497D;mso-fareast-language:FR">Regards<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent
BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR">Responsable
Technique Logiciel<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><span
style="color:black;mso-fareast-language:FR"><img
style="width:1.0in;height:.75in" id="_x0000_i1027"
src="cid:part1.3DEEA0D5.7F88A689@datatroniq.com"
alt="1572337113342" class="" width="96" height="72"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">ZE
Ma Campagne<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">36,
Impasse Félix Nadar<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">16000
ANGOULEME<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray;mso-fareast-language:FR">Tel:
33 (0)9.72.40.35.08<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#999999;mso-fareast-language:FR"><a
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target="_blank" moz-do-not-send="true">www.hemeria-group.com</a></span></i><span
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</span><span
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style="color:black;mso-fareast-language:FR"> </span><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00;mso-fareast-language:FR">Afin
de contribuer au respect de l'environnement, merci de
n'imprimer ce courriel qu'en cas de nécessité.</span><span
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message et les fichiers pouvant être attachés sont
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</span><span
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<p class="MsoNormal"><b><span
style="font-size:10.0pt;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
</div>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1
1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span
style="mso-fareast-language:FR">De :</span></b><span
style="mso-fareast-language:FR"> BUSSIERES Vincent
<a class="moz-txt-link-rfc2396E" href="mailto:vincent.bussieres@hemeria-group.com"><vincent.bussieres@hemeria-group.com></a>
<br>
<b>Envoyé :</b> mardi 26 mai 2020 17:25<br>
<b>À :</b> BUSSIERES Vincent
<a class="moz-txt-link-rfc2396E" href="mailto:vincent.bussieres@hemeria-group.com"><vincent.bussieres@hemeria-group.com></a>; Graeme Foot
<a class="moz-txt-link-rfc2396E" href="mailto:Graeme.Foot@touchcut.com"><Graeme.Foot@touchcut.com></a>; Richard Hacker
<a class="moz-txt-link-rfc2396E" href="mailto:ha@igh.de"><ha@igh.de></a>; <a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Objet :</b> RE: [etherlab-users] Beckhoff encoder
interface EL5101-0010 mapping issue<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">I also noticed
that ecrt_domain_reg_pdo_entry_list doesn’t return error,
but after this function call, all offsets in
ec_pdo_entry_reg_t are still set to 0.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">Does someone
have an idea ?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<p class="MsoNormal"><span
style="color:#1F497D;mso-fareast-language:FR">Regards.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent
BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR">Responsable
Technique Logiciel<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><span
style="color:black;mso-fareast-language:FR"><img
style="width:1.0in;height:.75in" id="_x0000_i1025"
src="cid:part1.3DEEA0D5.7F88A689@datatroniq.com"
alt="1572337113342" class="" width="96" height="72"
border="0"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">ZE
Ma Campagne<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">36,
Impasse Félix Nadar<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">16000
ANGOULEME<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray;mso-fareast-language:FR">Tel:
33 (0)9.72.40.35.08<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#999999;mso-fareast-language:FR"><a
href="https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f"
target="_blank" moz-do-not-send="true">www.hemeria-group.com</a></span></i><span
style="color:black;mso-fareast-language:FR"> <br>
</span><span
style="font-size:16.0pt;font-family:Webdings;color:green;mso-fareast-language:FR">P</span><span
style="color:black;mso-fareast-language:FR"> </span><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00;mso-fareast-language:FR">Afin
de contribuer au respect de l'environnement, merci de
n'imprimer ce courriel qu'en cas de nécessité.</span><span
style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">Ce
message et les fichiers pouvant être attachés sont
confidentiels, réservés à l'usage unique des destinataires
et n'engagent HEMERIA sous aucune forme que ce soit.</span><span
style="color:black;mso-fareast-language:FR"><br>
</span><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR"
lang="EN-GB">This email and any files transmitted with it
are confidential, intented solely for the unique use of
the recipients and don't commit HEMERIA.</span><span
style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
</div>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1
1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span
style="mso-fareast-language:FR">De :</span></b><span
style="mso-fareast-language:FR"> etherlab-users <<a
href="mailto:etherlab-users-bounces@etherlab.org"
moz-do-not-send="true">etherlab-users-bounces@etherlab.org</a>>
<b>De la part de</b> BUSSIERES Vincent<br>
<b>Envoyé :</b> mardi 26 mai 2020 11:03<br>
<b>À :</b> Graeme Foot <<a
href="mailto:Graeme.Foot@touchcut.com"
moz-do-not-send="true">Graeme.Foot@touchcut.com</a>>;
Richard Hacker <<a href="mailto:ha@igh.de"
moz-do-not-send="true">ha@igh.de</a>>;
<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">etherlab-users@etherlab.org</a><br>
<b>Objet :</b> Re: [etherlab-users] Beckhoff encoder
interface EL5101-0010 mapping issue<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I run « cstruct » command after repowered
module and I get mapping below. It’s a bit strange because we
can notice that unlike warning message, objects 0x1801 are
replaced with 0x1800 and latch value and counter values are on
32 bits.<o:p></o:p></p>
<p class="MsoNormal">Moreover I configure debug level to 2 and
compare frames received in dmesg before and after turned
encoder axis. Frames received seem to be simular, strange
behaviour. It looks like we need to activate something on the
module, but in twincat counter value is sended automatically.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Regards<i><o:p></o:p></i></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">/</span>*
Master 0, Slave 1, "EL5101-0010"<o:p></o:p></p>
<p class="MsoNormal">* Vendor ID: 0x00000002<o:p></o:p></p>
<p class="MsoNormal">* Product code: 0x13ed3052<o:p></o:p></p>
<p class="MsoNormal">* Revision number: 0x0013000a<o:p></o:p></p>
<p class="MsoNormal">*/<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">ec_pdo_entry_info_t slave_1_pdo_entries[] =
{<o:p></o:p></p>
<p class="MsoNormal"> {0x7000, 0x01, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x7000, 0x02, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x7000, 0x03, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x7000, 0x04, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x0000, 0x00, 4}, /* Gap */<o:p></o:p></p>
<p class="MsoNormal"> {0x0000, 0x00, 8}, /* Gap */<o:p></o:p></p>
<p class="MsoNormal"> {0x7000, 0x11, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x01, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x02, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x03, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x0000, 0x00, 2}, /* Gap */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x06, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x07, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x0000, 0x00, 1}, /* Gap */<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x09, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0a, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0b, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0c, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x0d, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x1c32, 0x20, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x1800, 0x07, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x1800, 0x09, 1},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x11, 32},<o:p></o:p></p>
<p class="MsoNormal"> {0x6000, 0x12, 32},<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">ec_pdo_info_t slave_1_pdos[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0x1600, 7, slave_1_pdo_entries + 0},<o:p></o:p></p>
<p class="MsoNormal"> {0x1a00, 17, slave_1_pdo_entries + 7},<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">ec_sync_info_t slave_1_syncs[] = {<o:p></o:p></p>
<p class="MsoNormal"> {0, EC_DIR_OUTPUT, 0, NULL,
EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {1, EC_DIR_INPUT, 0, NULL,
EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0,
EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {3, EC_DIR_INPUT, 1, slave_1_pdos + 1,
EC_WD_DISABLE},<o:p></o:p></p>
<p class="MsoNormal"> {0xff}<o:p></o:p></p>
<p class="MsoNormal">};<o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal">[ 4532.066259] EtherCAT DEBUG 0: Sending
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 4532.066260] EtherCAT DEBUG: FF FF FF FF
FF FF 68 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.066273] EtherCAT DEBUG: 04 1A 01 00
30 01 02 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.066286] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.066299] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074208] EtherCAT DEBUG 0: Received
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074210] EtherCAT DEBUG: FF FF FF FF
FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074229] EtherCAT DEBUG: 04 1A 01 00
30 01 02 00 00 00 02 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074247] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074264] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074285] EtherCAT DEBUG 0:
ec_master_send_datagrams(device_index = 0)<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074287] EtherCAT DEBUG 0: Adding
datagram 0x1B<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074289] EtherCAT DEBUG 0: frame
size: 46<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074290] EtherCAT DEBUG 0: Sending
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074291] EtherCAT DEBUG: FF FF FF FF
FF FF 68 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074309] EtherCAT DEBUG: 04 1B 02 00
30 01 02 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074326] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.074343] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082208] EtherCAT DEBUG 0: Received
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082210] EtherCAT DEBUG: FF FF FF FF
FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082230] EtherCAT DEBUG: 04 1B 02 00
30 01 02 00 00 00 02 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082247] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082264] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082287] EtherCAT DEBUG 0:
ec_master_send_datagrams(device_index = 0)<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082289] EtherCAT DEBUG 0: Adding
datagram 0x1C<o:p></o:p></p>
<p class="MsoNormal">[ 4532.082292] EtherCAT DEBUG 0: frame
size: 46<o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><b>encoder axis turned<o:p></o:p></b></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal">[ 5395.149869] EtherCAT DEBUG 0: Sending
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 5395.149869] EtherCAT DEBUG: FF FF FF FF
FF FF 68 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.149879] EtherCAT DEBUG: 04 95 01 00
30 01 02 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.149889] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.149899] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157812] EtherCAT DEBUG 0: Received
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157813] EtherCAT DEBUG: FF FF FF FF
FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157824] EtherCAT DEBUG: 04 95 01 00
30 01 02 00 00 00 02 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157834] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157843] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157856] EtherCAT DEBUG 0:
ec_master_send_datagrams(device_index = 0)<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157857] EtherCAT DEBUG 0: Adding
datagram 0x96<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157858] EtherCAT DEBUG 0: frame
size: 46<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157859] EtherCAT DEBUG 0: Sending
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157860] EtherCAT DEBUG: FF FF FF FF
FF FF 68 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157870] EtherCAT DEBUG: 04 96 02 00
30 01 02 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157879] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.157889] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165810] EtherCAT DEBUG 0: Received
frame:<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165811] EtherCAT DEBUG: FF FF FF FF
FF FF 6A 05 CA 8B CE EB 88 A4 0E 10
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165822] EtherCAT DEBUG: 04 96 02 00
30 01 02 00 00 00 02 00 01 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165831] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165841] EtherCAT DEBUG: 00 00 00 00
00 00 00 00 00 00 00 00
<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165853] EtherCAT DEBUG 0:
ec_master_send_datagrams(device_index = 0)<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165854] EtherCAT DEBUG 0: Adding
datagram 0x97<o:p></o:p></p>
<p class="MsoNormal">[ 5395.165855] EtherCAT DEBUG 0: frame
size: 46<o:p></o:p></p>
<div>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent
BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR">Responsable
Technique Logiciel<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><span
style="color:black;mso-fareast-language:FR"><img
style="width:1.0in;height:.75in" id="Image_x0020_1"
src="cid:part1.3DEEA0D5.7F88A689@datatroniq.com"
alt="1572337113342" class="" width="96" height="72"
border="0"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">ZE
Ma Campagne<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">36,
Impasse Félix Nadar<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C;mso-fareast-language:FR">16000
ANGOULEME<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray;mso-fareast-language:FR">Tel:
33 (0)9.72.40.35.08<o:p></o:p></span></i></p>
<p class="MsoNormal"><i><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#999999;mso-fareast-language:FR"><a
href="https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f"
target="_blank" moz-do-not-send="true">www.hemeria-group.com</a></span></i><span
style="color:black;mso-fareast-language:FR"> <br>
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style="font-size:16.0pt;font-family:Webdings;color:green;mso-fareast-language:FR">P</span><span
style="color:black;mso-fareast-language:FR"> </span><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00;mso-fareast-language:FR">Afin
de contribuer au respect de l'environnement, merci de
n'imprimer ce courriel qu'en cas de nécessité.</span><span
style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">Ce
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style="color:black;mso-fareast-language:FR"><br>
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style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR"
lang="EN-GB">This email and any files transmitted with it
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style="color:black;mso-fareast-language:FR"><o:p></o:p></span></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;color:black;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></b></p>
</div>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1
1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span
style="mso-fareast-language:FR">De :</span></b><span
style="mso-fareast-language:FR"> Graeme Foot <<a
href="mailto:Graeme.Foot@touchcut.com"
moz-do-not-send="true">Graeme.Foot@touchcut.com</a>>
<br>
<b>Envoyé :</b> mardi 26 mai 2020 00:07<br>
<b>À :</b> BUSSIERES Vincent <<a
href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true">vincent.bussieres@hemeria-group.com</a>>;
Richard Hacker <<a href="mailto:ha@igh.de"
moz-do-not-send="true">ha@igh.de</a>>;
<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">etherlab-users@etherlab.org</a><br>
<b>Objet :</b> RE: [etherlab-users] Beckhoff encoder
interface EL5101-0010 mapping issue<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoPlainText"><span lang="EN-NZ">Hi,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">You need to pay
attention to those warnings. You will not get the warning
again until the module it repowered. (The modules interface
mappings get changed, so no further warnings and doing an
"ethercat struct" command will return you mappings, but
internally they will be ignored.)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Change your struct to
match the "Currently mapped PDO entries".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">Currently mapped PDO entries:
Entries to map:
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:01/1
0x6000:01/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:02/1
0x6000:02/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:03/1
0x6000:03/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x0000:00/2
0x0000:00/2
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:06/1
0x6000:06/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:07/1
0x6000:07/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x0000:00/1
0x0000:00/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:09/1
0x6000:09/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:0A/1
0x6000:0A/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:0B/1
0x6000:0B/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:0C/1
0x6000:0C/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:0D/1
0x6000:0D/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New";background:yellow;mso-highlight:yellow"
lang="EN-NZ">0x1C32:20/1</span><span
style="font-family:"Courier New"" lang="EN-NZ">
0x6000:0E/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New";background:yellow;mso-highlight:yellow"
lang="EN-NZ">0x1801:07/1</span><span
style="font-family:"Courier New"" lang="EN-NZ">
0x6000:0F/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New";background:yellow;mso-highlight:yellow"
lang="EN-NZ">0x1801:09/1</span><span
style="font-family:"Courier New"" lang="EN-NZ">
0x6000:10/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:11/16
0x6000:11/16
<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="font-family:"Courier
New"" lang="EN-NZ">0x6000:12/16.
0x6000:12/16<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Of course, that still
may not help since the position mapping still looks correct.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Regards,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Graeme.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="mso-fareast-language:EN-NZ"
lang="EN-US">-----Original Message-----<br>
From: etherlab-users <<a
href="mailto:etherlab-users-bounces@etherlab.org"
moz-do-not-send="true">etherlab-users-bounces@etherlab.org</a>>
On Behalf Of BUSSIERES Vincent<br>
Sent: Tuesday, 26 May 2020 3:38 AM<br>
To: Richard Hacker <<a href="mailto:ha@igh.de"
moz-do-not-send="true">ha@igh.de</a>>; <a
href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">
etherlab-users@etherlab.org</a><br>
Subject: Re: [etherlab-users] Beckhoff encoder interface
EL5101-0010 mapping issue</span><span lang="EN-NZ"><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Hello Etherlab users,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">I'm still struggling
with the Beckhoff EL5101-0010 encoder module. I configure
PDO like Twincat but I still cannot read the encoder
position, I always read 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">I noticed that after
the first start of the module I had a warning " Slave does
not support changing the PDO mapping!".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">But after
configuration, I run command ethercat xml, and mapping seems
to be OK. Slave is in OP state.
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">If I restart
configuration without restart module, I no longer have
warning but I still read 0.
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">I have no more ideas,
this module is the only slave on the network, counter value
can be read with Twincat.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Regards<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918395]
EtherCAT DEBUG: 10 12 00 60
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918400]
EtherCAT DEBUG 0-main-1: PDO entry 0x6000:12, 16 bit, "???".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918402]
EtherCAT WARNING 0-main-1: Slave does not support changing
the PDO mapping!<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918403]
EtherCAT WARNING 0-main-1: Currently mapped PDO entries:
0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/2 0x6000:06/1
0x6000:07/1 0x0000:00/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1
0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1
0x6000:11/16 0x6000:12/16. Entries to map: 0x6000:01/1
0x6000:02/1 0x6000:03/1 0x0000:00/2 0x6000:06/1 0x6000:07/1
0x0000:00/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1
0x6000:0D/1 0x6000:0E/1 0x6000:0F/1 0x6000:10/1 0x6000:11/16
0x6000:12/16<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918436]
EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM3:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918437]
EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1A00.
PDOs to assign: 0x1A01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918440]
EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to
zero.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918442]
EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918442]
EtherCAT DEBUG: 00 <o:p>
</o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918444]
EtherCAT DEBUG 0-main-1: Expedited download request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.918444]
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946384]
EtherCAT DEBUG 0-main-1: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946385]
EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946395]
EtherCAT DEBUG 0-main-1: Assigning PDO 0x1A01 at position 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946396]
EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946397]
EtherCAT DEBUG: 01 1A <o:p>
</o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946399]
EtherCAT DEBUG 0-main-1: Expedited download request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.946399]
EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974385]
EtherCAT DEBUG 0-main-1: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974386]
EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974393]
EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to
1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974394]
EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974395]
EtherCAT DEBUG: 01 <o:p>
</o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974397]
EtherCAT DEBUG 0-main-1: Expedited download request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30811.974397]
EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.002429]
EtherCAT DEBUG 0-main-1: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.002430]
EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.002441]
EtherCAT DEBUG 0-main-1: Successfully configured PDO
assignment of SM3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.002446]
EtherCAT DEBUG 0-main-1: SM2: Addr 0x1100, Size 4, Ctrl
0x24, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.002448]
EtherCAT DEBUG 0-main-1: SM3: Addr 0x1180, Size 6, Ctrl
0x20, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.010431]
EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000000, Size 4,
PhysAddr 0x1100, SM2, Dir out<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.021655]
EtherCAT 0: Domain 0: Working counter changed to 1/1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.034432]
EtherCAT DEBUG 0-main-1: Now in SAFEOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.050464]
EtherCAT 0: Slave states on main device: PREOP, OP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">[30812.050467]
EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Vincent BUSSIERES<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Responsable Technique
Logiciel<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">ZE Ma Campagne<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">36, Impasse Félix
Nadar<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">16000 ANGOULEME<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Tel: 33
(0)9.72.40.35.08<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><a
href="http://www.hemeria-group.com" moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"></span><span
lang="EN-NZ"> Afin de contribuer au respect de
l'environnement, merci de n'imprimer ce courriel qu'en cas
de nécessité.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Ce message et les
fichiers pouvant être attachés sont confidentiels, réservés
à l'usage unique des destinataires et
n'engagent HEMERIA sous aucune forme que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">This email and any
files transmitted with it are confidential, intented solely
for the unique use of the recipients and don't commit
HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">-----Message
d'origine-----<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">De : Richard Hacker
<<a href="mailto:ha@igh.de" moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de</span></a>>
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Envoyé : vendredi 15
mai 2020 18:45<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">À : BUSSIERES Vincent
<<a href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Objet : Re:
[etherlab-users] Beckhoff encoder interface EL5101-0010
mapping issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">You do need them,
exactly like that! Including the bit stuffing! What's
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">more, you cannot join
two consecutive stuffings to one either.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">Am 15/05/2020 um
15.50 schrieb BUSSIERES Vincent:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> According to
you, does index with 0x0000 can be problematic ?<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> They are used to
make bit stuffing.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> static
ec_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> /* RxPdo
0x1601 */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x7000,
0x01, 1}, /* Control enable latch */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x7000,
0x02, 1}, /* Control enable latch extern on positive
edge */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x7000,
0x03, 1}, /* Control set counter */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x7000,
0x04, 1}, /* Control enable latch extern on negative
edge */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x0000,
0x00, 4},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x0000,
0x00, 8},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x7000,
0x11, 16}, /* Control enable latch extern on negative
edge */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> /* TxPdo
0x1a01 */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x01, 1}, /* Status Latch C valid */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x02, 1}, /* Status Latch extern valid */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x03, 1}, /* Status set counter done */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x0000,
0x00, 2},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x06, 1}, /* Status of input status */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x07, 1}, /* Status open circuit */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x0000,
0x00, 1},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x09, 1}, /* Status of input A */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0a, 1}, /* Status of input B */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0b, 1}, /* Status of input C */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0c, 1}, /* Status of input gate */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0d, 1}, /* Status of extern latch */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0e, 1}, /* Status sync error */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x0f, 1}, /* Status TxPDO state */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x10, 1}, /* Status TxPDO toogle */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x11, 16}, /* counter value */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x6000,
0x12, 16} /* latch value */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> };<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> static
ec_pdo_info_t slave_0_pdos[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x1601, 7,
&slave_0_pdo_entries[0]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0x1a01,
17, &slave_0_pdo_entries[7]}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> };<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> ec_sync_info_t
slave_0_syncs[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0,
EC_DIR_OUTPUT, 0, nullptr, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {1,
EC_DIR_INPUT, 0, nullptr, EC_WD_DISABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {2,
EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {3,
EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0xff}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> };<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> const static
ec_pdo_entry_reg_t domain1_regs[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> /* outputs
*/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x7000, 0x01, &offOutput[0],
&offBit[0]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x7000, 0x02, &offOutput[1],
&offBit[1]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x7000, 0x03, &offOutput[2],
&offBit[2]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x7000, 0x04, &offOutput[3],
&offBit[3]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[4],
&offBit[4]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[5],
&offBit[5]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x7000, 0x11, &offOutput[6],
&offBit[6]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> /* inputs
*/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[7],
&offBit[7]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[8],
&offBit[8]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[9],
&offBit[9]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[10],
&offBit[10]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[11],
&offBit[11]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[12],
&offBit[12]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[13],
&offBit[13]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[14],
&offBit[14]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[15],
&offBit[15]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[16],
&offBit[16]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[17],
&offBit[17]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[18],
&offBit[18]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[19],
&offBit[19]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[20],
&offBit[20]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[21],
&offBit[21]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[22],
&offBit[22]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {0, 5,
0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[23],
&offBit[23]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> {}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> };<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Cordialement<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Vincent
BUSSIERES<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Responsable
Technique Logiciel<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> ZE Ma Campagne<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> 36, Impasse
Félix Nadar<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> 16000 ANGOULEME<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Tel: 33
(0)9.72.40.35.08<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <a
href="http://www.hemeria-group.com" moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Afin de
contribuer au respect de l'environnement, merci de
n'imprimer ce courriel qu'en cas de nécessité.<o:p></o:p></span></p>
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n'engagent HEMERIA sous aucune forme que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> This email and
any files transmitted with it are confidential, intented
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HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> -----Message
d'origine-----<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> De : Richard
Hacker <<a href="mailto:ha@igh.de" moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Envoyé :
vendredi 15 mai 2020 15:47<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> À : BUSSIERES
Vincent <<a
href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Objet : Re:
[etherlab-users] Beckhoff encoder interface EL5101-0010
mapping issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> From my
memory, I just write zeros to the control register.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> <o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">> Am 15/05/2020 um
14.32 schrieb BUSSIERES Vincent:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Thanks Nico,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> What’s you
describe is for EL5101-0000 and EL5101-0090 modules, I am<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> using
EL5101-0010 with only Index 0x1600 and 0x1601.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Do you need
to write something in encoder control register in order to<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> read
position ? Is the position always filled in?<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Regards<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Cordialement<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Vincent
BUSSIERES*<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Responsable
Technique Logiciel*<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> **<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
1572337113342<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> /ZE Ma
Campagne/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> /36, Impasse
Félix Nadar/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> /16000
ANGOULEME/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> /Tel: 33
(0)9.72.40.35.08/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
/www.hemeria-group.com<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f</span></a>>/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> PAfin de
contribuer au respect de l'environnement, merci de
n'imprimer<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> ce courriel
qu'en cas de nécessité.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Ce message
et les fichiers pouvant être attachés sont confidentiels,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> réservés à
l'usage unique des destinataires et n'engagent HEMERIA sous<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> aucune forme
que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> This email
and any files transmitted with it are confidential, intented<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> solely for
the unique use of the recipients and don't commit HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> **<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> **<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *De :*Kivel
Niko (PSI) <<a href="mailto:niko.kivel@psi.ch"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">niko.kivel@psi.ch</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Envoyé :*
vendredi 15 mai 2020 14:14<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *À :*
Richard Hacker <<a href="mailto:ha@igh.de"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de</span></a>>;
BUSSIERES Vincent<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Objet :*
Re: [etherlab-users] Beckhoff encoder interface EL5101-0010<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> mapping
issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Hi<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> here is what
we map, only end of the lines from #14 ff. are interesting<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> for you
guys.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <a
href="https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14"
moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> best<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Niko<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> --<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Paul
Scherrer Institute<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Dr. Niko
Kivel<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
Forschungsstrasse 111<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> WBGB/017<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 5232
Villigen PSI<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Switzerland<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> phone: +41
56 310 2226<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> email: <a
href="mailto:niko.kivel@psi.ch" moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">niko.kivel@psi.ch</span></a>
<<a href="mailto:niko.kivel@psi.ch"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:niko.kivel@psi.ch</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
------------------------------------------------------------------------<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
*From:*etherlab-users
<<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="mailto:etherlab-users-bounces@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:etherlab-users-bounces@etherlab.org</span></a>>>
on behalf of Richard<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Hacker <<a
href="mailto:ha@igh.de%20%3cmailto:ha@igh.de"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de
<mailto:ha@igh.de</span></a>>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Sent:*
Friday, May 15, 2020 2:00:03 PM<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *To:*
BUSSIERES Vincent; <a
href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:etherlab-users@etherlab.org</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> *Subject:*
Re: [etherlab-users] Beckhoff encoder interface EL5101-0010<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> mapping
issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Don't be
mislead by Beckhoff's XML description files. I've had
numerous<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> fights with
them about incorrect description files! "With TwinCAT it<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> works" is a
standard response. Yeah right. That's because TwinCAT<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> typically
ignores XML description files and reads the configuration<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> straight out
of the slaves during a bus scan.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Usually we
map RxPDO #x1601 and TxPDO #x1a01. There is quite a bit of<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> SDO
configuration in #x800* to get right. You will need to check
the<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
documentation.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Am
15/05/2020 um 12.00 schrieb BUSSIERES Vincent:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Dear
all,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Finally,
I mapped PDO like configurutation obtained using ethercat
xml command.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Mapping
seems to be quite different from xml Beckhoff description
file.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Now I
have no more problem with mapping, slave is in OP state.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> But I
try to read encoder value using TxPdo 0x1a00
(0x6000:0x11:32) but I read always 0. Led status of inputs
signal A,B, C are OK and change of states when I manually
turned motor axis.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> When I
write a value in counter value using TxPdo 0x1600
(0x7000:0x11:32), I read the good value with TxPdo.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> I don't
know why I can't read the true counter value. Does someone
have an idea?<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Regards<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Vincent
BUSSIERES<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>
Responsable Technique Logiciel<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> ZE Ma
Campagne<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> 36,
Impasse Félix Nadar<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> 16000
ANGOULEME<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Tel: 33
(0)9.72.40.35.08<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> <a
href="http://www.hemeria-group.com" moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a>
<<a href="http://www.hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">http://www.hemeria-group.com</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> P Afin
de contribuer au respect de l'environnement, merci de
n'imprimer<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> ce courriel
qu'en cas de nécessité.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Ce
message et les fichiers pouvant être attachés sont
confidentiels, réservés à l'usage unique des destinataires
et n'engagent HEMERIA sous aucune forme que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> This
email and any files transmitted with it are confidential,
intented solely for the unique use of the recipients and
don't commit HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>
-----Message d'origine-----<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> De :
Richard Hacker <<a
href="mailto:ha@igh.de%20%3cmailto:ha@igh.de"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de
<mailto:ha@igh.de</span></a>>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Envoyé :
jeudi 14 mai 2020 17:05<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> À :
BUSSIERES Vincent <<a class="moz-txt-link-abbreviated" href="mailto:vincent.bussieres@hemeria-group.com">vincent.bussieres@hemeria-group.com</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:vincent.bussieres@hemeria-group.com</span></a>>>;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <a
href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a>
<<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:etherlab-users@etherlab.org</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Objet :
Re: [etherlab-users] Beckhoff encoder interface EL5101-0010
mapping issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>
[10918.274957] EtherCAT ERROR 0-main-5: AL status message
0x001E:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> "Invalid
input configuration".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Pls
check your configuration... there is something wrong<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Restart
your EC Network and before you start _any_ application, scan
the bus for the available PDO's and use that for a start.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>> Am
14/05/2020 um 16.59 schrieb BUSSIERES Vincent:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> I
map the inputs RxPdo and slave doesn't go in OP state and
stay in PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> You
can see 2 errors in log file below:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP
state, slave refused state change (PREOP + ERROR).<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.274957] EtherCAT ERROR 0-main-5: AL status message
0x001E: "Invalid input configuration".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969204] EtherCAT: Requesting master 0...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969209] EtherCAT DEBUG 0: IDLE -> OPERATION.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969213] EtherCAT: Successfully requested master 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969222] EtherCAT DEBUG 0:
ecrt_master_create_domain(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffff895554eb6000) [10917.969226] EtherCAT DEBUG 0: Created
domain 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969239] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002, product_code = 0x13ed3052) [10917.969244]
EtherCAT DEBUG 0: Creating slave configuration for 0:5,
0x00000002/0x13ED3052.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969251] EtherCAT DEBUG 0 0:5: Attached slave main-5.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969278] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_sync_manager(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> =
0xffff895551db3000, sync_index = 0, dir = 1, watchdog_mode =
2)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969287] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000,
sync_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 0)
[10917.969294] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_sync_manager(sc = 0xffff895551db3000,
sync_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> 1,
dir = 2, watchdog_mode = 2) [10917.969300] EtherCAT DEBUG 0
0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000,
sync_index = 1) [10917.969307] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_sync_manager(sc = 0xffff895551db3000,
sync_index = 2, dir = 1, watchdog_mode = 1) [10917.969313]
EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc
= 0xffff895551db3000, sync_index = 2) [10917.969324]
EtherCAT DEBUG 0<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0:5:
ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> sync_index =
2, pdo_index = 0x1601) [10917.969327] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Loading
default mapping for PDO 0x1601.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969331] EtherCAT DEBUG 0 0:5: Entry 0x7000:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969334] EtherCAT DEBUG 0 0:5: Entry 0x7000:02.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969337] EtherCAT DEBUG 0 0:5: Entry 0x7000:03.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969339] EtherCAT DEBUG 0 0:5: Entry 0x7000:04.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969342] EtherCAT DEBUG 0 0:5: Entry 0x7000:11.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969349] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> =
0x1601) [10917.969358] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1601, entry_index = 0x7000, entry_subindex = 0x01,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969364] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1601, entry_index = 0x7000, entry_subindex = 0x02,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969370] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index = 0x1601, entry_index = 0x7000, entry_subindex =
0x03, entry_bit_length = 1) [10917.969376] EtherCAT DEBUG 0
0:5: ecrt_slave_config_pdo_mapping_add(sc =
0xffff895551db3000, pdo_index = 0x1601, entry_index =
0x7000, entry_subindex = 0x04, entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> = 1)
[10917.969383] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1601,
entry_index = 0x7000, entry_subindex = 0x11,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 16)
[10917.969388] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_sync_manager(sc = 0xffff895551db3000,
sync_index = 3,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> dir = 2,
watchdog_mode = 1) [10917.969393] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000,
sync_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 3)
[10917.969400] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000,
sync_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 3, pdo_index
= 0x1A01) [10917.969403] EtherCAT DEBUG 0 0:5: Loading<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> default
mapping for PDO 0x1A01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969408] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969411] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969413] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969416] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969418] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969421] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969423] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969426] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969429] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969431] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969434] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969436] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969439] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969442] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969444] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969449] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> =
0x1A01) [10917.969457] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01, entry_index = 0x6000, entry_subindex = 0x01,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969463] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01, entry_index = 0x6000, entry_subindex = 0x02,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969469] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01, entry_index = 0x6000, entry_subindex = 0x03,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969475] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01, entry_index = 0x6000, entry_subindex = 0x06,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969481] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01, entry_index = 0x6000, entry_subindex = 0x07,
entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> = 1)
[10917.969487] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex =
0x09, entry_bit_length = 1) [10917.969493] EtherCAT DEBUG 0
0:5: ecrt_slave_config_pdo_mapping_add(sc =
0xffff895551db3000, pdo_index = 0x1A01, entry_index =
0x6000, entry_subindex = 0x0A, entry_bit_length<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> = 1)
[10917.969499] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x0B,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969505] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x0C,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969511] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x0D,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969517] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x0E,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969523] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x0F,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969529] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x10,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 1)
[10917.969535] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x11,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 2)
[10917.969541] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000,
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x1A01,
entry_index = 0x6000, entry_subindex = 0x12,
entry_bit_length =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 2)
[10917.969550] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> product_code
= 0x13ed3052) [10917.969558] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x7000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x01, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969562] EtherCAT DEBUG 0: Domain
0: Added 3<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> bytes at 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969567] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
product_code = 0x13ed3052) [10917.969573] EtherCAT DEBUG 0
0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x7000, subindex = 0x02, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969579] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969585] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x7000, subindex = 0x03, domain = 0xffff895556dde3c0,
bit_position = 0xffffa33a0574bd64) [10917.969590] EtherCAT
DEBUG 0: ecrt_master_slave_config(master =
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002, product_code = 0x13ed3052) [10917.969597]
EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895551db3000, index = 0x7000, subindex = 0x04, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969602]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: ecrt_master_slave_config(master =
0xffff895554eb6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> alias = 0,
position = 5, vendor_id = 0x00000002, product_code =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x13ed3052)
[10917.969609] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x7000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x11, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969614] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> position =
5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
[10917.969620] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> =
0xffff895551db3000, index = 0x6000, subindex = 0x01, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969623]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: Domain 0: Added 3 bytes at 3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969629] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
product_code = 0x13ed3052) [10917.969635] EtherCAT DEBUG 0
0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x6000, subindex = 0x02, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969640] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969646] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x6000, subindex = 0x03, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969651] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969658] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x6000, subindex = 0x06, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969663] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969669] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x6000, subindex = 0x07, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969675] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969681] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x6000, subindex = 0x09, domain = 0xffff895556dde3c0,
bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0xffffa33a0574bd64) [10917.969686] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
position = 5, vendor_id = 0x00000002, product_code =
0x13ed3052) [10917.969693] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000, subindex = 0x0A, domain =
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969698] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> product_code
= 0x13ed3052) [10917.969704] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x0B, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969711] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> position =
5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
[10917.969718] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> =
0xffff895551db3000, index = 0x6000, subindex = 0x0C, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969723]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: ecrt_master_slave_config(master =
0xffff895554eb6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> alias = 0,
position = 5, vendor_id = 0x00000002, product_code =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x13ed3052)
[10917.969729] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x0D, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969735] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> position =
5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
[10917.969741] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> =
0xffff895551db3000, index = 0x6000, subindex = 0x0E, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969747]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: ecrt_master_slave_config(master =
0xffff895554eb6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> alias = 0,
position = 5, vendor_id = 0x00000002, product_code =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x13ed3052)
[10917.969753] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x0F, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969758] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> position =
5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
[10917.969765] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> =
0xffff895551db3000, index = 0x6000, subindex = 0x10, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969770]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: ecrt_master_slave_config(master =
0xffff895554eb6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> alias = 0,
position = 5, vendor_id = 0x00000002, product_code =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> 0x13ed3052)
[10917.969776] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000,
index = 0x6000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> subindex =
0x11, domain = 0xffff895556dde3c0, bit_position =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffa33a0574bd64) [10917.969781] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_slave_config(master = 0xffff895554eb6000, alias
= 0,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> position =
5, vendor_id = 0x00000002, product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
[10917.969788] EtherCAT DEBUG 0 0:5:
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> =
0xffff895551db3000, index = 0x6000, subindex = 0x12, domain
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64)
[10917.969826]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: ecrt_domain_external_memory(domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895556dde3c0, mem = 0xffffa33a01ba1000) [10917.969830]
EtherCAT<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> DEBUG 0:
ecrt_master_callbacks(master = 0xffff895554eb6000, send_cb =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffffffffc09feff0, receive_cb = 0xffffffffc09ffc60, cb_data
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
0xffff895554eb6000) [10917.969833] EtherCAT DEBUG 0:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
ecrt_master_activate(master = 0xffff895554eb6000)
[10917.969837]<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> EtherCAT
DEBUG 0: Adding datagram pair with expected WC 3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969840] EtherCAT 0: Domain0: Logical address
0x00000000, 6 byte, expected working counter 3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969844] EtherCAT 0: Datagram domain0-0-main:
Logical offset 0x00000000, 6 byte, type LRW at
ffff895556dded98.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969846] EtherCAT DEBUG 0: Stopping master thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969866] EtherCAT DEBUG 0: Master IDLE thread
exiting...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969930] EtherCAT 0: Master thread exited.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969936] EtherCAT 0: Stopping EoE thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.969988] EtherCAT DEBUG 0: EoE thread exiting...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970056] EtherCAT 0: EoE thread exited.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970059] EtherCAT DEBUG 0: FSM datagram is
ffff895554eb6350.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970061] EtherCAT 0: Starting EoE thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970258] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970268] EtherCAT DEBUG 0: EoE thread running.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970451] EtherCAT DEBUG 0: Operation thread running
with fsm<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
interval = 4000 us, max data size=45000 [10917.970454]
EtherCAT DEBUG<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> 0:
mmap() [10917.970458] EtherCAT WARNING 0: 1 datagram
UNMATCHED!<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.970467] EtherCAT DEBUG 0: Vma fault, virtual_address
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
00007fffec02a000, offset = 0, page = fffffd0e8eb07c40
[10917.978870] EtherCAT DEBUG 0: Configuration changed
(aborting state check).<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.978871] EtherCAT DEBUG 0-main-0: Checking system time
offset.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.986899] EtherCAT WARNING 0: No app_time received up
to now, abort DC time offset calculation.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.986900] EtherCAT DEBUG 0: Requesting OP...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.986904] EtherCAT DEBUG 0-main-5: Changing state from
PREOP to OP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10917.986905] EtherCAT DEBUG 0-main-5: Configuring...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.006913] EtherCAT DEBUG 0-main-5: Now in INIT.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.006914] EtherCAT DEBUG 0-main-5: Clearing FMMU
configurations...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.006915] EtherCAT DEBUG 0-main-5: Clearing mailbox
check flag...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.014910] EtherCAT DEBUG 0-main-5: Clearing sync
manager configurations...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.027012] EtherCAT DEBUG 0-main-5: Clearing DC
assignment...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.034985] EtherCAT DEBUG 0-main-5: Configuring mailbox
sync managers...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.034986] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000,
Size 128,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> Ctrl
0x26, En 1 [10918.034987] EtherCAT DEBUG 0-main-5: SM1: Addr<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1080, Size 128, Ctrl 0x22, En 1 [10918.042915] EtherCAT
DEBUG 0-main-5: Assigning SII access to PDI.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.058916] EtherCAT 0: Slave states on main device:
INIT, PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.070949] EtherCAT DEBUG 0-main-5: Now in PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.070951] EtherCAT DEBUG 0-main-5: Assigning SII access
back to EtherCAT.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078925] EtherCAT DEBUG 0-main-5: Setting PDO
assignment of SM2:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078926] EtherCAT DEBUG 0-main-5: Currently assigned
PDOs:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1601. PDOs to assign: 0x1601 [10918.078930] EtherCAT DEBUG
0-main-5: Setting number of assigned PDOs to zero.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078932] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078932] EtherCAT DEBUG: 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078935] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.078935] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102953] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102953] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102961] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1601
at position 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102963] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102963] EtherCAT DEBUG: 01 16<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102965] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.102966] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.122875] EtherCAT 0: Slave states on main device:
PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126963] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126964] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126973] EtherCAT DEBUG 0-main-5: Setting number of
assigned PDOs to 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126975] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126979] EtherCAT DEBUG: 01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126986] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.126986] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154920] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154921] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154930] EtherCAT DEBUG 0-main-5: Successfully
configured PDO assignment of SM2.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154939] EtherCAT DEBUG 0-main-5: Setting PDO
assignment of SM3:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154939] EtherCAT DEBUG 0-main-5: Currently assigned
PDOs:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
0x1A01. PDOs to assign: 0x1A01 [10918.154942] EtherCAT DEBUG
0-main-5: Setting number of assigned PDOs to zero.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154944] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154944] EtherCAT DEBUG: 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154946] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.154947] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178920] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178921] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178931] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01
at position 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178932] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178933] EtherCAT DEBUG: 01 1A<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178935] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.178936] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202933] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202934] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202941] EtherCAT DEBUG 0-main-5: Setting number of
assigned PDOs to 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202942] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202943] EtherCAT DEBUG: 01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202945] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.202945] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.226914] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.226915] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.226925] EtherCAT DEBUG 0-main-5: Successfully
configured PDO assignment of SM3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.226930] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100,
Size 3, Ctrl 0x64, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.226933] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180,
Size 3, Ctrl 0x60, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.238918] EtherCAT DEBUG 0 0:5: FMMU: LogOff
0x00000000, Size 3, PhysAddr 0x1100, SM2, Dir out<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.238921] EtherCAT DEBUG 0 0:5: FMMU: LogOff
0x00000003, Size 3, PhysAddr 0x1180, SM3, Dir in<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP
state, slave refused state change (PREOP + ERROR).<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.274957] EtherCAT ERROR 0-main-5: AL status message
0x001E: "Invalid input configuration".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.294969] EtherCAT DEBUG 0-main-5: PREOP + ERROR ->
PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
[10918.294972] EtherCAT 0-main-5: Acknowledged state PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
Regards<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
Vincent BUSSIERES<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
Responsable Technique Logiciel<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> ZE
Ma Campagne<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> 36,
Impasse Félix Nadar<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
16000 ANGOULEME<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> Tel:
33 (0)9.72.40.35.08<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> <a
href="http://www.hemeria-group.com" moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a>
<<a href="http://www.hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">http://www.hemeria-group.com</span></a>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
P Afin de contribuer au respect de l'environnement, merci de
n'imprimer<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> ce courriel
qu'en cas de nécessité.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> Ce
message et les fichiers pouvant être attachés sont
confidentiels, réservés à l'usage unique des destinataires
et n'engagent HEMERIA sous aucune forme que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> This
email and any files transmitted with it are confidential,
intented solely for the unique use of the recipients and
don't commit HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
-----Message d'origine-----<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> De :
Richard Hacker <<a
href="mailto:ha@igh.de%20%3cmailto:ha@igh.de"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">ha@igh.de
<mailto:ha@igh.de</span></a>>><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
Envoyé : jeudi 14 mai 2020 16:27<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> À :
BUSSIERES Vincent <<a class="moz-txt-link-abbreviated" href="mailto:vincent.bussieres@hemeria-group.com">vincent.bussieres@hemeria-group.com</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a
href="mailto:vincent.bussieres@hemeria-group.com"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:vincent.bussieres@hemeria-group.com</span></a>>>;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> <a
href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true">
<span style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a>
<<a href="mailto:etherlab-users@etherlab.org"
moz-do-not-send="true"><span
style="color:windowtext;text-decoration:none">mailto:etherlab-users@etherlab.org</span></a>>
Objet :<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> Re:
[etherlab-users] Beckhoff<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>
encoder interface EL5101-0010 mapping issue<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> Did
you map the inputs (RxPDO)? I remember that you must map
them as well, even though you might not need them!<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>> Am
14/05/2020 um 16.17 schrieb BUSSIERES Vincent:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Dear Etherlab users,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
I have got problems with Beckhoff encoder interface
EL5101-0010 PDO mapping.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
I try to map only TxPDO 0x1a01 (SM3), I haven’t got any
errors in<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
init, everything seems to be fine.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
I read encoder value in a loop with 1ms period, return value
is always 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
In dmesg, slave doesn’t reach OP state, and stay in PREOP
state.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
In Ethercat xml description file, some entries have got 0x0
as index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
value, and subindex are not completed (strange). I don’t
know if I<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
need to take them into account.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<Entry><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<Index>#x0</Index><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<BitLen>2</BitLen><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<Name>Status__</Name><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
</Entry><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
You can see below dmesg :<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7033.920685] EtherCAT: Requesting master 0...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7033.920686] EtherCAT DEBUG 0: IDLE -> OPERATION.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7033.920687] EtherCAT: Successfully requested master 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7034.872900] EtherCAT DEBUG 0:
ecrt_master_create_domain(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7034.872901] EtherCAT DEBUG 0: Created domain 0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7035.835219] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7035.835220] EtherCAT DEBUG 0: Creating slave
configuration for<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0:5, 0x00000002/0x13ED3052.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7035.835222] EtherCAT DEBUG 0 0:5: Attached slave main-5.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592742] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_sync_manager(sc = 0xffff895552309000,
sync_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
3, dir = 2, watchdog_mode = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592745] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_assign_clear(sc = 0xffff895552309000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
sync_index = 3)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592749] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_assign_add(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, sync_index = 3, pdo_index = 0x1A01)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592750] EtherCAT DEBUG 0 0:5: Loading default mapping
for PDO 0x1A01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592753] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592755] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592757] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592760] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592762] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592764] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895552309000,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
pdo_index =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0x1A01)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592767] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x01,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592769] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x02,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592770] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x03,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592772] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x06,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592773] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x07,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592775] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x09,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592776] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592778] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592779] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592781] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592783] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592784] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592786] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x10,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 1)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592788] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x11,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 2)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7036.592789] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000,
pdo_index<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0x1A01, entry_index = 0x6000, entry_subindex = 0x12,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
entry_bit_length = 2)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153188] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153191] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x01,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153193] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at
0.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153194] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153195] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x02,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153196] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153198] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x03,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153199] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153200] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x06,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153201] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153202] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x07,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153203] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153205] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x09,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153206] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153207] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0A,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153208] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153209] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0B,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153211] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153212] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0C,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153213] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153214] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0D,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153215] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153216] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0E,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153218] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153219] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x0F,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153220] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153221] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x10,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153222] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153223] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x11,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153224] EtherCAT DEBUG 0:
ecrt_master_slave_config(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, alias = 0, position = 5, vendor_id =
0x00000002,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
product_code = 0x13ed3052)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.153225] EtherCAT DEBUG 0 0:5:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_slave_config_reg_pdo_entry(sc<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
= 0xffff895552309000, index = 0x6000, subindex = 0x12,
domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720938] EtherCAT DEBUG 0:
ecrt_domain_external_memory(domain =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff89555461e3c0, mem = 0xffffa33a01b69000)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720940] EtherCAT DEBUG 0:
ecrt_master_callbacks(master =<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffffffffc09ffc60, cb_data = 0xffff895554eb6000)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720940] EtherCAT DEBUG 0: ecrt_master_activate(master
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0xffff895554eb6000)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720941] EtherCAT DEBUG 0: Adding datagram pair with
expected WC 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720942] EtherCAT 0: Domain0: Logical address
0x00000000, 3<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
byte, expected working counter 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720943] EtherCAT 0: Datagram domain0-0-main:
Logical offset<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0x00000000, 3 byte, type LRD at ffff89555461ef18.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720943] EtherCAT DEBUG 0: Stopping master thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720974] EtherCAT DEBUG 0: Master IDLE thread
exiting...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720978] EtherCAT 0: Master thread exited.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.720978] EtherCAT 0: Stopping EoE thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721017] EtherCAT DEBUG 0: EoE thread exiting...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721021] EtherCAT 0: EoE thread exited.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721042] EtherCAT DEBUG 0: FSM datagram is
ffff895554eb6350.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721043] EtherCAT 0: Starting EoE thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721152] EtherCAT 0: Starting EtherCAT-OP thread.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721174] EtherCAT DEBUG 0: EoE thread running.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721300] EtherCAT DEBUG 0: Operation thread running
with fsm<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
interval = 4000 us, max data size=45000<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721305] EtherCAT DEBUG 0: mmap()<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7037.721308] EtherCAT DEBUG 0: Vma fault, virtual_address
=<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
00007fffec02a000, offset = 0, page = fffffd0e908af680<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7083.264568] EtherCAT DEBUG 0: Configuration changed
(aborting<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
state check).<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7083.264570] EtherCAT DEBUG 0-main-0: Checking system time
offset.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.368544] EtherCAT WARNING 0: No app_time received up
to now,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
abort DC time offset calculation.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.368545] EtherCAT DEBUG 0: Requesting OP...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.368549] EtherCAT DEBUG 0-main-5: Changing state from
PREOP to OP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.368550] EtherCAT DEBUG 0-main-5: Configuring...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.384514] EtherCAT DEBUG 0-main-5: Now in INIT.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing FMMU
configurations...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing mailbox
check flag...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.392604] EtherCAT DEBUG 0-main-5: Clearing sync
manager<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
configurations...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.400551] EtherCAT DEBUG 0-main-5: Clearing DC
assignment...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.408559] EtherCAT DEBUG 0-main-5: Configuring mailbox
sync managers...<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.408562] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000,
Size 128,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.408564] EtherCAT DEBUG 0-main-5: SM1: Addr 0x1080,
Size 128,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.416573] EtherCAT DEBUG 0-main-5: Assigning SII access
to PDI.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.432522] EtherCAT 0: Slave states on main device:
INIT, PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.444566] EtherCAT DEBUG 0-main-5: Now in PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.444567] EtherCAT DEBUG 0-main-5: Assigning SII access
back to<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
EtherCAT.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456607] EtherCAT DEBUG 0-main-5: Setting PDO
assignment of SM2:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456608] EtherCAT DEBUG 0-main-5: Currently assigned
PDOs: 0x1600.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to assign: 0x1600<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456610] EtherCAT DEBUG 0-main-5: Setting number of
assigned<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to zero.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456611] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456611] EtherCAT DEBUG: 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456612] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.456612] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480613] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480613] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480619] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1600
at position 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480620] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480621] EtherCAT DEBUG: 00 16<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480623] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.480623] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.496551] EtherCAT 0: Slave states on main device:
PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504563] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504564] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504572] EtherCAT DEBUG 0-main-5: Setting number of
assigned<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504574] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C12:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504574] EtherCAT DEBUG: 01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504577] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.504577] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528572] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528573] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528586] EtherCAT DEBUG 0-main-5: Successfully
configured PDO<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
assignment of SM2.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528596] EtherCAT DEBUG 0-main-5: Setting PDO
assignment of SM3:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528597] EtherCAT DEBUG 0-main-5: Currently assigned
PDOs: 0x1A01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to assign: 0x1A01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528602] EtherCAT DEBUG 0-main-5: Setting number of
assigned<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to zero.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528604] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528605] EtherCAT DEBUG: 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528608] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.528608] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552556] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552557] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552569] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01
at position 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552571] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:01.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552571] EtherCAT DEBUG: 01 1A<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552575] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.552575] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580562] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580563] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580573] EtherCAT DEBUG 0-main-5: Setting number of
assigned<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PDOs to 1.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580575] EtherCAT DEBUG 0-main-5: Downloading SDO
0x1C13:00.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580575] EtherCAT DEBUG: 01<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580578] EtherCAT DEBUG 0-main-5: Expedited download
request:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.580579] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.604557] EtherCAT DEBUG 0-main-5: Download response:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.604558] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.604571] EtherCAT DEBUG 0-main-5: Successfully
configured PDO<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
assignment of SM3.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.604578] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100,
Size 6,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Ctrl 0x24, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.604581] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180,
Size 3,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Ctrl 0x60, En 1<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.612565] EtherCAT DEBUG 0 0:5: FMMU: LogOff
0x00000000, Size 3,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
PhysAddr 0x1180, SM3, Dir in<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.636572] EtherCAT ERROR 0-main-5: Failed to set SAFEOP
state,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
slave refused state change (PREOP + ERROR).<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.644558] EtherCAT ERROR 0-main-5: AL status message
0x0024:<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
"Invalid Input Mapping".<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.664569] EtherCAT DEBUG 0-main-5: PREOP + ERROR ->
PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
[ 7118.664573] EtherCAT 0-main-5: Acknowledged state PREOP.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
**<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
You can see below, an extract of my source code which work
correctly<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
with other ethercat slaves<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static unsigned int offOutput[15];<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static unsigned int offBit[15];<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_domain_state_t domain1_state = {};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_master_state_t master_state = {};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_pdo_entry_info_t slave_0_pdo_entries[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/* TxPdo 0x1a01 */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x01, 1}, /* Status Latch C valid */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x02, 1}, /* Status Latch extern valid
*/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x03, 1}, /* Status set counter done
*/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x06, 1}, /* Status of input status */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x07, 1}, /* Status open circuit */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x09, 1}, /* Status of input A */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0a, 1}, /* Status of input B */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0b, 1}, /* Status of input C */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0c, 1}, /* Status of input gate */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0d, 1}, /* Status of extern latch */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0e, 1}, /* Status sync error */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x0f, 1}, /* Status TxPDO state */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x10, 1}, /* Status TxPDO toogle */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x11, 2}, /* counter value */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x6000, 0x12, 2} /* latch value */<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_pdo_info_t slave_0_pdos[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0x1a01, 15, &slave_0_pdo_entries[0]}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ec_sync_info_t slave_0_syncs[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{3, EC_DIR_INPUT, 1, slave_0_pdos + 0,
EC_WD_ENABLE},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0xff}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
const static ec_pdo_entry_reg_t domain1_regs[] = {<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01,
&offOutput[0],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[0]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02,
&offOutput[1],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[1]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03,
&offOutput[2],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[2]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06,
&offOutput[3],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[3]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07,
&offOutput[4],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[4]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09,
&offOutput[5],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[5]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a,
&offOutput[6],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[6]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b,
&offOutput[7],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[7]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c,
&offOutput[8],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[8]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d,
&offOutput[9],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[9]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e,
&offOutput[10],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[10]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f,
&offOutput[11],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[11]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10,
&offOutput[12],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[12]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11,
&offOutput[13],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[13]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12,
&offOutput[14],<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
&offBit[14]},<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_master_t *master = nullptr;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_domain_t *domain1 = nullptr;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static uint8_t *domain1_pd = nullptr;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_slave_config_t *sc_el5101 = nullptr;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_slave_config_state_t sc_el2809_state = {};<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
static ec_slave_info_t slaveInfo;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
bool Worker::init()<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
master = ecrt_request_master(0);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if ( !master )<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
domain1 = ecrt_master_create_domain(master);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if ( !domain1 )<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if ( !(sc_el5101 = ecrt_master_slave_config(master,
0, 5,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
0x00000002, 0x13ed3052)) )<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
fprintf(stderr, "Failed to get slave
configuration for<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
AKD.\n");<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if (ecrt_slave_config_pdos(sc_el5101, EC_END,
slave_0_syncs))<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if (ecrt_domain_reg_pdo_entry_list(domain1,
domain1_regs))<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if ( ecrt_master_activate( master ) )<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if (!(domain1_pd = ecrt_domain_data(domain1)))<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
return true;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
void Worker::loop()<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
mMustStop = false;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
while(!mMustStop)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
QThread::usleep(1000);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
if(!mIsCycleStopped)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
{<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
// receive process data<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_master_receive(master);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_domain_process(domain1);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
uint16_t lCounterValue =
EC_READ_U16(domain1_pd +<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
offOutput[13]);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
qDebug() << "counter value :" <<
lCounterValue;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_domain_queue(domain1);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_master_send(master);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
ecrt_release_master(master);<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
master = nullptr;<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
emit finished();<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
}<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Take care of yourself<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
*Vincent BUSSIERES*<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
*Responsable Technique Logiciel*<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
**<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
1572337113342<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/ZE Ma Campagne/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/36, Impasse Félix Nadar/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/16000 ANGOULEME/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/Tel: 33 (0)9.72.40.35.08/<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
/www.hemeria-group.com<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<<a class="moz-txt-link-freetext" href="https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1">https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
N<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
G9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
%<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
2f>/ PAfin de contribuer au respect de l'environnement,
merci de<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
n'imprimer ce courriel qu'en cas de nécessité.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
Ce message et les fichiers pouvant être attachés sont
confidentiels,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
réservés à l'usage unique des destinataires et
n'engagent HEMERIA<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
sous aucune forme que ce soit.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
This email and any files transmitted with it are
confidential,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
intented solely for the unique use of the recipients and
don't commit HEMERIA.<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
**<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
**<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
_______________________________________________<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
etherlab-users mailing list<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>>
<a class="moz-txt-link-freetext" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
_______________________________________________<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
etherlab-users mailing list<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>
<a class="moz-txt-link-freetext" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">_______________________________________________<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">etherlab-users
mailing list<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ"><a class="moz-txt-link-freetext" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></span></p>
</div>
<br>
<fieldset class="mimeAttachmentHeader"></fieldset>
<pre class="moz-quote-pre" wrap="">_______________________________________________
etherlab-users mailing list
<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>
<a class="moz-txt-link-freetext" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a>
</pre>
</blockquote>
<pre class="moz-signature" cols="72">--
--
B.Sc. Michael Reeder
DATATRONIQ GmbH
Office Stuttgart: Uhlbacher Strasse 75 • 70329 Stuttgart
Office Berlin: Kastanienallee 29-30 • 10435 Berlin
Email: <a class="moz-txt-link-abbreviated" href="mailto:mr@datatroniq.com">mr@datatroniq.com</a>
Tel: +49 30 95 999 88 27
Fax: +49 711 65823888
<a class="moz-txt-link-freetext" href="https://www.datatroniq.com">https://www.datatroniq.com</a>
Angaben lt. §35a GmbHG: HRB 753304 B / Amtsgericht Stuttgart,
Geschäftsführer: Jürgen Walter & Stefan Weingärtner, Sitz: Stuttgart</pre>
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