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<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 width="96" height="72" style="width:1.0in;height:.75in" id="_x0000_i1026" src="cid:image001.png@01D63382.68338420" alt="1572337113342"><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">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 lang="EN-GB" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">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 <etherlab-users-bounces@etherlab.org>
<b>De la part de</b> BUSSIERES Vincent<br>
<b>Envoyé :</b> mardi 26 mai 2020 11:03<br>
<b>À :</b> Graeme Foot <Graeme.Foot@touchcut.com>; Richard Hacker <ha@igh.de>; etherlab-users@etherlab.org<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 border="0" width="96" height="72" style="width:1.0in;height:.75in" id="Image_x0020_1" src="cid:image001.png@01D63382.68338420" alt="1572337113342"><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>
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<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 lang="EN-GB" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray;mso-fareast-language:FR">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"> Graeme Foot <<a href="mailto:Graeme.Foot@touchcut.com">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">vincent.bussieres@hemeria-group.com</a>>; Richard Hacker <<a href="mailto:ha@igh.de">ha@igh.de</a>>;
<a 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="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 lang="EN-NZ" style="font-family:"Courier New"">Currently mapped PDO entries: Entries to map:
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:01/1 0x6000:01/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:02/1 0x6000:02/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:03/1 0x6000:03/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x0000:00/2 0x0000:00/2
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:06/1 0x6000:06/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:07/1 0x6000:07/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x0000:00/1 0x0000:00/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:09/1 0x6000:09/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:0A/1 0x6000:0A/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:0B/1 0x6000:0B/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:0C/1 0x6000:0C/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:0D/1 0x6000:0D/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New";background:yellow;mso-highlight:yellow">0x1C32:20/1</span><span lang="EN-NZ" style="font-family:"Courier New""> 0x6000:0E/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New";background:yellow;mso-highlight:yellow">0x1801:07/1</span><span lang="EN-NZ" style="font-family:"Courier New""> 0x6000:0F/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New";background:yellow;mso-highlight:yellow">0x1801:09/1</span><span lang="EN-NZ" style="font-family:"Courier New""> 0x6000:10/1
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">0x6000:11/16 0x6000:11/16
<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ" style="font-family:"Courier New"">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 lang="EN-US" style="mso-fareast-language:EN-NZ">-----Original Message-----<br>
From: etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org">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">ha@igh.de</a>>; <a href="mailto:etherlab-users@etherlab.org">
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"><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"><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"><span style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"><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">
<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>
<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>
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<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"><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"><span style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"><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"><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"><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"><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"><span style="color:windowtext;text-decoration:none">vincent.bussieres@hemeria-group.com</span></a>>;
<a href="mailto:etherlab-users@etherlab.org"><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">
<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">
<span style="color:windowtext;text-decoration:none">niko.kivel@psi.ch</span></a> <<a href="mailto:niko.kivel@psi.ch"><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 <etherlab-users-bounces@etherlab.org<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a href="mailto:etherlab-users-bounces@etherlab.org"><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"><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">
<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"><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">
<span style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a> <<a href="http://www.hemeria-group.com"><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"><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 <vincent.bussieres@hemeria-group.com<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a href="mailto:vincent.bussieres@hemeria-group.com"><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">
<span style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a> <<a href="mailto:etherlab-users@etherlab.org"><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">
<span style="color:windowtext;text-decoration:none">www.hemeria-group.com</span></a> <<a href="http://www.hemeria-group.com"><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"><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 <vincent.bussieres@hemeria-group.com<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> <<a href="mailto:vincent.bussieres@hemeria-group.com"><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">
<span style="color:windowtext;text-decoration:none">etherlab-users@etherlab.org</span></a> <<a href="mailto:etherlab-users@etherlab.org"><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">>>>>> <https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1<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">>>>>> etherlab-users@etherlab.org<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>>>>> http://lists.etherlab.org/mailman/listinfo/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">>> _______________________________________________<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">>> etherlab-users@etherlab.org<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">>> http://lists.etherlab.org/mailman/listinfo/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">_______________________________________________<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">etherlab-users@etherlab.org<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-NZ">http://lists.etherlab.org/mailman/listinfo/etherlab-users<o:p></o:p></span></p>
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