[etherlab-dev] A lot of unmatched/skipped datagrams at any freq. (1-1000 Hz)
Jeroen Van den Keybus
jeroen.vandenkeybus at gmail.com
Tue Dec 10 21:26:57 CET 2013
The traffic seems ok all right.
I happen to have an EK1100/EL1004 in a similar setup. Could you post the
client source ?
J.
2013/12/10 DMM <dmmanmeldung at googlemail.com>
> Hello all and sorry for a long(ish) post O:)
>
> I have the following configuration:
>
> - Linux MTEST-VMEIFC-MT84 3.6.11.5-rt37 #1 SMP PREEMPT RT Wed Nov 27
> 08:24:35 CET 2013 ppc GNU/Linux
> - Etherlab Master v1.5.2 running on a P2020 CPU (QorlQ, 2 x e500mc cores
> at 1.2 GHz)
> - Using eth1 network interface (second card in the system), generic driver
> - One EK1100 and one EL1008 module (Beckhoff)
> - Userspace client
>
> I am getting a LOT of unmatched (and skipped) datagrams and other warnings
> while running the client (please look below for logs captured with client
> running at 1 kHz, 100 Hz, 10 Hz and 1 Hz). Other than reduction in number
> of unmatched datagrams (for obvious reasons, since less packets are sent),
> nothing seems to improve with the reduction of frequency - practically all
> datagrams seems to be reported as unmatched. Interestingly enough, Master
> runs the idle thread with BRD/LRD datagrams at 1 kHz without any
> unmatched/skipped datagrams.
>
> I have also tried my mini test configuration with and without the
> terminator (EL9010 module), aside from a "not able to calculate..." error
> when starting the master, there was practically no difference in
> unmatched/skipped datagrams.
>
> I have also captured the packets with Wireshark, and could not see any
> problems (a snippet from the Wireshark export is at the end of this post).
> All sent packets arrive a few microseconds later, EtherCAT index is growing
> steadily with each packet pair, and so on.
>
> Any idea what am I doing wrong here?
>
> (Please let me know if you need any other output and/or test done, I'll do
> that asap).
>
> Thanks in advance,
> DMM
>
> --------------------------------------------------------------------
> At 1 kHz:
> --------------------------------------------------------------------
> [ 1055.019937] EtherCAT: Master driver 1.5.2 2eff7c993a63
> [ 1055.025611] EtherCAT: 1 master waiting for devices.
> [ 1055.040124] ec_generic: EtherCAT master generic Ethernet device module
> 1.5.2 2eff7c993a63
> [ 1055.048393] EtherCAT: Accepting 7C:DD:20:01:08:F7 as main device for
> master 0.
> [ 1055.056445] ec_generic: Binding socket to interface 4 (eth1).
> [ 1055.066875] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 1055.072088] EtherCAT 0: Link state of ecm0 changed to UP.
> [ 1055.073957] EtherCAT 0: 2 slave(s) responding on main device.
> [ 1055.073961] EtherCAT 0: Slave states on main device: PREOP.
> [ 1055.074114] EtherCAT 0: Scanning bus.
> [ 1055.238414] EtherCAT 0: Bus scanning completed in 164 ms.
> [ 1055.244772] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 1081.256489] EtherCAT: Requesting master 0...
> [ 1081.260799] EtherCAT: Successfully requested master 0.
> [ 1081.267058] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte,
> expected working counter 1.
> [ 1081.275851] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 1 byte, type LRD.
> [ 1081.285763] EtherCAT 0: Master thread exited.
> [ 1081.290124] EtherCAT 0: Starting EtherCAT-OP thread.
> [ 1081.355151] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [ 1081.370094] EtherCAT 0: Slave states on main device: OP.
> [ 1082.294924] EtherCAT WARNING 0: 2001 datagrams UNMATCHED!
> [ 1082.300141] EtherCAT WARNING: Datagram eec411cc (domain0-0-main) was
> SKIPPED 11 times.
> [ 1082.356149] EtherCAT 0: Domain 0: 4 working counter changes - now 1/1.
> [ 1083.294882] EtherCAT WARNING 0: 1978 datagrams UNMATCHED!
> [ 1083.301149] EtherCAT WARNING: Datagram eec411cc (domain0-0-main) was
> SKIPPED 6 times.
> [ 1083.357149] EtherCAT 0: Domain 0: 4 working counter changes - now 1/1.
> [ 1084.295127] EtherCAT WARNING 0: 2002 datagrams UNMATCHED!
> [ 1084.302151] EtherCAT WARNING: Datagram eec411cc (domain0-0-main) was
> SKIPPED 14 times.
> [ 1084.358148] EtherCAT 0: Domain 0: 4 working counter changes - now 1/1.
> [ 1085.294871] EtherCAT WARNING 0: 2002 datagrams UNMATCHED!
> [ 1085.303148] EtherCAT WARNING: Datagram eec411cc (domain0-0-main) was
> SKIPPED 14 times.
> [ 1085.359145] EtherCAT 0: Domain 0: 4 working counter changes - now 1/1.
> [ 1086.235623] EtherCAT 0: Releasing master...
> [ 1086.240701] EtherCAT 0: Master thread exited.
> [ 1086.245098] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 1086.250316] EtherCAT 0: Released.
> [ 1086.256416] EtherCAT 0: Slave states on main device: PREOP.
>
>
> --------------------------------------------------------------------
> Similar happens with client running at 100 Hz:
> --------------------------------------------------------------------
> [ 1831.848773] EtherCAT: Master driver 1.5.2 2eff7c993a63
> [ 1831.854560] EtherCAT: 1 master waiting for devices.
> [ 1831.869266] ec_generic: EtherCAT master generic Ethernet device module
> 1.5.2 2eff7c993a63
> [ 1831.877532] EtherCAT: Accepting 7C:DD:20:01:08:F7 as main device for
> master 0.
> [ 1831.885569] ec_generic: Binding socket to interface 4 (eth1).
> [ 1831.898137] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 1831.903358] EtherCAT 0: Link state of ecm0 changed to UP.
> [ 1831.904425] EtherCAT 0: 2 slave(s) responding on main device.
> [ 1831.904429] EtherCAT 0: Slave states on main device: PREOP.
> [ 1831.904607] EtherCAT 0: Scanning bus.
> [ 1832.067389] EtherCAT 0: Bus scanning completed in 163 ms.
> [ 1832.073581] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 1836.051488] EtherCAT: Requesting master 0...
> [ 1836.055766] EtherCAT: Successfully requested master 0.
> [ 1836.068332] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte,
> expected working counter 1.
> [ 1836.077126] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 1 byte, type LRD.
> [ 1836.086898] EtherCAT 0: Master thread exited.
> [ 1836.091259] EtherCAT 0: Starting EtherCAT-OP thread.
> [ 1836.669460] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [ 1836.759489] EtherCAT 0: Slave states on main device: OP.
> [ 1837.099447] EtherCAT WARNING 0: 197 datagrams UNMATCHED!
> [ 1838.098997] EtherCAT WARNING 0: 199 datagrams UNMATCHED!
> [ 1839.099392] EtherCAT WARNING 0: 199 datagrams UNMATCHED!
> [ 1840.099365] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1841.099341] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1842.099308] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1843.099280] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1844.099258] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1845.099228] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1846.099201] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1847.099076] EtherCAT WARNING 0: 199 datagrams UNMATCHED!
> [ 1848.098683] EtherCAT WARNING 0: 198 datagrams UNMATCHED!
> [ 1849.098887] EtherCAT WARNING 0: 198 datagrams UNMATCHED!
> [ 1850.099090] EtherCAT WARNING 0: 199 datagrams UNMATCHED!
> [ 1851.099062] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1852.099038] EtherCAT WARNING 0: 200 datagrams UNMATCHED!
> [ 1852.438369] EtherCAT 0: Releasing master...
> [ 1852.442877] EtherCAT 0: Master thread exited.
> [ 1852.447496] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 1852.452745] EtherCAT 0: Released.
>
> --------------------------------------------------------------------
> ...running on 10 Hz:
> --------------------------------------------------------------------
> [ 2104.432447] EtherCAT: Master driver 1.5.2 2eff7c993a63
> [ 2104.438058] EtherCAT: 1 master waiting for devices.
> [ 2104.452519] ec_generic: EtherCAT master generic Ethernet device module
> 1.5.2 2eff7c993a63
> [ 2104.460786] EtherCAT: Accepting 7C:DD:20:01:08:F7 as main device for
> master 0.
> [ 2104.468808] ec_generic: Binding socket to interface 4 (eth1).
> [ 2104.478264] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 2104.483477] EtherCAT 0: Link state of ecm0 changed to UP.
> [ 2104.485332] EtherCAT 0: 2 slave(s) responding on main device.
> [ 2104.485335] EtherCAT 0: Slave states on main device: PREOP.
> [ 2104.485518] EtherCAT 0: Scanning bus.
> [ 2104.648445] EtherCAT 0: Bus scanning completed in 163 ms.
> [ 2104.654723] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 2108.675177] EtherCAT: Requesting master 0...
> [ 2108.679493] EtherCAT: Successfully requested master 0.
> [ 2108.685690] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte,
> expected working counter 1.
> [ 2108.694485] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 1 byte, type LRD.
> [ 2108.704311] EtherCAT 0: Master thread exited.
> [ 2108.708672] EtherCAT 0: Starting EtherCAT-OP thread.
> [ 2109.716608] EtherCAT WARNING 0: 17 datagrams UNMATCHED!
> [ 2110.716591] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2111.716583] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2112.716575] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2113.716559] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2114.416547] EtherCAT 0: Domain 0: Working counter changed to 1/1.
> [ 2114.716541] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2115.317137] EtherCAT 0: Slave states on main device: OP.
> [ 2115.716529] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2116.716520] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2117.716340] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
> [ 2118.716495] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
> [ 2119.716483] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2120.716471] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2121.716407] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
> [ 2122.716439] EtherCAT WARNING 0: 18 datagrams UNMATCHED!
> [ 2123.716432] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
> [ 2124.716424] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2125.716407] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2126.716396] EtherCAT WARNING 0: 20 datagrams UNMATCHED!
> [ 2127.716377] EtherCAT WARNING 0: 19 datagrams UNMATCHED!
> [ 2127.793763] EtherCAT 0: Releasing master...
> [ 2127.798054] EtherCAT 0: Master thread exited.
> [ 2127.802449] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 2127.807678] EtherCAT 0: Released.
> [ 2127.807698] EtherCAT 0: 0 slave(s) responding on main device.
> [ 2127.808827] EtherCAT 0: 2 slave(s) responding on main device.
> [ 2127.808830] EtherCAT 0: Slave states on main device: OP.
> [ 2127.809009] EtherCAT 0: Scanning bus.
> [ 2127.963163] EtherCAT 0: Bus scanning completed in 155 ms.
> [ 2127.968567] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 2127.979630] EtherCAT 0: Slave states on main device: PREOP.
> [ 2128.508638] EtherCAT WARNING: Datagram ee88bf64 (master-fsm) was
> SKIPPED 1 time.
>
>
>
> --------------------------------------------------------------------
> ...and even when running on 1 Hz:
> --------------------------------------------------------------------
> [ 2258.592540] EtherCAT: Master driver 1.5.2 2eff7c993a63
> [ 2258.598137] EtherCAT: 1 master waiting for devices.
> [ 2258.612562] ec_generic: EtherCAT master generic Ethernet device module
> 1.5.2 2eff7c993a63
> [ 2258.620830] EtherCAT: Accepting 7C:DD:20:01:08:F7 as main device for
> master 0.
> [ 2258.628866] ec_generic: Binding socket to interface 4 (eth1).
> [ 2258.640350] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 2258.645567] EtherCAT 0: Link state of ecm0 changed to UP.
> [ 2258.647613] EtherCAT 0: 2 slave(s) responding on main device.
> [ 2258.647617] EtherCAT 0: Slave states on main device: PREOP.
> [ 2258.647768] EtherCAT 0: Scanning bus.
> [ 2258.809380] EtherCAT 0: Bus scanning completed in 162 ms.
> [ 2258.815695] EtherCAT 0: Using slave 0 as DC reference clock.
> [ 2261.082759] EtherCAT: Requesting master 0...
> [ 2261.087038] EtherCAT: Successfully requested master 0.
> [ 2261.099211] EtherCAT 0: Domain0: Logical address 0x00000000, 1 byte,
> expected working counter 1.
> [ 2261.108006] EtherCAT 0: Datagram domain0-0-main: Logical offset
> 0x00000000, 1 byte, type LRD.
> [ 2261.117778] EtherCAT 0: Master thread exited.
> [ 2261.122141] EtherCAT 0: Starting EtherCAT-OP thread.
> [ 2263.130105] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2264.129763] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2265.130086] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2266.129366] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2267.130058] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2268.129362] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2269.130034] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2270.129800] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2271.130016] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2272.129544] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2273.129985] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2274.129933] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2275.129950] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2276.129256] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2277.129927] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2278.129674] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2279.129908] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2280.129090] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2281.129883] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2282.129882] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2283.129860] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2284.129860] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2285.129828] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2286.129303] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2287.129806] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2288.129798] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2289.129778] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2290.129766] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2291.129753] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2291.721574] EtherCAT 0: Releasing master...
> [ 2291.726169] EtherCAT 0: Master thread exited.
> [ 2291.730567] EtherCAT 0: Starting EtherCAT-IDLE thread.
> [ 2291.735791] EtherCAT 0: Released.
> [ 2291.739956] EtherCAT 0: Slave states on main device: PREOP, OP.
> [ 2291.749639] EtherCAT 0: Slave states on main device: PREOP.
>
>
> --------------------------------------------------------------------
> Here's part of the output with debug 1 and debug rings enabled, at 1 kHz:
> --------------------------------------------------------------------
> [ 2921.723346] EtherCAT DEBUG 0: FSM datagram is ee8dbf64.
> [ 2921.723352] EtherCAT 0: Starting EtherCAT-OP thread.
> [ 2921.728426] EtherCAT DEBUG 0: Operation thread running with fsm
> interval = 1000 us, max data size=11250
> [ 2921.728444] EtherCAT DEBUG 0: mmap()
> [ 2921.728459] EtherCAT DEBUG 0: Vma fault, virtual_address = 48b80000,
> offset = 0, page = c0c46da0
> [ 2922.731645] EtherCAT DEBUG 0: Received frame:
> [ 2922.731654] EtherCAT DEBUG: FF FF FF FF FF FF 7E DD 20 01 08 F7 88 A4
> 0E 10
> [ 2922.731686] EtherCAT DEBUG: 04 0E 01 00 30 01 02 00 00 00 02 00 01 00
> 00 00
> [ 2922.731716] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2922.731746] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2922.731838] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
> [ 2922.731844] EtherCAT DEBUG 0: Adding datagram 0x0F
> [ 2922.731848] EtherCAT DEBUG 0: Adding datagram 0x10
> [ 2922.731852] EtherCAT DEBUG 0: Adding datagram 0x11
> [ 2922.731857] EtherCAT DEBUG 0: frame size: 47
> [ 2922.731861] EtherCAT DEBUG 0: Sending frame:
> [ 2922.731864] EtherCAT DEBUG: FF FF FF FF FF FF 7C DD 20 01 08 F7 88 A4
> 2D 10
> [ 2922.731895] EtherCAT DEBUG: 05 0F 01 00 10 09 04 80 00 00 1F 67 61 82
> 00 00
> [ 2922.731926] EtherCAT DEBUG: 0E 10 01 00 10 09 04 80 00 00 00 00 00 00
> 00 00
> [ 2922.731956] EtherCAT DEBUG: 0A 11 00 00 00 00 01 00 00 00 00 00 00
> [ 2922.732317] EtherCAT DEBUG 0: Configuration changed (aborting state
> check).
> [ 2922.732323] EtherCAT DEBUG 0-0: Checking system time offset.
> [ 2923.731589] EtherCAT DEBUG 0: Datagram ee8dbffc already queued
> (skipping).
> [ 2923.731599] EtherCAT DEBUG 0: Datagram ee8dc054 already queued
> (skipping).
> [ 2923.731612] EtherCAT DEBUG 0: Received frame:
> [ 2923.731615] EtherCAT DEBUG: FF FF FF FF FF FF 7E DD 20 01 08 F7 88 A4
> 2D 10
> [ 2923.731646] EtherCAT DEBUG: 05 0F 01 00 10 09 04 80 00 00 1F 67 61 82
> 01 00
> [ 2923.731677] EtherCAT DEBUG: 0E 10 01 00 10 09 04 80 00 00 71 FD 42 82
> 02 00
> [ 2923.731707] EtherCAT DEBUG: 0A 11 00 00 00 00 01 00 00 00 00 00 00
> [ 2923.731736] EtherCAT WARNING 0: 1 datagram UNMATCHED!
> [ 2923.736787] EtherCAT DEBUG 0: UNMATCHED datagram:
> [ 2923.736791] EtherCAT DEBUG: 05 0F 01 00 10 09 04 80 00 00 1F 67 61 82
> 01 00
> [ 2923.736823] EtherCAT DEBUG 0: Debug ring 5:
> [ 2923.736829] EtherCAT DEBUG 0: Frame 4294967287, dt=2.034572 s, TX:
> [ 2923.736832] EtherCAT DEBUG: 0E 10 04 0B 01 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.736862] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.736892] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.736921] EtherCAT DEBUG 0: Frame 4294967288, dt=2.033524 s, RX:
> [ 2923.736924] EtherCAT DEBUG: 0E 10 04 0B 01 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.736955] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.736986] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737015] EtherCAT DEBUG 0: Frame 4294967289, dt=2.033170 s, TX:
> [ 2923.737018] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.737049] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737079] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737108] EtherCAT DEBUG 0: Frame 4294967290, dt=2.032148 s, RX:
> [ 2923.737111] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.737141] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737171] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737200] EtherCAT DEBUG 0: Frame 4294967291, dt=2.031862 s, TX:
> [ 2923.737204] EtherCAT DEBUG: 0E 10 07 0D 00 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.737234] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737264] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737293] EtherCAT DEBUG 0: Frame 4294967292, dt=2.030844 s, RX:
> [ 2923.737296] EtherCAT DEBUG: 0E 10 07 0D 02 00 30 01 02 00 00 00 02 00
> 02 00
> [ 2923.737327] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737365] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737395] EtherCAT DEBUG 0: Frame 4294967293, dt=2.013713 s, TX:
> [ 2923.737398] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.737429] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737459] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737488] EtherCAT DEBUG 0: Frame 4294967294, dt=0.999984 s, RX:
> [ 2923.737491] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.737521] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737552] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737581] EtherCAT DEBUG 0: Frame 4294967295, dt=0.999619 s, TX:
> [ 2923.737584] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2923.737614] EtherCAT DEBUG: 00 00 0E 10 01 00 10 09 04 80 00 00 00 00
> 00 00
> [ 2923.737645] EtherCAT DEBUG: 00 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2923.737675] EtherCAT DEBUG 0: Frame 0, dt=0.000000 s, RX:
> [ 2923.737678] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2923.737708] EtherCAT DEBUG: 01 00 0E 10 01 00 10 09 04 80 00 00 71 FD
> 42 82
> [ 2923.737739] EtherCAT DEBUG: 02 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2923.737768] EtherCAT DEBUG 0: UNMATCHED datagram:
> [ 2923.737771] EtherCAT DEBUG: 0E 10 01 00 10 09 04 80 00 00 71 FD 42 82
> 02 00
> [ 2923.737803] EtherCAT DEBUG 0: Debug ring 5:
> [ 2923.737808] EtherCAT DEBUG 0: Frame 4294967287, dt=2.034572 s, TX:
> [ 2923.737811] EtherCAT DEBUG: 0E 10 04 0B 01 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.737841] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737871] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737900] EtherCAT DEBUG 0: Frame 4294967288, dt=2.033524 s, RX:
> [ 2923.737904] EtherCAT DEBUG: 0E 10 04 0B 01 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.737934] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.737964] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.737993] EtherCAT DEBUG 0: Frame 4294967289, dt=2.033170 s, TX:
> [ 2923.737996] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.738027] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738057] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738086] EtherCAT DEBUG 0: Frame 4294967290, dt=2.032148 s, RX:
> [ 2923.738089] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.738119] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738149] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738178] EtherCAT DEBUG 0: Frame 4294967291, dt=2.031862 s, TX:
> [ 2923.738181] EtherCAT DEBUG: 0E 10 07 0D 00 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.738212] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738242] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738271] EtherCAT DEBUG 0: Frame 4294967292, dt=2.030844 s, RX:
> [ 2923.738274] EtherCAT DEBUG: 0E 10 07 0D 02 00 30 01 02 00 00 00 02 00
> 02 00
> [ 2923.738304] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738334] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738371] EtherCAT DEBUG 0: Frame 4294967293, dt=2.013713 s, TX:
> [ 2923.738375] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2923.738405] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738435] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738464] EtherCAT DEBUG 0: Frame 4294967294, dt=0.999984 s, RX:
> [ 2923.738468] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2923.738498] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.738528] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2923.738557] EtherCAT DEBUG 0: Frame 4294967295, dt=0.999619 s, TX:
> [ 2923.738560] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2923.738591] EtherCAT DEBUG: 00 00 0E 10 01 00 10 09 04 80 00 00 00 00
> 00 00
> [ 2923.738621] EtherCAT DEBUG: 00 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2923.738652] EtherCAT DEBUG 0: Frame 0, dt=0.000000 s, RX:
> [ 2923.738655] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2923.738685] EtherCAT DEBUG: 01 00 0E 10 01 00 10 09 04 80 00 00 71 FD
> 42 82
> [ 2923.738716] EtherCAT DEBUG: 02 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2923.738857] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
> [ 2923.738864] EtherCAT DEBUG 0: Adding datagram 0x12
> [ 2923.738868] EtherCAT DEBUG 0: Adding datagram 0x13
> [ 2923.738872] EtherCAT DEBUG 0: Adding datagram 0x14
> [ 2923.738876] EtherCAT DEBUG 0: Adding datagram 0x15
> [ 2923.738881] EtherCAT DEBUG 0: frame size: 83
> [ 2923.738884] EtherCAT DEBUG 0: Sending frame:
> [ 2923.738888] EtherCAT DEBUG: FF FF FF FF FF FF 7C DD 20 01 08 F7 88 A4
> 51 10
> [ 2923.738919] EtherCAT DEBUG: 05 12 01 00 10 09 04 80 00 00 1F 31 FC BD
> 00 00
> [ 2923.738949] EtherCAT DEBUG: 0E 13 01 00 10 09 04 80 00 00 00 00 00 00
> 00 00
> [ 2923.738979] EtherCAT DEBUG: 0A 14 00 00 00 00 01 80 00 00 00 00 00 04
> 15 01
> [ 2923.739009] EtherCAT DEBUG: 00 10 09 18 00 00 00 02 00 00 00 00 00 00
> 00 00
> [ 2923.739040] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2923.739070] EtherCAT DEBUG: 00
> [ 2924.731580] EtherCAT DEBUG 0: Datagram ee8dbffc already queued
> (skipping).
> [ 2924.731589] EtherCAT DEBUG 0: Datagram ee8dc054 already queued
> (skipping).
> [ 2924.731603] EtherCAT DEBUG 0: Received frame:
> [ 2924.731607] EtherCAT DEBUG: FF FF FF FF FF FF 7E DD 20 01 08 F7 88 A4
> 51 10
> [ 2924.731638] EtherCAT DEBUG: 05 12 01 00 10 09 04 80 00 00 1F 31 FC BD
> 01 00
> [ 2924.731669] EtherCAT DEBUG: 0E 13 01 00 10 09 04 80 00 00 A4 55 4A BE
> 02 00
> [ 2924.731699] EtherCAT DEBUG: 0A 14 00 00 00 00 01 80 00 00 00 00 00 04
> 15 01
> [ 2924.731729] EtherCAT DEBUG: 00 10 09 18 00 00 00 A4 55 4A BE A8 02 00
> 00 30
> [ 2924.731760] EtherCAT DEBUG: CA D8 58 90 06 00 00 DC DF 61 F8 14 FC FF
> FF 01
> [ 2924.731790] EtherCAT DEBUG: 00
> [ 2924.731800] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
> [ 2924.736938] EtherCAT DEBUG 0: UNMATCHED datagram:
> [ 2924.736942] EtherCAT DEBUG: 05 12 01 00 10 09 04 80 00 00 1F 31 FC BD
> 01 00
> [ 2924.736974] EtherCAT DEBUG 0: Debug ring 7:
> [ 2924.736980] EtherCAT DEBUG 0: Frame 4294967287, dt=3.033172 s, TX:
> [ 2924.736983] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2924.737014] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737044] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737073] EtherCAT DEBUG 0: Frame 4294967288, dt=3.032150 s, RX:
> [ 2924.737077] EtherCAT DEBUG: 0E 10 04 0C 02 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2924.737107] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737138] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737167] EtherCAT DEBUG 0: Frame 4294967289, dt=3.031864 s, TX:
> [ 2924.737171] EtherCAT DEBUG: 0E 10 07 0D 00 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2924.737201] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737231] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737260] EtherCAT DEBUG 0: Frame 4294967290, dt=3.030846 s, RX:
> [ 2924.737263] EtherCAT DEBUG: 0E 10 07 0D 02 00 30 01 02 00 00 00 02 00
> 02 00
> [ 2924.737294] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737324] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737363] EtherCAT DEBUG 0: Frame 4294967291, dt=3.013715 s, TX:
> [ 2924.737367] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 00 00
> 00 00
> [ 2924.737397] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737428] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737457] EtherCAT DEBUG 0: Frame 4294967292, dt=1.999986 s, RX:
> [ 2924.737460] EtherCAT DEBUG: 0E 10 04 0E 01 00 30 01 02 00 00 00 02 00
> 01 00
> [ 2924.737490] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737521] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> [ 2924.737549] EtherCAT DEBUG 0: Frame 4294967293, dt=1.999621 s, TX:
> [ 2924.737553] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2924.737583] EtherCAT DEBUG: 00 00 0E 10 01 00 10 09 04 80 00 00 00 00
> 00 00
> [ 2924.737614] EtherCAT DEBUG: 00 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2924.737644] EtherCAT DEBUG 0: Frame 4294967294, dt=1.000002 s, RX:
> [ 2924.737647] EtherCAT DEBUG: 2D 10 05 0F 01 00 10 09 04 80 00 00 1F 67
> 61 82
> [ 2924.737678] EtherCAT DEBUG: 01 00 0E 10 01 00 10 09 04 80 00 00 71 FD
> 42 82
> [ 2924.737708] EtherCAT DEBUG: 02 00 0A 11 00 00 00 00 01 00 00 00 00 00
> 00
> [ 2924.737739] EtherCAT DEBUG 0: Frame 4294967295, dt=0.992515 s, TX:
> [ 2924.737742] EtherCAT DEBUG: 51 10 05 12 01 00 10 09 04 80 00 00 1F 31
> FC BD
> [ 2924.737773] EtherCAT DEBUG: 00 00 0E 13 01 00 10 09 04 80 00 00 00 00
> 00 00
> [ 2924.737803] EtherCAT DEBUG: 00 00 0A 14 00 00 00 00 01 80 00 00 00 00
> 00 04
> [ 2924.737833] EtherCAT DEBUG: 15 01 00 10 09 18 00 00 00 02 00 00 00 00
> 00 00
> [ 2924.737863] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00
> [ 2924.737893] EtherCAT DEBUG: 00 00 00
> [ 2924.737904] EtherCAT DEBUG 0: Frame 0, dt=0.000000 s, RX:
> [ 2924.737907] EtherCAT DEBUG: 51 10 05 12 01 00 10 09 04 80 00 00 1F 31
> FC BD
> [ 2924.737938] EtherCAT DEBUG: 01 00 0E 13 01 00 10 09 04 80 00 00 A4 55
> 4A BE
> [ 2924.737968] EtherCAT DEBUG: 02 00 0A 14 00 00 00 00 01 80 00 00 00 00
> 00 04
> [ 2924.737998] EtherCAT DEBUG: 15 01 00 10 09 18 00 00 00 A4 55 4A BE A8
> 02 00
> [ 2924.738029] EtherCAT DEBUG: 00 30 CA D8 58 90 06 00 00 DC DF 61 F8 14
> FC FF
> [ 2924.738059] EtherCAT DEBUG: FF 01 00
>
>
> --------------------------------------------------------------------
> At the end, this is how packets look like when captured with Wireshark,
> while client is running at 1 Hz:
> --------------------------------------------------------------------
>
> No. Time Source Destination Protocol
> Info
> 1 0.000000 7c:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 1 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 2d 10 ......|. .....-.
> 0010 05 3b 01 00 10 09 04 80 00 00 93 5f 05 b1 00 00 .;........._....
> 0020 0e 3c 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .<..............
> 0030 0a 3d 00 00 00 00 01 00 00 00 00 00 00 .=...........
>
> No. Time Source Destination Protocol
> Info
> 2 0.000009 7e:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 2 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 2d 10 ......~. .....-.
> 0010 05 3b 01 00 10 09 04 80 00 00 93 5f 05 b1 01 00 .;........._....
> 0020 0e 3c 01 00 10 09 04 80 00 00 21 20 07 b1 02 00 .<........! ....
> 0030 0a 3d 00 00 00 00 01 00 00 00 00 00 00 .=...........
>
> No. Time Source Destination Protocol
> Info
> 3 1.000185 7c:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'FPRD': len 24
>
> Frame 3 (97 bytes on wire, 97 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'FPRD': len 24
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 51 10 ......|. .....Q.
> 0010 05 3e 01 00 10 09 04 80 00 00 93 29 a0 ec 00 00 .>.........)....
> 0020 0e 3f 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .?..............
> 0030 0a 40 00 00 00 00 01 80 00 00 00 00 00 04 41 02 . at ............A.
> 0040 00 10 09 18 00 00 00 dc df 61 f8 14 fc ff ff 00 .........a......
> 0050 00 00 00 f8 05 00 00 a0 ff 9d f8 14 fc ff ff 00 ................
> 0060 00 .
>
> No. Time Source Destination Protocol
> Info
> 4 1.000194 7e:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'FPRD': len 24
>
> Frame 4 (97 bytes on wire, 97 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'FPRD': len 24
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 51 10 ......~. .....Q.
> 0010 05 3e 01 00 10 09 04 80 00 00 93 29 a0 ec 01 00 .>.........)....
> 0020 0e 3f 01 00 10 09 04 80 00 00 7a 2c a2 ec 02 00 .?........z,....
> 0030 0a 40 00 00 00 00 01 80 00 00 00 00 00 04 41 02 . at ............A.
> 0040 00 10 09 18 00 00 00 25 fb e2 ec 5a 02 00 00 83 .......%...Z....
> 0050 c5 29 ec f8 05 00 00 09 d9 0f f7 14 fc ff ff 01 .)..............
> 0060 00 .
>
> No. Time Source Destination Protocol
> Info
> 5 2.000115 7c:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 5 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 2d 10 ......|. .....-.
> 0010 05 42 01 00 10 09 04 80 00 00 93 f3 3a 28 00 00 .B..........:(..
> 0020 0e 43 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .C..............
> 0030 0a 44 00 00 00 00 01 00 00 00 00 00 00 .D...........
>
> No. Time Source Destination Protocol
> Info
> 6 2.000124 7e:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 6 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 2d 10 ......~. .....-.
> 0010 05 42 01 00 10 09 04 80 00 00 93 f3 3a 28 01 00 .B..........:(..
> 0020 0e 43 01 00 10 09 04 80 00 00 9f e8 3c 28 02 00 .C..........<(..
> 0030 0a 44 00 00 00 00 01 00 00 00 00 00 00 .D...........
>
> No. Time Source Destination Protocol
> Info
> 7 3.000045 7c:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'FPWR': len 12
>
> Frame 7 (85 bytes on wire, 85 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'FPWR': len 12
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 45 10 ......|. .....E.
> 0010 05 45 01 00 10 09 04 80 00 00 93 bd d5 63 00 00 .E...........c..
> 0020 0e 46 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .F..............
> 0030 0a 47 00 00 00 00 01 80 00 00 00 00 00 05 48 02 .G............H.
> 0040 00 20 09 0c 00 00 00 77 07 cd f6 14 fc ff ff 9b . .....w........
> 0050 00 00 00 00 00 .....
>
> No. Time Source Destination Protocol
> Info
> 8 3.000053 7e:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'FPWR': len 12
>
> Frame 8 (85 bytes on wire, 85 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'FPWR': len 12
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 45 10 ......~. .....E.
> 0010 05 45 01 00 10 09 04 80 00 00 93 bd d5 63 01 00 .E...........c..
> 0020 0e 46 01 00 10 09 04 80 00 00 6f ec d7 63 02 00 .F........o..c..
> 0030 0a 47 00 00 00 00 01 80 00 00 00 00 00 05 48 02 .G............H.
> 0040 00 20 09 0c 00 00 00 77 07 cd f6 14 fc ff ff 9b . .....w........
> 0050 00 00 00 01 00 .....
>
> No. Time Source Destination Protocol
> Info
> 9 3.999991 7c:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 9 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 2d 10 ......|. .....-.
> 0010 05 49 01 00 10 09 04 80 00 00 93 87 70 9f 00 00 .I..........p...
> 0020 0e 4a 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .J..............
> 0030 0a 4b 00 00 00 00 01 00 00 00 00 00 00 .K...........
>
> No. Time Source Destination Protocol
> Info
> 10 3.999999 7e:dd:20:01:08:f7 Broadcast ECAT 3
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> Frame 10 (61 bytes on wire, 61 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 3 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 2d 10 ......~. .....-.
> 0010 05 49 01 00 10 09 04 80 00 00 93 87 70 9f 01 00 .I..........p...
> 0020 0e 4a 01 00 10 09 04 80 00 00 04 ee 72 9f 02 00 .J..........r...
> 0030 0a 4b 00 00 00 00 01 00 00 00 00 00 00 .K...........
>
> No. Time Source Destination Protocol
> Info
> 11 5.000153 7c:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'BRD': len 2
>
> Frame 11 (75 bytes on wire, 75 bytes captured)
> Ethernet II, Src: 7c:dd:20:01:08:f7 (7c:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'BRD': len 2
>
> 0000 ff ff ff ff ff ff 7c dd 20 01 08 f7 88 a4 3b 10 ......|. .....;.
> 0010 05 4c 01 00 10 09 04 80 00 00 93 51 0b db 00 00 .L.........Q....
> 0020 0e 4d 01 00 10 09 04 80 00 00 00 00 00 00 00 00 .M..............
> 0030 0a 4e 00 00 00 00 01 80 00 00 00 00 00 07 4f 00 .N............O.
> 0040 00 30 01 02 00 00 00 00 00 00 00 .0.........
>
> No. Time Source Destination Protocol
> Info
> 12 5.000161 7e:dd:20:01:08:f7 Broadcast ECAT 4
> Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1, 'BRD': len 2
>
> Frame 12 (75 bytes on wire, 75 bytes captured)
> Ethernet II, Src: 7e:dd:20:01:08:f7 (7e:dd:20:01:08:f7), Dst: Broadcast
> (ff:ff:ff:ff:ff:ff)
> EtherCAT frame header
> EtherCAT datagram(s): 4 Cmds, 'FPWR': len 4, 'FRMW': len 4, 'LRD': len 1,
> 'BRD': len 2
>
> 0000 ff ff ff ff ff ff 7e dd 20 01 08 f7 88 a4 3b 10 ......~. .....;.
> 0010 05 4c 01 00 10 09 04 80 00 00 93 51 0b db 01 00 .L.........Q....
> 0020 0e 4d 01 00 10 09 04 80 00 00 94 d8 0d db 02 00 .M..............
> 0030 0a 4e 00 00 00 00 01 80 00 00 00 00 00 07 4f 02 .N............O.
> 0040 00 30 01 02 00 00 00 02 00 02 00 .0.........
>
>
> _______________________________________________
> etherlab-dev mailing list
> etherlab-dev at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-dev
>
>
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