[etherlab-dev] A lot of unmatched/skipped datagrams at any freq. (1-1000 Hz)
Jeroen Van den Keybus
jeroen.vandenkeybus at gmail.com
Wed Dec 11 16:05:55 CET 2013
I'm currently testing your code snippet. Good news: I also seem to have
problems, but since your example is far from complete, I added whatever is
needed to replace your undefined structs. And that may introduce different
behaviour. Still looking (and learning).
But I noticed that your Wireshark logs indicate that at least the LRD
(0x0A) is indeed not acknowledged (WKC = 0). That's not right, but could
happen if the master hasn't had the time to configure the FMMU yet. Can you
check if this is still the case after several seconds of operation ?
J.
2013/12/11 Jeroen Van den Keybus <jeroen.vandenkeybus at gmail.com>
> Thanks. I'll give it a try this afternoon.
>
> J.
>
>
>
> 2013/12/11 DMM <dmmanmeldung at googlemail.com>
>
>> Here it is - I have reduced the amount of code somewhat for clarity, e.g.
>> I've cut out the additional processing I'm doing before sending the data,
>> but that doesn't seem to influence the unmatched/skipped datagrams
>> warnings. The code below produces the same error as the "full" client:
>>
>>
>> void cyclic_task(void * usr)
>> {
>> SCN *s = (SCN *)usr;
>> ec_master_t *master = s->master;
>> ec_domain_t *domain = s->domain;
>> uint8_t * pd = s->pd;
>> struct timespec wakeupTime;
>> const struct timespec cycletime = {0, 1000000}; // 1 kHz
>> ec_domain_state_t domain_state;
>>
>> while(1)
>> {
>> // get current time
>> clock_gettime(CLOCK_MONOTONIC, &wakeupTime);
>> wakeupTime = timespec_add( wakeupTime, cycletime );
>> clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &wakeupTime,
>> NULL);
>>
>> ecrt_master_application_time( master, TIMESPEC2NS(wakeupTime) );
>>
>> ecrt_master_sync_reference_clock( master );
>> ecrt_master_sync_slave_clocks( master );
>>
>> ecrt_master_receive( master );
>>
>> ecrt_domain_process( domain );
>> ecrt_domain_state( domain, &domain_state );
>>
>> // normally, at this point there is some short processing,
>> // now commented out
>> // it appears to be irrelevant, since the warnings appear anyway
>> // with or without the processing part of the code
>>
>> ecrt_domain_queue( domain );
>> ecrt_master_send( master );
>>
>> } // end while(1)
>>
>> } // end proc
>>
>>
>> ------------------------------------
>>
>> The cyclic_thread is started using the following function:
>>
>> rtThreadId rtThreadCreate (
>> const char * name,
>> unsigned int priority,
>> unsigned int stackSize,
>> rtTHREADFUNC funptr,
>> void * parm
>> )
>> {
>> struct sched_param sched = {0};
>> rtThreadId thread = (rtThreadId)calloc(1, sizeof(struct rtThreadOSD));
>> assert(thread != NULL);
>> sched.sched_priority = priority;
>> assert(pthread_attr_init(&thread->attr) == 0);
>> if(priority)
>> {
>> assert(pthread_attr_setinheritsched(&thread->attr,
>> PTHREAD_EXPLICIT_SCHED) == 0);
>> assert(pthread_attr_setschedpolicy(&thread->attr, SCHED_FIFO) ==
>> 0);
>> assert(pthread_attr_setschedparam(&thread->attr, &sched) == 0);
>> }
>> thread->start = funptr;
>> thread->usr = parm;
>> if(pthread_create(&thread->thread, &thread->attr, start_routine,
>> thread) == 0)
>> return thread;
>> else
>> return NULL;
>> } // end proc
>>
>>
>>
>>
>>
>> On 10 December 2013 21:26, Jeroen Van den Keybus <
>> jeroen.vandenkeybus at gmail.com> wrote:
>>
>>> 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 ......|. .....;.
>>>>
>>> ...
>
> [Bericht is afgebroken]
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-dev/attachments/20131211/d4021e87/attachment-0002.htm>
More information about the Etherlab-dev
mailing list