[etherlab-users] about configuration of domain

[li.peng]

Hello,
Debug 2:
ec_mini: Starting...
EtherCAT: Requesting master 0...
EtherCAT DEBUG: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG: ecrt_master_callbacks(master = 0xd7f12000, request_cb = 0xdeab7009,  release_cb = 0xdeab7000, cb_data = 0x0)
ec_mini: Registering domain...
EtherCAT DEBUG: ecrt_master_create_domain(master = 0xd7f12000)
EtherCAT DEBUG: Created domain 0.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: Creating slave configuration for 0:0, 0x00000044/0x00000001.
EtherCAT DEBUG: Attached slave 0 to config 0:0.
ec_mini: Configuring Pdos...
EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xd12fec00, n_syncs = 4294967295, syncs = 0xdeab83e0)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd12fec00, sync_index = 2, dir = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd12fec00, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd12fec00, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for Pdo 0x1600 in config 0:0.
EtherCAT DEBUG: Found Pdo name "1. RxPDO".
EtherCAT DEBUG: Entry 0x2000:01.
EtherCAT DEBUG: Entry 0x2000:02.
EtherCAT DEBUG: Entry 0x2000:03.
EtherCAT DEBUG: Entry 0x2000:04.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd12fec00, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x01, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x02, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x03, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x04, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd12fec00, sync_index = 3, dir = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd12fec00, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd12fec00, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for Pdo 0x1A00 in config 0:0.
EtherCAT DEBUG: Found Pdo name "1. TxPDO".
EtherCAT DEBUG: Entry 0x3000:01.
EtherCAT DEBUG: Entry 0x3000:02.
EtherCAT DEBUG: Entry 0x3000:03.
EtherCAT DEBUG: Entry 0x3000:04.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd12fec00, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x01, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x02, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x03, entry_bit_length = 8)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x04, entry_bit_length = 8)
ec_mini: Creating Sdo requests...
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd12fec00, index = 0x3000, subindex = 0x02, size = 1)
ec_mini: Registering Pdo entries...
EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xc445e0c0, regs = 0xdeab73c0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x01, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: Domain 0: Added 4 bytes, total 4.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x02, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x03, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x04, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x01, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: Domain 0: Added 4 bytes, total 8.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x02, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x03, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x04, domain = 0xc445e0c0, bit_position = 0x0)
EtherCAT DEBUG: ecrt_domain_external_memory(domain = 0xc445e0c0, mem = 0xd85269b0)
ec_mini: Activating master...
EtherCAT DEBUG: ecrt_master_activate(master = 0xd7f12000)
EtherCAT: Domain0: Logical address 0x00000000, 8 byte, expected working counter 3.
EtherCAT:   Datagram domain0-0: Logical offset 0x00000000, 8 byte, type LRW.
EtherCAT DEBUG: Stopping master thread.
EtherCAT DEBUG: Master IDLE thread exiting...
EtherCAT: Master thread exited.
EtherCAT DEBUG: FSM datagram is d7f122b8.
EtherCAT: Starting EtherCAT-OP thread.
ec_mini: Starting cyclic sample thread.
ec_mini: Started.
EtherCAT DEBUG: Operation thread running.
ec_mini: Read info1 100
ec_mini: 1 slave(s).
ec_mini: AL states: 0x02.
ec_mini: Link is up.
ec_mini: AnaIn: State 0x02.
ec_mini: AnaIn: online.
EtherCAT WARNING: 1 datagram UNMATCHED!
EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP.
EtherCAT DEBUG: Configuring slave 0...
EtherCAT DEBUG: Slave 0 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 0.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
EtherCAT DEBUG: Slave 0 is now in PREOP.
EtherCAT DEBUG: Pdo assignment for SM0 is already configured correctly.
EtherCAT DEBUG: Pdo assignment for SM1 is already configured correctly.
EtherCAT DEBUG: Mapping of Pdo 0x1600 is already configured correctly.
EtherCAT DEBUG: Pdo assignment for SM2 is already configured correctly.
EtherCAT DEBUG: Mapping of Pdo 0x1A00 is already configured correctly.
EtherCAT DEBUG: Pdo assignment for SM3 is already configured correctly.
EtherCAT DEBUG: SM2: Addr 0x1100, Size   4, Ctrl 0x74, En 1
EtherCAT DEBUG: SM3: Addr 0x1358, Size   4, Ctrl 0x30, En 1
EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size   4, PhysAddr 0x1358, SM3, Dir in
EtherCAT DEBUG: FMMU: LogAddr 0x00000004, Size   4, PhysAddr 0x1100, SM2, Dir out
EtherCAT DEBUG: Slave 0 is now in SAFEOP.
EtherCAT DEBUG: Slave 0 is now in OP.
EtherCAT DEBUG: Finished configuration of slave 0.
EtherCAT DEBUG: Processing Sdo request for slave 0...
EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 83
EtherCAT DEBUG: Finished Sdo request for slave 0.
EtherCAT: Slave states: OP.
ec_mini: Read info1 100
ec_mini: AL states: 0x08.
ec_mini: AnaIn: State 0x08.
ec_mini: AnaIn: operational.
ec_mini: Sdo value: 0x6983
EtherCAT DEBUG: Processing Sdo request for slave 0...
EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 83
EtherCAT DEBUG: Finished Sdo request for slave 0.
ec_mini: Read info1 100
ec_mini: Sdo value: 0x6983
EtherCAT DEBUG: Processing Sdo request for slave 0...
EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 83
EtherCAT DEBUG: Finished Sdo request for slave 0.
ec_mini: Read info1 100
ec_mini: Sdo value: 0x6983
EtherCAT DEBUG: Processing Sdo request for slave 0...
EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00

Best regards,
Li.peng