[etherlab-users] EL2502 problem
Michael Sagner
msagner at msagner.de
Mon Nov 15 16:44:59 CET 2010
Here comes:
1. Code:
m_pSlaveConfig =
ecrt_master_slave_config(getMasterModule()->getMaster(),
getMasterModule()->getMasterIndex(), getSlaveIndex(), getHWVendorID(),
getHWTypeID());
ec_pdo_entry_info_t el2502_pdo_entries[] = {
{0x7000, 0x11, 16}, /* PWM output 0 */
{0x7000, 0x12, 16}, /* Freq outtput 0 */
{0x7010, 0x11, 16}, /* PWM output 1 */
{0x7010, 0x12, 16}, /* Freq output 1 */
};
ec_pdo_info_t el2502_pdos[] = {
{0x1602, 2, el2502_pdo_entries}, /* Freq RxPDO-Map Ch.1 */
{0x1603, 2, el2502_pdo_entries + 2}, /* Freq RxPDO-Map Ch.2 */
};
ec_sync_info_t el2502_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 4, el2502_pdos, EC_WD_DISABLE},
{3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
};
if(ecrt_slave_config_pdos(m_pSlaveConfig, 2, el2502_syncs))
{
g_sErrorMessage = "New ecrt_slave_config_pdos()
failed for EL2502";
printf("%s\r\n", g_sErrorMessage.c_str());
}
int i_IO_PWOffset_0 =
ecrt_slave_config_reg_pdo_entry(m_pSlaveConfig, 0x7000, 0x11,
getMasterModule()->getDomain(), NULL);
printf("EL 2502 Ch 0: PWOffset= 0x%X\r\n", i_IO_PWOffset_0);
int i_IO_FreqOffset_0 =
ecrt_slave_config_reg_pdo_entry(m_pSlaveConfig, 0x7000, 0x12,
getMasterModule()->getDomain(), NULL);
printf("EL 2502 Ch 0: FreqOffset= 0x%X\r\n", i_IO_FreqOffset_0);
int i_IO_PWOffset_1 =
ecrt_slave_config_reg_pdo_entry(m_pSlaveConfig, 0x7010, 0x11,
getMasterModule()->getDomain(), NULL);
printf("EL 2502 Ch 1: PWOffset= 0x%X\r\n", i_IO_PWOffset_1);
int i_IO_FreqOffset_1 =
ecrt_slave_config_reg_pdo_entry(m_pSlaveConfig, 0x7010, 0x12,
getMasterModule()->getDomain(), NULL);
printf("EL 2502 Ch 1: FreqOffset= 0x%X\r\n", i_IO_FreqOffset_1);
****************************************************************************
2. output ethercat pdos -px -v:
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "PWM RxPDO-Map Ch.1"
PDO entry 0x7000:11, 16 bit, "PWM output"
RxPDO 0x1601 "PWM RxPDO-Map Ch.2"
PDO entry 0x7010:11, 16 bit, "PWM output"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 0
****************************************************************************
3. dmesg output (EL2502 slave is Slave 3 here):
[ 515.733489] EtherCAT: Master driver devel unknown
[ 515.735375] EtherCAT: 1 master waiting for devices.
[ 515.996216] ec_8139too EtherCAT-capable Fast Ethernet driver 0.9.28,
master devel unknown
[ 515.996333] ec_8139too 0000:02:05.0: found PCI INT A -> IRQ 10
[ 515.996380] ec_8139too 0000:02:05.0: sharing IRQ 10 with 0000:00:1f.3
[ 515.996413] ec_8139too 0000:02:05.0: sharing IRQ 10 with 0000:00:1f.5
[ 515.996443] ec_8139too 0000:02:05.0: sharing IRQ 10 with 0000:00:1f.6
[ 515.996803] EtherCAT: Accepting device 00:00:E2:96:03:0A for master 0.
[ 515.996833] ec0: RealTek RTL8139 at 0xe0f9e800, 00:00:e2:96:03:0a, IRQ 10
[ 515.996940] EtherCAT: Link state changed to UP.
[ 515.996972] EtherCAT: Starting EtherCAT-IDLE thread.
[ 516.002315] EtherCAT: 9 slave(s) responding.
[ 516.002342] EtherCAT: Slave states: PREOP.
[ 516.002435] EtherCAT: Scanning bus.
[ 516.633252] EtherCAT ERROR: SDO upload 0x1C13:01 aborted on slave 4.
[ 516.633285] EtherCAT ERROR: SDO abort message 0x06090011: "Subindex does
not exist".
[ 516.633315] EtherCAT ERROR: Failed to read index of assigned PDO 1 from
SM3.
[ 517.516134] EtherCAT: Bus scanning completed in 1516 ms.
[ 521.879780] EtherCAT ERROR: SDO information error response at slave 5
while fetching SDO entry 0x1801:07!
[ 521.879832] EtherCAT ERROR: SDO abort message 0x06090011: "Subindex does
not exist".
[ 532.081489] EtherCAT: Master debug level set to 1.
[ 652.219252] EtherCAT ERROR: SDO entry 0x1801:07 does not exist in slave
5!
[ 732.413293] EtherCAT: Requesting master 0...
[ 732.413330] EtherCAT DEBUG: IDLE -> OPERATION.
[ 732.413338] EtherCAT: Successfully requested master 0.
[ 732.413379] EtherCAT DEBUG: ecrt_master_create_domain(master =
0xdfa71800)
[ 732.413386] EtherCAT DEBUG: Created domain 0.
[ 732.413403] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[ 732.413411] EtherCAT DEBUG: Creating slave configuration for 0:0,
0x00000002/0x044C2C52.
[ 732.413420] EtherCAT DEBUG: Attached slave 0 to config 0:0.
[ 732.413439] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x07d83052)
[ 732.413447] EtherCAT DEBUG: Creating slave configuration for 0:1,
0x00000002/0x07D83052.
[ 732.413454] EtherCAT DEBUG: Attached slave 1 to config 0:1.
[ 732.413481] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd4994000, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413491] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 1.
[ 732.413515] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 2, vendor_id = 0x00000002, product_code = 0x03f03052)
[ 732.413523] EtherCAT DEBUG: Creating slave configuration for 0:2,
0x00000002/0x03F03052.
[ 732.413537] EtherCAT DEBUG: Attached slave 2 to config 0:2.
[ 732.413563] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7edc00, index = 0x6000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413572] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 2.
[ 732.413593] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x09c63052)
[ 732.413602] EtherCAT DEBUG: Creating slave configuration for 0:3,
0x00000002/0x09C63052.
[ 732.413608] EtherCAT DEBUG: Attached slave 3 to config 0:3.
[ 732.413622] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xde7ed800, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 732.413634] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xde7ed800, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 732.413645] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed800, index = 0x7000, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413654] EtherCAT DEBUG: Domain 0: Added 4 bytes, total 6.
[ 732.413667] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed800, index = 0x7000, subindex = 0x12, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413676] EtherCAT ERROR: PDO entry 0x7000:12 is not mapped in slave
config 0:3.
[ 732.413780] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed800, index = 0x7010, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413796] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed800, index = 0x7010, subindex = 0x12, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413805] EtherCAT ERROR: PDO entry 0x7010:12 is not mapped in slave
config 0:3.
[ 732.413857] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x0fc63052)
[ 732.413865] EtherCAT DEBUG: Creating slave configuration for 0:4,
0x00000002/0x0FC63052.
[ 732.413872] EtherCAT DEBUG: Attached slave 4 to config 0:4.
[ 732.413892] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413900] EtherCAT DEBUG: Domain 0: Added 16 bytes, total 22.
[ 732.413915] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413934] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7010, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413949] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7020, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413965] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7030, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413978] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7040, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.413992] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7050, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414004] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7060, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414017] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed400, index = 0x7070, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414036] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x0bc03052)
[ 732.414045] EtherCAT DEBUG: Creating slave configuration for 0:5,
0x00000002/0x0BC03052.
[ 732.414051] EtherCAT DEBUG: Attached slave 5 to config 0:5.
[ 732.414092] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6000, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414101] EtherCAT DEBUG: Domain 0: Added 32 bytes, total 54.
[ 732.414113] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6010, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414128] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6020, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414142] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6030, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414155] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6040, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414169] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6050, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414182] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6060, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414195] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6070, subindex = 0x11, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414216] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x07fa3052)
[ 732.414224] EtherCAT DEBUG: Creating slave configuration for 0:6,
0x00000002/0x07FA3052.
[ 732.414235] EtherCAT DEBUG: Attached slave 6 to config 0:6.
[ 732.414250] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde043c00, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414259] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 55.
[ 732.414275] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x08283052)
[ 732.414283] EtherCAT DEBUG: Creating slave configuration for 0:7,
0x00000002/0x08283052.
[ 732.414290] EtherCAT DEBUG: Attached slave 7 to config 0:7.
[ 732.414310] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde043800, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414318] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 56.
[ 732.414466] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x07f23052)
[ 732.414475] EtherCAT DEBUG: Creating slave configuration for 0:8,
0x00000002/0x07F23052.
[ 732.414482] EtherCAT DEBUG: Attached slave 8 to config 0:8.
[ 732.414508] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde043400, index = 0x7000, subindex = 0x01, domain = 0xdf94e600,
bit_position = 0xdc25bec4)
[ 732.414516] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 57.
[ 732.414574] EtherCAT DEBUG: ecrt_domain_external_memory(domain =
0xdf94e600, mem = 0xe0fa1000)
[ 732.414583] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xdfa71800,
send_cb = 0xe0fcf530, receive_cb = 0xe0fcf920, cb_data = 0xdfa71800)
[ 732.414590] EtherCAT DEBUG: ecrt_master_activate(master = 0xdfa71800)
[ 732.414599] EtherCAT: Domain0: Logical address 0x00000000, 57 byte,
expected working counter 14.
[ 732.414637] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 57
byte, type LRW.
[ 732.414671] EtherCAT DEBUG: Stopping master thread.
[ 732.415884] EtherCAT DEBUG: Master IDLE thread exiting...
[ 732.415964] EtherCAT: Master thread exited.
[ 732.423791] EtherCAT DEBUG: FSM datagram is dfa71be8.
[ 732.423800] EtherCAT: Starting EtherCAT-OP thread.
[ 732.423916] EtherCAT DEBUG: Operation thread running with fsm interval =
4000 us, max data size=45000
[ 732.423954] EtherCAT DEBUG: mmap()
[ 732.423970] EtherCAT DEBUG: Vma fault, virtual_address = b7729000, offset
= 0, page = c13c0aa0
[ 732.426413] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
[ 732.426421] EtherCAT DEBUG: Configuring slave 1...
[ 732.486457] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 732.486465] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 732.522582] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 732.554562] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 732.622476] EtherCAT DEBUG: Slave 1: system_time=214923709272 (corrected
with 20000000), app_time=343149613824004000, diff=343149398900294728
[ 732.622486] EtherCAT DEBUG: Slave 1: Setting time offset to
343141070303389725 (was 18446735745112646613)
[ 732.654492] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 732.722479] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 732.722504] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 732.722511] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 732.722518] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 732.722524] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 732.722530] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 732.722536] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 732.722542] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 732.722548] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 732.722554] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 732.722569] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 732.754476] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 732.786471] EtherCAT DEBUG: Slave 1: Setting DC cycle times to 10000000 /
0.
[ 732.802553] EtherCAT: Domain 0: Working counter changed to 2/14.
[ 732.822609] EtherCAT DEBUG: app_start_time=343149612524004000
[ 732.822617] EtherCAT DEBUG: start_time=343149615124004000
[ 732.822621] EtherCAT DEBUG: cycle_time=10000000
[ 732.822626] EtherCAT DEBUG: shift_time=4400000
[ 732.822630] EtherCAT DEBUG: remainder=0
[ 732.822634] EtherCAT DEBUG: start=343149615138404000
[ 732.822639] EtherCAT DEBUG: Slave 1: Setting DC cyclic operation start
time to 343149615138404000.
[ 732.854473] EtherCAT DEBUG: Slave 1: Setting DC AssignActivate to 0x0700.
[ 732.954478] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
[ 733.022512] EtherCAT DEBUG: Slave 1 is now in OP.
[ 733.022518] EtherCAT DEBUG: Finished configuration of slave 1.
[ 733.054520] EtherCAT DEBUG: Changing state of slave 2 from PREOP to OP.
[ 733.054528] EtherCAT DEBUG: Configuring slave 2...
[ 733.122512] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 733.122518] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 733.154516] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 733.186511] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 733.254524] EtherCAT DEBUG: Slave 2: system_time=215880578093 (corrected
with 16000000), app_time=343149617624004000, diff=343149401743425907
[ 733.254533] EtherCAT DEBUG: Slave 2: Setting time offset to
343141072286697305 (was 18446735744252823014)
[ 733.286510] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 733.354519] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 733.354546] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 733.354553] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 733.354559] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 733.354564] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 733.354570] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 733.354576] EtherCAT DEBUG: Mapping of PDO 0x1A05 is already configured
correctly.
[ 733.354582] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 733.354588] EtherCAT DEBUG: Mapping of PDO 0x1A07 is already configured
correctly.
[ 733.354594] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 733.354608] EtherCAT DEBUG: SM0: Addr 0x1000, Size 1, Ctrl 0x00, En 1
[ 733.386537] EtherCAT DEBUG: FMMU: LogAddr 0x00000001, Size 1, PhysAddr
0x1000, SM0, Dir in
[ 733.486570] EtherCAT DEBUG: Slave 2 is now in SAFEOP.
[ 733.554508] EtherCAT DEBUG: Slave 2 is now in OP.
[ 733.554514] EtherCAT DEBUG: Finished configuration of slave 2.
[ 733.586544] EtherCAT DEBUG: Changing state of slave 3 from PREOP to OP.
[ 733.586552] EtherCAT DEBUG: Configuring slave 3...
[ 733.654544] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 733.654551] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 733.686563] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 733.722545] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 733.786560] EtherCAT DEBUG: Slave 3: system_time=216410342279 (corrected
with 16000000), app_time=343149620824004000, diff=343149404413661721
[ 733.786569] EtherCAT DEBUG: Slave 3: Setting time offset to
343141074799376444 (was 18446735744095266339)
[ 733.822551] EtherCAT: Domain 0: Working counter changed to 3/14.
[ 733.822639] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 733.822647] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 733.822653] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 733.922562] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 733.922574] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 733.922579] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 733.922594] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 733.922601] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 733.922606] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 733.922612] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 733.922622] EtherCAT DEBUG: SM2: Addr 0x1100, Size 4, Ctrl 0x24, En 1
[ 733.922628] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 733.954578] EtherCAT DEBUG: FMMU: LogAddr 0x00000002, Size 4, PhysAddr
0x1100, SM2, Dir out
[ 734.054679] EtherCAT DEBUG: Slave 3 is now in SAFEOP.
[ 734.122608] EtherCAT DEBUG: Slave 3 is now in OP.
[ 734.122616] EtherCAT DEBUG: Finished configuration of slave 3.
[ 734.154594] EtherCAT DEBUG: Changing state of slave 4 from PREOP to OP.
[ 734.154602] EtherCAT DEBUG: Configuring slave 4...
[ 734.222598] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 734.222604] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 734.254614] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 734.286608] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 734.354603] EtherCAT DEBUG: Slave 4: system_time=216644034711 (corrected
with 16000000), app_time=343149624224004000, diff=343149407579969289
[ 734.354614] EtherCAT DEBUG: Slave 4: Setting time offset to
343141078928760791 (was 18446735745058343118)
[ 734.386615] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 734.386625] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 734.386631] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 734.486630] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 734.486642] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 734.486648] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 734.486669] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 734.486675] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 734.486681] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 734.486687] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 734.486693] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 734.486699] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 734.486704] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 734.486710] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 734.486715] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 734.486725] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 734.486734] EtherCAT DEBUG: SM2: Addr 0x1100, Size 16, Ctrl 0x24, En 1
[ 734.486740] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 734.522619] EtherCAT DEBUG: FMMU: LogAddr 0x00000006, Size 16, PhysAddr
0x1100, SM2, Dir out
[ 734.622730] EtherCAT DEBUG: Slave 4 is now in SAFEOP.
[ 734.686672] EtherCAT DEBUG: Slave 4 is now in OP.
[ 734.686679] EtherCAT DEBUG: Finished configuration of slave 4.
[ 734.722646] EtherCAT DEBUG: Changing state of slave 5 from PREOP to OP.
[ 734.722654] EtherCAT DEBUG: Configuring slave 5...
[ 734.786717] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 734.786724] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 734.822648] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 734.838682] EtherCAT: Domain 0: 2 working counter changes - now 7/14.
[ 734.854716] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 734.922646] EtherCAT DEBUG: Slave 5: system_time=217537395899 (corrected
with 20000000), app_time=343149627624004000, diff=343149410086608101
[ 734.922656] EtherCAT DEBUG: Slave 5: Setting time offset to
343141080496743423 (was 18446735744119686938)
[ 734.954671] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 734.954681] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 734.954687] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 735.054695] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 735.054708] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 735.054713] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 735.054718] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 735.054769] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 735.054780] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 735.054790] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 735.054799] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 735.054809] EtherCAT DEBUG: Mapping of PDO 0x1A08 is already configured
correctly.
[ 735.054819] EtherCAT DEBUG: Mapping of PDO 0x1A0A is already configured
correctly.
[ 735.054829] EtherCAT DEBUG: Mapping of PDO 0x1A0C is already configured
correctly.
[ 735.054838] EtherCAT DEBUG: Mapping of PDO 0x1A0E is already configured
correctly.
[ 735.054844] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 735.054875] EtherCAT DEBUG: SM2: Addr 0x1100, Size 0, Ctrl 0x04, En 0
[ 735.054882] EtherCAT DEBUG: SM3: Addr 0x1180, Size 32, Ctrl 0x20, En 1
[ 735.086688] EtherCAT DEBUG: FMMU: LogAddr 0x00000016, Size 32, PhysAddr
0x1180, SM3, Dir in
[ 735.186782] EtherCAT DEBUG: Slave 5 is now in SAFEOP.
[ 735.254689] EtherCAT DEBUG: Slave 5 is now in OP.
[ 735.254695] EtherCAT DEBUG: Finished configuration of slave 5.
[ 735.286692] EtherCAT DEBUG: Changing state of slave 6 from PREOP to OP.
[ 735.286700] EtherCAT DEBUG: Configuring slave 6...
[ 735.354680] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 735.354686] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 735.386688] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 735.422726] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 735.486712] EtherCAT DEBUG: Slave 6: system_time=218097141731 (corrected
with 16000000), app_time=343149631024004000, diff=343149412926862269
[ 735.486721] EtherCAT DEBUG: Slave 6: Setting time offset to
343141083438501811 (was 18446735744221191158)
[ 735.522719] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 735.586739] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 735.586760] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 735.586767] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 735.586773] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 735.586784] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 735.622741] EtherCAT DEBUG: FMMU: LogAddr 0x00000036, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 735.722715] EtherCAT DEBUG: Slave 6 is now in SAFEOP.
[ 735.786721] EtherCAT DEBUG: Slave 6 is now in OP.
[ 735.786727] EtherCAT DEBUG: Finished configuration of slave 6.
[ 735.822743] EtherCAT DEBUG: Changing state of slave 7 from PREOP to OP.
[ 735.822752] EtherCAT DEBUG: Configuring slave 7...
[ 735.854734] EtherCAT: Domain 0: 2 working counter changes - now 10/14.
[ 735.886805] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 735.886812] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 735.922746] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 735.954736] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 736.022843] EtherCAT DEBUG: Slave 7: system_time=218300331611 (corrected
with 20000000), app_time=343149634224004000, diff=343149415923672389
[ 736.022855] EtherCAT DEBUG: Slave 7: Setting time offset to
343141087255797875 (was 18446735745041677102)
[ 736.054772] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 736.122751] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 736.122778] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 736.122786] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 736.122792] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 736.122798] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 736.122804] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 736.122810] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 736.122816] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 736.122822] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 736.122828] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 736.122843] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 736.154764] EtherCAT DEBUG: FMMU: LogAddr 0x00000037, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 736.186772] EtherCAT DEBUG: Slave 7: Setting DC cycle times to 10000000 /
0.
[ 736.222897] EtherCAT DEBUG: app_start_time=343149612524004000
[ 736.222904] EtherCAT DEBUG: start_time=343149635524004000
[ 736.222909] EtherCAT DEBUG: cycle_time=10000000
[ 736.222913] EtherCAT DEBUG: shift_time=4400000
[ 736.222917] EtherCAT DEBUG: remainder=0
[ 736.222921] EtherCAT DEBUG: start=343149635538404000
[ 736.222926] EtherCAT DEBUG: Slave 7: Setting DC cyclic operation start
time to 343149635538404000.
[ 736.254798] EtherCAT DEBUG: Slave 7: Setting DC AssignActivate to 0x0700.
[ 736.354774] EtherCAT DEBUG: Slave 7 is now in SAFEOP.
[ 736.422774] EtherCAT DEBUG: Slave 7 is now in OP.
[ 736.422781] EtherCAT DEBUG: Finished configuration of slave 7.
[ 736.454783] EtherCAT DEBUG: Changing state of slave 8 from PREOP to OP.
[ 736.454791] EtherCAT DEBUG: Configuring slave 8...
[ 736.522791] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 736.522798] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 736.554789] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 736.586795] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 736.654819] EtherCAT DEBUG: Slave 8: system_time=219256507240 (corrected
with 16000000), app_time=343149638024004000, diff=343149418767496760
[ 736.654829] EtherCAT DEBUG: Slave 8: Setting time offset to
343141089223834584 (was 18446735744165889440)
[ 736.686823] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 736.754823] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 736.754845] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 736.754853] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 736.754859] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 736.754865] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 736.754870] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 736.754883] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 736.754889] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 736.754895] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 736.754901] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 736.754906] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 736.754918] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 736.754924] EtherCAT DEBUG: SM1: Addr 0x1001, Size 1, Ctrl 0x00, En 0
[ 736.786823] EtherCAT DEBUG: FMMU: LogAddr 0x00000038, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 736.822820] EtherCAT DEBUG: Slave 8: Setting DC cycle times to 10000000 /
0.
[ 736.854912] EtherCAT DEBUG: app_start_time=343149612524004000
[ 736.854921] EtherCAT DEBUG: start_time=343149639324004000
[ 736.854927] EtherCAT DEBUG: cycle_time=10000000
[ 736.854931] EtherCAT DEBUG: shift_time=4400000
[ 736.854935] EtherCAT DEBUG: remainder=0
[ 736.854939] EtherCAT DEBUG: start=343149639338404000
[ 736.854944] EtherCAT DEBUG: Slave 8: Setting DC cyclic operation start
time to 343149639338404000.
[ 736.870883] EtherCAT: Domain 0: 2 working counter changes - now 14/14.
[ 736.886879] EtherCAT DEBUG: Slave 8: Setting DC AssignActivate to 0x0700.
[ 736.986844] EtherCAT DEBUG: Slave 8 is now in SAFEOP.
[ 737.054845] EtherCAT DEBUG: Slave 8 is now in OP.
[ 737.054851] EtherCAT DEBUG: Finished configuration of slave 8.
[ 737.086862] EtherCAT: Slave states: PREOP, OP.
[ 737.122855] EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP.
[ 737.122863] EtherCAT DEBUG: Configuring slave 0...
[ 737.186845] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 737.186853] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 737.222852] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 737.254898] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 737.322856] EtherCAT DEBUG: Slave 0: system_time=219793306460 (corrected
with 20000000), app_time=343149642024004000, diff=343149422230697540
[ 737.322867] EtherCAT DEBUG: Slave 0: Setting time offset to
343141093124699128 (was 18446735744603553204)
[ 737.354881] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 737.422887] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 737.522895] EtherCAT DEBUG: Slave 0 is now in SAFEOP.
[ 737.586880] EtherCAT DEBUG: Slave 0 is now in OP.
[ 737.586888] EtherCAT DEBUG: Finished configuration of slave 0.
[ 737.886922] EtherCAT: Slave states: OP.
[ 744.033613] EtherCAT: Releasing master 0...
[ 744.033653] EtherCAT DEBUG: ecrt_master_deactivate(master = 0xdfa71800)
[ 744.033659] EtherCAT DEBUG: Stopping master thread.
[ 744.033680] EtherCAT DEBUG: Master OP thread exiting...
[ 744.033904] EtherCAT: Master thread exited.
[ 744.034023] EtherCAT: Starting EtherCAT-IDLE thread.
[ 744.034134] EtherCAT DEBUG: Idle thread running with send interval = 4000
us, max data size=45000
[ 744.034147] EtherCAT DEBUG: UNMATCHED datagram:
[ 744.034151] EtherCAT DEBUG: 0C 5B 00 00 00 00 39 00 00 00 00 0F 00 00 00
00
[ 744.034177] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00
[ 744.034202] EtherCAT DEBUG: 00 00 EE FF 00 00 F4 FF 00 00 FA FF 00 00 F9
FF
[ 744.034227] EtherCAT DEBUG: 00 00 F0 FF 00 00 F5 FF 00 00 F6 FF 00 00 03
00
[ 744.034251] EtherCAT DEBUG: 00 00 01 0E 00
[ 744.034270] EtherCAT ERROR: Failed to receive AL state datagram for slave
0: Datagram initialized.
[ 744.034326] EtherCAT DEBUG: skipping datagram dfa71be8.
[ 744.034343] EtherCAT DEBUG: OPERATION -> IDLE.
[ 744.034348] EtherCAT: Released master 0.
[ 744.035677] EtherCAT: Slave states: SAFEOP, OP + ERROR.
[ 744.039406] EtherCAT DEBUG: Changing state of slave 0 from OP to PREOP
(forced).
[ 744.039416] EtherCAT DEBUG: Configuring slave 0...
[ 744.039474] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 744.039479] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 744.039514] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 744.039544] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 744.039596] EtherCAT DEBUG: Slave 0: system_time=343149648740537325
(corrected with 0), app_time=0, diff=-343149648740537325
[ 744.039604] EtherCAT DEBUG: Slave 0: Setting time offset to
18446735518093713419 (was 343141093124699128)
[ 744.039634] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 744.039685] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 744.039690] EtherCAT DEBUG: Finished configuration of slave 0.
[ 744.043427] EtherCAT DEBUG: Changing state of slave 1 from OP to PREOP
(forced).
[ 744.043436] EtherCAT DEBUG: Configuring slave 1...
[ 744.043495] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 744.043500] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 744.043529] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 744.043558] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 744.043611] EtherCAT DEBUG: Slave 1: system_time=343149625244126419
(corrected with 0), app_time=0, diff=-343149625244126419
[ 744.043619] EtherCAT DEBUG: Slave 1: Setting time offset to
18446735518768814922 (was 343141070303389725)
[ 744.043645] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 744.043696] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 744.043701] EtherCAT DEBUG: Finished configuration of slave 1.
[ 744.047401] EtherCAT DEBUG: Changing state of slave 2 from OP to PREOP
(forced).
[ 744.047410] EtherCAT DEBUG: Configuring slave 2...
[ 744.047467] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 744.047471] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 744.047501] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 744.047530] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 744.047581] EtherCAT DEBUG: Slave 2: system_time=343149628417345551
(corrected with 0), app_time=0, diff=-343149628417345551
[ 744.047589] EtherCAT DEBUG: Slave 2: Setting time offset to
18446735517578903370 (was 343141072286697305)
[ 744.047619] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 744.047669] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 744.047674] EtherCAT DEBUG: Finished configuration of slave 2.
[ 744.051411] EtherCAT DEBUG: Slave 3: OP -> SAFEOP + ERROR.
[ 744.055827] EtherCAT: Acknowledged state SAFEOP on slave 3.
[ 744.055866] EtherCAT DEBUG: Changing state of slave 3 from SAFEOP to
PREOP (forced).
[ 744.055873] EtherCAT DEBUG: Configuring slave 3...
[ 744.057952] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 744.057957] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 744.057985] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 744.058014] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 744.058066] EtherCAT DEBUG: Slave 3: system_time=343149631095886394
(corrected with 0), app_time=0, diff=-343149631095886394
[ 744.058074] EtherCAT DEBUG: Slave 3: Setting time offset to
18446735517413041666 (was 343141074799376444)
[ 744.058103] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 744.058111] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 744.058117] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 744.058741] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 744.058746] EtherCAT DEBUG: Finished configuration of slave 3.
[ 744.059801] EtherCAT DEBUG: Slave 4: OP -> SAFEOP + ERROR.
[ 744.090030] EtherCAT: Acknowledged state SAFEOP on slave 4.
[ 744.090070] EtherCAT DEBUG: Changing state of slave 4 from SAFEOP to
PREOP (forced).
[ 744.090077] EtherCAT DEBUG: Configuring slave 4...
[ 744.108147] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 744.108154] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 744.108183] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 744.108212] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 744.108264] EtherCAT DEBUG: Slave 4: system_time=343149633976816296
(corrected with 0), app_time=0, diff=-343149633976816296
[ 744.108272] EtherCAT DEBUG: Slave 4: Setting time offset to
18446735518661496111 (was 343141078928760791)
[ 744.108301] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 744.108309] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 744.108315] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 744.109329] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 744.109334] EtherCAT DEBUG: Finished configuration of slave 4.
[ 744.117434] EtherCAT DEBUG: Slave 5: OP -> SAFEOP + ERROR.
[ 744.117990] EtherCAT: Acknowledged state SAFEOP on slave 5.
[ 744.118030] EtherCAT DEBUG: Changing state of slave 5 from SAFEOP to
PREOP (forced).
[ 744.118036] EtherCAT DEBUG: Configuring slave 5...
[ 744.120209] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 744.120217] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 744.120246] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 744.120275] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 744.120328] EtherCAT DEBUG: Slave 5: system_time=343149636821759208
(corrected with 0), app_time=0, diff=-343149636821759208
[ 744.120336] EtherCAT DEBUG: Slave 5: Setting time offset to
18446735517384535831 (was 343141080496743423)
[ 744.120365] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 744.120373] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 744.120379] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 744.121100] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 744.121105] EtherCAT DEBUG: Finished configuration of slave 5.
[ 744.125178] EtherCAT DEBUG: Changing state of slave 6 from OP to PREOP
(forced).
[ 744.125187] EtherCAT DEBUG: Configuring slave 6...
[ 744.125242] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 744.125247] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 744.125275] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 744.125303] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 744.125355] EtherCAT DEBUG: Slave 6: system_time=343149639662908359
(corrected with 0), app_time=0, diff=-343149639662908359
[ 744.125363] EtherCAT DEBUG: Slave 6: Setting time offset to
18446735517485145068 (was 343141083438501811)
[ 744.125392] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 744.125442] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 744.125447] EtherCAT DEBUG: Finished configuration of slave 6.
[ 744.129196] EtherCAT DEBUG: Changing state of slave 7 from OP to PREOP
(forced).
[ 744.129206] EtherCAT DEBUG: Configuring slave 7...
[ 744.129262] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 744.129267] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 744.129295] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 744.129324] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 744.129375] EtherCAT DEBUG: Slave 7: system_time=343149642330108979
(corrected with 0), app_time=0, diff=-343149642330108979
[ 744.129383] EtherCAT DEBUG: Slave 7: Setting time offset to
18446735518635240512 (was 343141087255797875)
[ 744.129412] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 744.129462] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 744.129467] EtherCAT DEBUG: Finished configuration of slave 7.
[ 744.133171] EtherCAT DEBUG: Changing state of slave 8 from OP to PREOP
(forced).
[ 744.133181] EtherCAT DEBUG: Configuring slave 8...
[ 744.133238] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 744.133243] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 744.133272] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 744.133300] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 744.133352] EtherCAT DEBUG: Slave 8: system_time=343149645502501804
(corrected with 0), app_time=0, diff=-343149645502501804
[ 744.133360] EtherCAT DEBUG: Slave 8: Setting time offset to
18446735517430884396 (was 343141089223834584)
[ 744.133390] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 744.133440] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 744.133445] EtherCAT DEBUG: Finished configuration of slave 8.
[ 744.137129] EtherCAT: Slave states: PREOP.
[ 750.310311] EtherCAT: Requesting master 0...
[ 750.310348] EtherCAT DEBUG: IDLE -> OPERATION.
[ 750.310357] EtherCAT: Successfully requested master 0.
[ 750.310531] EtherCAT DEBUG: ecrt_master_create_domain(master =
0xdfa71800)
[ 750.310538] EtherCAT DEBUG: Created domain 0.
[ 750.310659] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[ 750.310668] EtherCAT DEBUG: Creating slave configuration for 0:0,
0x00000002/0x044C2C52.
[ 750.310678] EtherCAT DEBUG: Attached slave 0 to config 0:0.
[ 750.310800] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x07d83052)
[ 750.310809] EtherCAT DEBUG: Creating slave configuration for 0:1,
0x00000002/0x07D83052.
[ 750.310816] EtherCAT DEBUG: Attached slave 1 to config 0:1.
[ 750.310845] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd4a70c00, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.310855] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 1.
[ 750.311084] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 2, vendor_id = 0x00000002, product_code = 0x03f03052)
[ 750.311093] EtherCAT DEBUG: Creating slave configuration for 0:2,
0x00000002/0x03F03052.
[ 750.311100] EtherCAT DEBUG: Attached slave 2 to config 0:2.
[ 750.311123] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0000, index = 0x6000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.311131] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 2.
[ 750.311335] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x09c63052)
[ 750.311343] EtherCAT DEBUG: Creating slave configuration for 0:3,
0x00000002/0x09C63052.
[ 750.311350] EtherCAT DEBUG: Attached slave 3 to config 0:3.
[ 750.311366] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xd49e0c00, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 750.311377] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xd49e0c00, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 750.311389] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0c00, index = 0x7000, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.311397] EtherCAT DEBUG: Domain 0: Added 4 bytes, total 6.
[ 750.311491] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0c00, index = 0x7000, subindex = 0x12, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.311500] EtherCAT ERROR: PDO entry 0x7000:12 is not mapped in slave
config 0:3.
[ 750.311761] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0c00, index = 0x7010, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.316703] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0c00, index = 0x7010, subindex = 0x12, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.316715] EtherCAT ERROR: PDO entry 0x7010:12 is not mapped in slave
config 0:3.
[ 750.317113] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x0fc63052)
[ 750.317122] EtherCAT DEBUG: Creating slave configuration for 0:4,
0x00000002/0x0FC63052.
[ 750.317132] EtherCAT DEBUG: Attached slave 4 to config 0:4.
[ 750.317158] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317167] EtherCAT DEBUG: Domain 0: Added 16 bytes, total 22.
[ 750.317265] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317284] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7010, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317299] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7020, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317317] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7030, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317329] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7040, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317344] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7050, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317356] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7060, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317368] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7070, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317499] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x0bc03052)
[ 750.317508] EtherCAT DEBUG: Creating slave configuration for 0:5,
0x00000002/0x0BC03052.
[ 750.317516] EtherCAT DEBUG: Attached slave 5 to config 0:5.
[ 750.317556] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6000, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317566] EtherCAT DEBUG: Domain 0: Added 32 bytes, total 54.
[ 750.317578] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6010, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317594] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6020, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317608] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6030, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317621] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6040, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317636] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6050, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317649] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6060, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.317662] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x6070, subindex = 0x11, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.325396] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x07fa3052)
[ 750.325409] EtherCAT DEBUG: Creating slave configuration for 0:6,
0x00000002/0x07FA3052.
[ 750.325420] EtherCAT DEBUG: Attached slave 6 to config 0:6.
[ 750.325443] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.325452] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 55.
[ 750.325879] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x08283052)
[ 750.325889] EtherCAT DEBUG: Creating slave configuration for 0:7,
0x00000002/0x08283052.
[ 750.325896] EtherCAT DEBUG: Attached slave 7 to config 0:7.
[ 750.325919] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.325928] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 56.
[ 750.326167] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x07f23052)
[ 750.326175] EtherCAT DEBUG: Creating slave configuration for 0:8,
0x00000002/0x07F23052.
[ 750.326182] EtherCAT DEBUG: Attached slave 8 to config 0:8.
[ 750.326215] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdf75d000, index = 0x7000, subindex = 0x01, domain = 0xdf94cc00,
bit_position = 0xd4ac3ec4)
[ 750.326223] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 57.
[ 750.326474] EtherCAT DEBUG: ecrt_domain_external_memory(domain =
0xdf94cc00, mem = 0xe0fa4000)
[ 750.326483] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xdfa71800,
send_cb = 0xe0fcf530, receive_cb = 0xe0fcf920, cb_data = 0xdfa71800)
[ 750.326490] EtherCAT DEBUG: ecrt_master_activate(master = 0xdfa71800)
[ 750.326500] EtherCAT: Domain0: Logical address 0x00000000, 57 byte,
expected working counter 14.
[ 750.326545] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 57
byte, type LRW.
[ 750.326579] EtherCAT DEBUG: Stopping master thread.
[ 750.326594] EtherCAT DEBUG: Master IDLE thread exiting...
[ 750.326666] EtherCAT: Master thread exited.
[ 750.326692] EtherCAT DEBUG: FSM datagram is dfa71be8.
[ 750.326697] EtherCAT: Starting EtherCAT-OP thread.
[ 750.326800] EtherCAT DEBUG: Operation thread running with fsm interval =
4000 us, max data size=45000
[ 750.326807] EtherCAT WARNING: 1 datagram UNMATCHED!
[ 750.326853] EtherCAT DEBUG: mmap()
[ 750.326871] EtherCAT DEBUG: Vma fault, virtual_address = b77d5000, offset
= 0, page = c13c10a0
[ 750.328475] EtherCAT DEBUG: Changing state of slave 3 from PREOP to OP.
[ 750.328484] EtherCAT DEBUG: Configuring slave 3...
[ 750.440122] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 750.440130] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 750.476027] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 750.508047] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 750.576019] EtherCAT DEBUG: Slave 3: system_time=6518297032 (corrected
with 20000000), app_time=343149631627010000, diff=343149625108712968
[ 750.576029] EtherCAT DEBUG: Slave 3: Setting time offset to
343141068812203018 (was 18446735517413041666)
[ 750.608022] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 750.608032] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 750.608038] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 750.708047] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 750.708059] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 750.708064] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 750.708080] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 750.708086] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 750.708092] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 750.708098] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 750.708108] EtherCAT DEBUG: SM2: Addr 0x1100, Size 4, Ctrl 0x24, En 1
[ 750.708115] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 750.740051] EtherCAT DEBUG: FMMU: LogAddr 0x00000002, Size 4, PhysAddr
0x1100, SM2, Dir out
[ 750.823971] EtherCAT: Domain 0: Working counter changed to 2/14.
[ 750.840141] EtherCAT DEBUG: Slave 3 is now in SAFEOP.
[ 750.908049] EtherCAT DEBUG: Slave 3 is now in OP.
[ 750.908056] EtherCAT DEBUG: Finished configuration of slave 3.
[ 750.940052] EtherCAT DEBUG: Changing state of slave 4 from PREOP to OP.
[ 750.940061] EtherCAT DEBUG: Configuring slave 4...
[ 751.008050] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 751.008058] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 751.040060] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 751.076100] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 751.140193] EtherCAT DEBUG: Slave 4: system_time=7031098179 (corrected
with 16000000), app_time=343149635127010000, diff=343149628095911821
[ 751.140204] EtherCAT DEBUG: Slave 4: Setting time offset to
343141073047856316 (was 18446735518661496111)
[ 751.176138] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 751.176149] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 751.176155] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 751.276066] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 751.276078] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 751.276083] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 751.276106] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 751.276112] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 751.276118] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 751.276124] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 751.276131] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 751.276137] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 751.276143] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 751.276150] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 751.276156] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 751.276167] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 751.276177] EtherCAT DEBUG: SM2: Addr 0x1100, Size 16, Ctrl 0x24, En 1
[ 751.276183] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 751.308086] EtherCAT DEBUG: FMMU: LogAddr 0x00000006, Size 16, PhysAddr
0x1100, SM2, Dir out
[ 751.408186] EtherCAT DEBUG: Slave 4 is now in SAFEOP.
[ 751.476085] EtherCAT DEBUG: Slave 4 is now in OP.
[ 751.476093] EtherCAT DEBUG: Finished configuration of slave 4.
[ 751.508102] EtherCAT DEBUG: Changing state of slave 5 from PREOP to OP.
[ 751.508110] EtherCAT DEBUG: Configuring slave 5...
[ 751.576149] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 751.576156] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 751.608126] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 751.640149] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 751.708104] EtherCAT DEBUG: Slave 5: system_time=7587807331 (corrected
with 16000000), app_time=343149638527010000, diff=343149630939202669
[ 751.708114] EtherCAT DEBUG: Slave 5: Setting time offset to
343141074614186884 (was 18446735517384535831)
[ 751.740160] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 751.740172] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 751.740178] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 751.840092] EtherCAT: Domain 0: Working counter changed to 4/14.
[ 751.840159] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 751.840169] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 751.840175] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 751.840180] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 751.840233] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 751.840244] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 751.840253] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 751.840263] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 751.840273] EtherCAT DEBUG: Mapping of PDO 0x1A08 is already configured
correctly.
[ 751.840283] EtherCAT DEBUG: Mapping of PDO 0x1A0A is already configured
correctly.
[ 751.840292] EtherCAT DEBUG: Mapping of PDO 0x1A0C is already configured
correctly.
[ 751.840302] EtherCAT DEBUG: Mapping of PDO 0x1A0E is already configured
correctly.
[ 751.840308] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 751.840339] EtherCAT DEBUG: SM2: Addr 0x1100, Size 0, Ctrl 0x04, En 0
[ 751.840346] EtherCAT DEBUG: SM3: Addr 0x1180, Size 32, Ctrl 0x20, En 1
[ 751.876134] EtherCAT DEBUG: FMMU: LogAddr 0x00000016, Size 32, PhysAddr
0x1180, SM3, Dir in
[ 751.976259] EtherCAT DEBUG: Slave 5 is now in SAFEOP.
[ 752.040212] EtherCAT DEBUG: Slave 5 is now in OP.
[ 752.040220] EtherCAT DEBUG: Finished configuration of slave 5.
[ 752.076179] EtherCAT DEBUG: Changing state of slave 6 from PREOP to OP.
[ 752.076188] EtherCAT DEBUG: Configuring slave 6...
[ 752.136138] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 752.136145] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 752.172182] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 752.204194] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 752.272153] EtherCAT DEBUG: Slave 6: system_time=8147180653 (corrected
with 20000000), app_time=343149641927010000, diff=343149633779829347
[ 752.272162] EtherCAT DEBUG: Slave 6: Setting time offset to
343141077555422799 (was 18446735517485145068)
[ 752.304163] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 752.372182] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 752.372205] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 752.372212] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 752.372217] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 752.372228] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 752.404175] EtherCAT DEBUG: FMMU: LogAddr 0x00000036, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 752.504206] EtherCAT DEBUG: Slave 6 is now in SAFEOP.
[ 752.572219] EtherCAT DEBUG: Slave 6 is now in OP.
[ 752.572226] EtherCAT DEBUG: Finished configuration of slave 6.
[ 752.604194] EtherCAT DEBUG: Changing state of slave 7 from PREOP to OP.
[ 752.604202] EtherCAT DEBUG: Configuring slave 7...
[ 752.672246] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 752.672253] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 752.704197] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 752.736200] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 752.804231] EtherCAT DEBUG: Slave 7: system_time=8674338582 (corrected
with 16000000), app_time=343149645127010000, diff=343149636452671418
[ 752.804242] EtherCAT DEBUG: Slave 7: Setting time offset to
343141081378360314 (was 18446735518635240512)
[ 752.836212] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 752.852175] EtherCAT: Domain 0: 2 working counter changes - now 7/14.
[ 752.904228] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 752.904257] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 752.904264] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 752.904270] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 752.904276] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 752.904282] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 752.904288] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 752.904294] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 752.904299] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 752.904305] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 752.904320] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 752.936269] EtherCAT DEBUG: FMMU: LogAddr 0x00000037, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 752.972242] EtherCAT DEBUG: Slave 7: Setting DC cycle times to 10000000 /
0.
[ 753.004330] EtherCAT DEBUG: app_start_time=343149630427010000
[ 753.004338] EtherCAT DEBUG: start_time=343149646427010000
[ 753.004344] EtherCAT DEBUG: cycle_time=10000000
[ 753.004348] EtherCAT DEBUG: shift_time=4400000
[ 753.004352] EtherCAT DEBUG: remainder=0
[ 753.004356] EtherCAT DEBUG: start=343149646441410000
[ 753.004361] EtherCAT DEBUG: Slave 7: Setting DC cyclic operation start
time to 343149646441410000.
[ 753.036248] EtherCAT DEBUG: Slave 7: Setting DC AssignActivate to 0x0700.
[ 753.136242] EtherCAT DEBUG: Slave 7 is now in SAFEOP.
[ 753.204250] EtherCAT DEBUG: Slave 7 is now in OP.
[ 753.204257] EtherCAT DEBUG: Finished configuration of slave 7.
[ 753.236267] EtherCAT DEBUG: Changing state of slave 8 from PREOP to OP.
[ 753.236275] EtherCAT DEBUG: Configuring slave 8...
[ 753.304236] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 753.304243] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 753.336252] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 753.372255] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 753.436272] EtherCAT DEBUG: Slave 8: system_time=9302866651 (corrected
with 16000000), app_time=343149648927010000, diff=343149639624143349
[ 753.436282] EtherCAT DEBUG: Slave 8: Setting time offset to
343141083345476129 (was 18446735517430884396)
[ 753.472264] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 753.536285] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 753.536308] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 753.536315] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 753.536322] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 753.536328] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 753.536333] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 753.536347] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 753.536353] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 753.536359] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 753.536365] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 753.536371] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 753.536383] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 753.536389] EtherCAT DEBUG: SM1: Addr 0x1001, Size 1, Ctrl 0x00, En 0
[ 753.572328] EtherCAT DEBUG: FMMU: LogAddr 0x00000038, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 753.604276] EtherCAT DEBUG: Slave 8: Setting DC cycle times to 10000000 /
0.
[ 753.636405] EtherCAT DEBUG: app_start_time=343149630427010000
[ 753.636413] EtherCAT DEBUG: start_time=343149650227010000
[ 753.636417] EtherCAT DEBUG: cycle_time=10000000
[ 753.636421] EtherCAT DEBUG: shift_time=4400000
[ 753.636425] EtherCAT DEBUG: remainder=0
[ 753.636430] EtherCAT DEBUG: start=343149650241410000
[ 753.636435] EtherCAT DEBUG: Slave 8: Setting DC cyclic operation start
time to 343149650241410000.
[ 753.672315] EtherCAT DEBUG: Slave 8: Setting DC AssignActivate to 0x0700.
[ 753.772296] EtherCAT DEBUG: Slave 8 is now in SAFEOP.
[ 753.836358] EtherCAT DEBUG: Slave 8 is now in OP.
[ 753.836366] EtherCAT DEBUG: Finished configuration of slave 8.
[ 753.872294] EtherCAT: Domain 0: 2 working counter changes - now 11/14.
[ 753.872363] EtherCAT: Slave states: PREOP, OP.
[ 753.904321] EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP.
[ 753.904330] EtherCAT DEBUG: Configuring slave 0...
[ 753.972312] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 753.972319] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 754.004661] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 754.036329] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 754.104315] EtherCAT DEBUG: Slave 0: system_time=10064465482 (corrected
with 16000000), app_time=343149652927010000, diff=343149642862544518
[ 754.104325] EtherCAT DEBUG: Slave 0: Setting time offset to
343141087246706321 (was 18446735518093713419)
[ 754.136372] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 754.204318] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 754.304361] EtherCAT DEBUG: Slave 0 is now in SAFEOP.
[ 754.372352] EtherCAT DEBUG: Slave 0 is now in OP.
[ 754.372360] EtherCAT DEBUG: Finished configuration of slave 0.
[ 754.404386] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
[ 754.404394] EtherCAT DEBUG: Configuring slave 1...
[ 754.472382] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 754.472389] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 754.504388] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 754.536373] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 754.604395] EtherCAT DEBUG: Slave 1: system_time=10559715436 (corrected
with 16000000), app_time=343149655927010000, diff=343149645367294564
[ 754.604405] EtherCAT DEBUG: Slave 1: Setting time offset to
343141090426557870 (was 18446735518768814922)
[ 754.636383] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 754.704379] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 754.704406] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 754.704413] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 754.704419] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 754.704425] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 754.704432] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 754.704437] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 754.704443] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 754.704449] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 754.704455] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 754.704470] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 754.736400] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 754.772416] EtherCAT DEBUG: Slave 1: Setting DC cycle times to 10000000 /
0.
[ 754.804478] EtherCAT DEBUG: app_start_time=343149630427010000
[ 754.804486] EtherCAT DEBUG: start_time=343149657227010000
[ 754.804490] EtherCAT DEBUG: cycle_time=10000000
[ 754.804495] EtherCAT DEBUG: shift_time=4400000
[ 754.804499] EtherCAT DEBUG: remainder=0
[ 754.804503] EtherCAT DEBUG: start=343149657241410000
[ 754.804508] EtherCAT DEBUG: Slave 1: Setting DC cyclic operation start
time to 343149657241410000.
[ 754.836388] EtherCAT DEBUG: Slave 1: Setting DC AssignActivate to 0x0700.
[ 754.888318] EtherCAT: Domain 0: Working counter changed to 13/14.
[ 754.936374] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
[ 755.004379] EtherCAT DEBUG: Slave 1 is now in OP.
[ 755.004386] EtherCAT DEBUG: Finished configuration of slave 1.
[ 755.036420] EtherCAT DEBUG: Changing state of slave 2 from PREOP to OP.
[ 755.036429] EtherCAT DEBUG: Configuring slave 2...
[ 755.104408] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 755.104415] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 755.136405] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 755.172428] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 755.236403] EtherCAT DEBUG: Slave 2: system_time=11189234708 (corrected
with 16000000), app_time=343149659727010000, diff=343149648537775292
[ 755.236412] EtherCAT DEBUG: Slave 2: Setting time offset to
343141092407127046 (was 18446735517578903370)
[ 755.272415] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 755.336432] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 755.336459] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 755.336465] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 755.336471] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 755.336477] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 755.336483] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 755.336489] EtherCAT DEBUG: Mapping of PDO 0x1A05 is already configured
correctly.
[ 755.336495] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 755.336501] EtherCAT DEBUG: Mapping of PDO 0x1A07 is already configured
correctly.
[ 755.336507] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 755.336522] EtherCAT DEBUG: SM0: Addr 0x1000, Size 1, Ctrl 0x00, En 1
[ 755.372451] EtherCAT DEBUG: FMMU: LogAddr 0x00000001, Size 1, PhysAddr
0x1000, SM0, Dir in
[ 755.472439] EtherCAT DEBUG: Slave 2 is now in SAFEOP.
[ 755.536453] EtherCAT DEBUG: Slave 2 is now in OP.
[ 755.536460] EtherCAT DEBUG: Finished configuration of slave 2.
[ 755.772453] EtherCAT: Slave states: OP.
[ 755.904486] EtherCAT: Domain 0: Working counter changed to 14/14.
[ 757.760317] EtherCAT: Releasing master 0...
[ 757.760363] EtherCAT DEBUG: ecrt_master_deactivate(master = 0xdfa71800)
[ 757.760369] EtherCAT DEBUG: Stopping master thread.
[ 757.760399] EtherCAT DEBUG: Master OP thread exiting...
[ 757.761588] EtherCAT: Master thread exited.
[ 757.761717] EtherCAT: Starting EtherCAT-IDLE thread.
[ 757.761824] EtherCAT DEBUG: Idle thread running with send interval = 4000
us, max data size=45000
[ 757.761837] EtherCAT DEBUG: UNMATCHED datagram:
[ 757.761841] EtherCAT DEBUG: 0C 4D 00 00 00 00 39 80 00 00 00 0F 00 00 00
00
[ 757.761866] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00
[ 757.761891] EtherCAT DEBUG: 00 00 EE FF 00 00 F4 FF 00 00 FB FF 00 00 F8
FF
[ 757.761916] EtherCAT DEBUG: 00 00 EF FF 00 00 F6 FF 00 00 FC FF 00 00 06
00
[ 757.761941] EtherCAT DEBUG: 00 00 02 0E 00
[ 757.761962] EtherCAT DEBUG: Changing state of slave 5 from OP to PREOP
(forced).
[ 757.761968] EtherCAT DEBUG: Configuring slave 5...
[ 757.762027] EtherCAT WARNING: Slave 5 changed to SAFEOP + ERROR in the
meantime.
[ 757.762181] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 757.762186] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 757.762214] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 757.762244] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 757.762297] EtherCAT DEBUG: Slave 5: system_time=343149644581380805
(corrected with 0), app_time=0, diff=-343149644581380805
[ 757.762305] EtherCAT DEBUG: Slave 5: Setting time offset to
18446735503742357695 (was 343141074614186884)
[ 757.762335] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 757.762343] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 757.762349] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 757.763220] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 757.763225] EtherCAT DEBUG: Finished configuration of slave 5.
[ 757.763239] EtherCAT DEBUG: OPERATION -> IDLE.
[ 757.763245] EtherCAT: Released master 0.
[ 757.764980] EtherCAT DEBUG: Changing state of slave 6 from OP to PREOP
(forced).
[ 757.764990] EtherCAT DEBUG: Configuring slave 6...
[ 757.765265] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 757.765271] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 757.765299] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 757.765328] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 757.765379] EtherCAT DEBUG: Slave 6: system_time=343149647420429545
(corrected with 0), app_time=0, diff=-343149647420429545
[ 757.765387] EtherCAT DEBUG: Slave 6: Setting time offset to
18446735503844544870 (was 343141077555422799)
[ 757.765417] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 757.765467] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 757.765472] EtherCAT DEBUG: Finished configuration of slave 6.
[ 757.768544] EtherCAT DEBUG: Changing state of slave 7 from OP to PREOP
(forced).
[ 757.768552] EtherCAT DEBUG: Configuring slave 7...
[ 757.768601] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 757.768605] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 757.768633] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 757.768661] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 757.768712] EtherCAT DEBUG: Slave 7: system_time=343149650091200991
(corrected with 0), app_time=0, diff=-343149650091200991
[ 757.768720] EtherCAT DEBUG: Slave 7: Setting time offset to
18446735504996710939 (was 343141081378360314)
[ 757.768749] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 757.768798] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 757.768803] EtherCAT DEBUG: Finished configuration of slave 7.
[ 757.772802] EtherCAT DEBUG: Changing state of slave 8 from OP to PREOP
(forced).
[ 757.772812] EtherCAT DEBUG: Configuring slave 8...
[ 757.772871] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 757.772876] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 757.772905] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 757.772934] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 757.772987] EtherCAT DEBUG: Slave 8: system_time=343149653263807876
(corrected with 0), app_time=0, diff=-343149653263807876
[ 757.772995] EtherCAT DEBUG: Slave 8: Setting time offset to
18446735503791219869 (was 343141083345476129)
[ 757.773024] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 757.773076] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 757.773081] EtherCAT DEBUG: Finished configuration of slave 8.
[ 757.787135] EtherCAT: Slave states: PREOP, SAFEOP, OP + ERROR.
[ 757.788571] EtherCAT DEBUG: Changing state of slave 0 from OP to PREOP
(forced).
[ 757.788581] EtherCAT DEBUG: Configuring slave 0...
[ 757.788640] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 757.788645] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 757.788681] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 757.788711] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 757.788764] EtherCAT DEBUG: Slave 0: system_time=343149656611381633
(corrected with 0), app_time=0, diff=-343149656611381633
[ 757.788772] EtherCAT DEBUG: Slave 0: Setting time offset to
18446735504344876304 (was 343141087246706321)
[ 757.788799] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 757.788846] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 757.788851] EtherCAT DEBUG: Finished configuration of slave 0.
[ 757.792611] EtherCAT DEBUG: Changing state of slave 1 from OP to PREOP
(forced).
[ 757.792620] EtherCAT DEBUG: Configuring slave 1...
[ 757.792677] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 757.792681] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 757.792710] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 757.792738] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 757.792790] EtherCAT DEBUG: Slave 1: system_time=343149659115197877
(corrected with 0), app_time=0, diff=-343149659115197877
[ 757.792798] EtherCAT DEBUG: Slave 1: Setting time offset to
18446735505020911609 (was 343141090426557870)
[ 757.792827] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 757.792877] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 757.792882] EtherCAT DEBUG: Finished configuration of slave 1.
[ 757.796577] EtherCAT DEBUG: Changing state of slave 2 from OP to PREOP
(forced).
[ 757.796587] EtherCAT DEBUG: Configuring slave 2...
[ 757.796644] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 757.796649] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 757.796677] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 757.796706] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 757.796757] EtherCAT DEBUG: Slave 2: system_time=343149662287467938
(corrected with 0), app_time=0, diff=-343149662287467938
[ 757.796765] EtherCAT DEBUG: Slave 2: Setting time offset to
18446735503829210724 (was 343141092407127046)
[ 757.796795] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 757.796844] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 757.796849] EtherCAT DEBUG: Finished configuration of slave 2.
[ 757.800669] EtherCAT DEBUG: Slave 3: OP -> SAFEOP + ERROR.
[ 757.805448] EtherCAT: Acknowledged state SAFEOP on slave 3.
[ 757.805486] EtherCAT DEBUG: Changing state of slave 3 from SAFEOP to
PREOP (forced).
[ 757.805493] EtherCAT DEBUG: Configuring slave 3...
[ 757.807562] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 757.807567] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 757.807594] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 757.807623] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 757.807674] EtherCAT DEBUG: Slave 3: system_time=343149638858939219
(corrected with 0), app_time=0, diff=-343149638858939219
[ 757.807682] EtherCAT DEBUG: Slave 3: Setting time offset to
18446735503662815415 (was 343141068812203018)
[ 757.807711] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 757.807719] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 757.807725] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 757.808266] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 757.808271] EtherCAT DEBUG: Finished configuration of slave 3.
[ 757.808895] EtherCAT DEBUG: Slave 4: OP -> SAFEOP + ERROR.
[ 757.841208] EtherCAT: Acknowledged state SAFEOP on slave 4.
[ 757.841248] EtherCAT DEBUG: Changing state of slave 4 from SAFEOP to
PREOP (forced).
[ 757.841255] EtherCAT DEBUG: Configuring slave 4...
[ 757.860614] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 757.860622] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 757.860650] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 757.860679] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 757.860730] EtherCAT DEBUG: Slave 4: system_time=343149641847186601
(corrected with 0), app_time=0, diff=-343149641847186601
[ 757.860738] EtherCAT DEBUG: Slave 4: Setting time offset to
18446735504910221331 (was 343141073047856316)
[ 757.860767] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 757.860775] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 757.860781] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 757.862080] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 757.862085] EtherCAT DEBUG: Finished configuration of slave 4.
[ 757.880670] EtherCAT: Slave states: PREOP.
[ 760.681798] EtherCAT: Requesting master 0...
[ 760.681835] EtherCAT DEBUG: IDLE -> OPERATION.
[ 760.681843] EtherCAT: Successfully requested master 0.
[ 760.683471] EtherCAT DEBUG: ecrt_master_create_domain(master =
0xdfa71800)
[ 760.683482] EtherCAT DEBUG: Created domain 0.
[ 760.686198] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[ 760.686210] EtherCAT DEBUG: Creating slave configuration for 0:0,
0x00000002/0x044C2C52.
[ 760.686220] EtherCAT DEBUG: Attached slave 0 to config 0:0.
[ 760.687830] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x07d83052)
[ 760.687841] EtherCAT DEBUG: Creating slave configuration for 0:1,
0x00000002/0x07D83052.
[ 760.687850] EtherCAT DEBUG: Attached slave 1 to config 0:1.
[ 760.687882] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de000, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.687891] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 1.
[ 760.692597] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 2, vendor_id = 0x00000002, product_code = 0x03f03052)
[ 760.692608] EtherCAT DEBUG: Creating slave configuration for 0:2,
0x00000002/0x03F03052.
[ 760.692619] EtherCAT DEBUG: Attached slave 2 to config 0:2.
[ 760.692650] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xde7ed000, index = 0x6000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.692659] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 2.
[ 760.696919] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x09c63052)
[ 760.696930] EtherCAT DEBUG: Creating slave configuration for 0:3,
0x00000002/0x09C63052.
[ 760.696941] EtherCAT DEBUG: Attached slave 3 to config 0:3.
[ 760.696962] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xdf75d000, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 760.696973] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xdf75d000, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 760.696987] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdf75d000, index = 0x7000, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.696996] EtherCAT DEBUG: Domain 0: Added 4 bytes, total 6.
[ 760.698541] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdf75d000, index = 0x7000, subindex = 0x12, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.698553] EtherCAT ERROR: PDO entry 0x7000:12 is not mapped in slave
config 0:3.
[ 760.700616] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdf75d000, index = 0x7010, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.702970] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdf75d000, index = 0x7010, subindex = 0x12, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.702982] EtherCAT ERROR: PDO entry 0x7010:12 is not mapped in slave
config 0:3.
[ 760.704071] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x0fc63052)
[ 760.704081] EtherCAT DEBUG: Creating slave configuration for 0:4,
0x00000002/0x0FC63052.
[ 760.704092] EtherCAT DEBUG: Attached slave 4 to config 0:4.
[ 760.704118] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704127] EtherCAT DEBUG: Domain 0: Added 16 bytes, total 22.
[ 760.704445] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704466] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7010, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704481] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7020, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704498] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7030, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704511] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7040, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704525] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7050, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704538] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7060, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.704550] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0800, index = 0x7070, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714326] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x0bc03052)
[ 760.714338] EtherCAT DEBUG: Creating slave configuration for 0:5,
0x00000002/0x0BC03052.
[ 760.714349] EtherCAT DEBUG: Attached slave 5 to config 0:5.
[ 760.714401] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6000, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714411] EtherCAT DEBUG: Domain 0: Added 32 bytes, total 54.
[ 760.714430] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6010, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714446] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6020, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714460] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6030, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714473] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6040, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714490] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6050, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714503] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6060, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.714518] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbdd0400, index = 0x6070, subindex = 0x11, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.715049] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x07fa3052)
[ 760.715059] EtherCAT DEBUG: Creating slave configuration for 0:6,
0x00000002/0x07FA3052.
[ 760.715067] EtherCAT DEBUG: Attached slave 6 to config 0:6.
[ 760.715085] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdbca0c00, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.715094] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 55.
[ 760.715450] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x08283052)
[ 760.715460] EtherCAT DEBUG: Creating slave configuration for 0:7,
0x00000002/0x08283052.
[ 760.715467] EtherCAT DEBUG: Attached slave 7 to config 0:7.
[ 760.715489] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xdc3de400, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.715497] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 56.
[ 760.715857] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xdfa71800,
alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x07f23052)
[ 760.715866] EtherCAT DEBUG: Creating slave configuration for 0:8,
0x00000002/0x07F23052.
[ 760.715874] EtherCAT DEBUG: Attached slave 8 to config 0:8.
[ 760.715899] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xd49e0c00, index = 0x7000, subindex = 0x01, domain = 0xdfaeab80,
bit_position = 0xce123ec4)
[ 760.715907] EtherCAT DEBUG: Domain 0: Added 1 bytes, total 57.
[ 760.716607] EtherCAT DEBUG: ecrt_domain_external_memory(domain =
0xdfaeab80, mem = 0xe0fa7000)
[ 760.716617] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xdfa71800,
send_cb = 0xe0fcf530, receive_cb = 0xe0fcf920, cb_data = 0xdfa71800)
[ 760.716624] EtherCAT DEBUG: ecrt_master_activate(master = 0xdfa71800)
[ 760.716636] EtherCAT: Domain0: Logical address 0x00000000, 57 byte,
expected working counter 14.
[ 760.716686] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 57
byte, type LRW.
[ 760.716720] EtherCAT DEBUG: Stopping master thread.
[ 760.716808] EtherCAT DEBUG: Master IDLE thread exiting...
[ 760.722315] EtherCAT: Master thread exited.
[ 760.722351] EtherCAT DEBUG: FSM datagram is dfa71be8.
[ 760.722356] EtherCAT: Starting EtherCAT-OP thread.
[ 760.722465] EtherCAT DEBUG: Operation thread running with fsm interval =
4000 us, max data size=45000
[ 760.722473] EtherCAT WARNING: 1 datagram UNMATCHED!
[ 760.722523] EtherCAT DEBUG: mmap()
[ 760.722541] EtherCAT DEBUG: Vma fault, virtual_address = b77d1000, offset
= 0, page = c13ee040
[ 760.725028] EtherCAT DEBUG: Changing state of slave 6 from PREOP to OP.
[ 760.725037] EtherCAT DEBUG: Configuring slave 6...
[ 760.821000] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 760.821008] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 760.852934] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 760.888915] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 760.953365] EtherCAT DEBUG: Slave 6: system_time=3187605293 (corrected
with 16000000), app_time=343149642122963000, diff=343149638935357707
[ 760.953376] EtherCAT DEBUG: Slave 6: Setting time offset to
343141069070350961 (was 18446735503844544870)
[ 760.988946] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 761.052903] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 761.052925] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 761.052932] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 761.052938] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 761.052949] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 761.088919] EtherCAT DEBUG: FMMU: LogAddr 0x00000036, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 761.136852] EtherCAT: Domain 0: Working counter changed to 2/14.
[ 761.188944] EtherCAT DEBUG: Slave 6 is now in SAFEOP.
[ 761.252931] EtherCAT DEBUG: Slave 6 is now in OP.
[ 761.252939] EtherCAT DEBUG: Finished configuration of slave 6.
[ 761.288949] EtherCAT DEBUG: Changing state of slave 7 from PREOP to OP.
[ 761.288957] EtherCAT DEBUG: Configuring slave 7...
[ 761.352944] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 761.352950] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 761.388958] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 761.420954] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 761.488951] EtherCAT DEBUG: Slave 7: system_time=3720002016 (corrected
with 16000000), app_time=343149645322963000, diff=343149641602960984
[ 761.488962] EtherCAT DEBUG: Slave 7: Setting time offset to
343141072890120307 (was 18446735504996710939)
[ 761.520951] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 761.588969] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 761.588996] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 761.589003] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 761.589010] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 761.589016] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 761.589022] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 761.589028] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 761.589035] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 761.589041] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 761.589046] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 761.589061] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 761.620978] EtherCAT DEBUG: FMMU: LogAddr 0x00000037, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 761.652981] EtherCAT DEBUG: Slave 7: Setting DC cycle times to 10000000 /
0.
[ 761.689066] EtherCAT DEBUG: app_start_time=343149640822963000
[ 761.689074] EtherCAT DEBUG: start_time=343149646622963000
[ 761.689079] EtherCAT DEBUG: cycle_time=10000000
[ 761.689085] EtherCAT DEBUG: shift_time=4400000
[ 761.689088] EtherCAT DEBUG: remainder=0
[ 761.689093] EtherCAT DEBUG: start=343149646637363000
[ 761.689098] EtherCAT DEBUG: Slave 7: Setting DC cyclic operation start
time to 343149646637363000.
[ 761.721005] EtherCAT DEBUG: Slave 7: Setting DC AssignActivate to 0x0700.
[ 761.820971] EtherCAT DEBUG: Slave 7 is now in SAFEOP.
[ 761.889014] EtherCAT DEBUG: Slave 7 is now in OP.
[ 761.889021] EtherCAT DEBUG: Finished configuration of slave 7.
[ 761.920997] EtherCAT DEBUG: Changing state of slave 8 from PREOP to OP.
[ 761.921005] EtherCAT DEBUG: Configuring slave 8...
[ 761.989047] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 761.989054] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 762.021102] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 762.053048] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 762.120994] EtherCAT DEBUG: Slave 8: system_time=4348006833 (corrected
with 16000000), app_time=343149649122963000, diff=343149644774956167
[ 762.121004] EtherCAT DEBUG: Slave 8: Setting time offset to
343141074856624420 (was 18446735503791219869)
[ 762.153012] EtherCAT: Domain 0: Working counter changed to 4/14.
[ 762.153081] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 762.221028] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 762.221051] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 762.221058] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 762.221064] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 762.221070] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 762.221075] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 762.221089] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 762.221096] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 762.221102] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 762.221108] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 762.221113] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 762.221125] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 762.221132] EtherCAT DEBUG: SM1: Addr 0x1001, Size 1, Ctrl 0x00, En 0
[ 762.253041] EtherCAT DEBUG: FMMU: LogAddr 0x00000038, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 762.289014] EtherCAT DEBUG: Slave 8: Setting DC cycle times to 10000000 /
0.
[ 762.321151] EtherCAT DEBUG: app_start_time=343149640822963000
[ 762.321158] EtherCAT DEBUG: start_time=343149650422963000
[ 762.321164] EtherCAT DEBUG: cycle_time=10000000
[ 762.321168] EtherCAT DEBUG: shift_time=4400000
[ 762.321172] EtherCAT DEBUG: remainder=0
[ 762.321176] EtherCAT DEBUG: start=343149650437363000
[ 762.321181] EtherCAT DEBUG: Slave 8: Setting DC cyclic operation start
time to 343149650437363000.
[ 762.353034] EtherCAT DEBUG: Slave 8: Setting DC AssignActivate to 0x0700.
[ 762.453053] EtherCAT DEBUG: Slave 8 is now in SAFEOP.
[ 762.521036] EtherCAT DEBUG: Slave 8 is now in OP.
[ 762.521042] EtherCAT DEBUG: Finished configuration of slave 8.
[ 762.553041] EtherCAT: Slave states: PREOP, OP.
[ 762.589053] EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP.
[ 762.589063] EtherCAT DEBUG: Configuring slave 0...
[ 762.653066] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 762.653073] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 762.689081] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 762.721051] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 762.789062] EtherCAT DEBUG: Slave 0: system_time=5000145588 (corrected
with 16000000), app_time=343149653122963000, diff=343149648122817412
[ 762.789071] EtherCAT DEBUG: Slave 0: Setting time offset to
343141078758142100 (was 18446735504344876304)
[ 762.821075] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 762.889066] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 762.989092] EtherCAT DEBUG: Slave 0 is now in SAFEOP.
[ 763.053095] EtherCAT DEBUG: Slave 0 is now in OP.
[ 763.053103] EtherCAT DEBUG: Finished configuration of slave 0.
[ 763.089107] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
[ 763.089115] EtherCAT DEBUG: Configuring slave 1...
[ 763.153098] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 763.153105] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 763.173064] EtherCAT: Domain 0: Working counter changed to 6/14.
[ 763.189145] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 763.221106] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 763.289103] EtherCAT DEBUG: Slave 1: system_time=5495793935 (corrected
with 16000000), app_time=343149656122963000, diff=343149650627169065
[ 763.289113] EtherCAT DEBUG: Slave 1: Setting time offset to
343141081938529058 (was 18446735505020911609)
[ 763.321123] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 763.389112] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 763.389139] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 763.389146] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 763.389152] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 763.389158] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 763.389165] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 763.389170] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 763.389176] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 763.389182] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 763.389189] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 763.389204] EtherCAT DEBUG: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1
[ 763.421132] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 1, PhysAddr
0x0F00, SM0, Dir out
[ 763.453115] EtherCAT DEBUG: Slave 1: Setting DC cycle times to 10000000 /
0.
[ 763.489217] EtherCAT DEBUG: app_start_time=343149640822963000
[ 763.489224] EtherCAT DEBUG: start_time=343149657422963000
[ 763.489229] EtherCAT DEBUG: cycle_time=10000000
[ 763.489233] EtherCAT DEBUG: shift_time=4400000
[ 763.489238] EtherCAT DEBUG: remainder=0
[ 763.489242] EtherCAT DEBUG: start=343149657437363000
[ 763.489247] EtherCAT DEBUG: Slave 1: Setting DC cyclic operation start
time to 343149657437363000.
[ 763.521136] EtherCAT DEBUG: Slave 1: Setting DC AssignActivate to 0x0700.
[ 763.621102] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
[ 763.689143] EtherCAT DEBUG: Slave 1 is now in OP.
[ 763.689150] EtherCAT DEBUG: Finished configuration of slave 1.
[ 763.721151] EtherCAT DEBUG: Changing state of slave 2 from PREOP to OP.
[ 763.721159] EtherCAT DEBUG: Configuring slave 2...
[ 763.789133] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 763.789140] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 763.821187] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 763.853217] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 763.921171] EtherCAT DEBUG: Slave 2: system_time=6124550489 (corrected
with 16000000), app_time=343149659922963000, diff=343149653798412511
[ 763.921181] EtherCAT DEBUG: Slave 2: Setting time offset to
343141083918071619 (was 18446735503829210724)
[ 763.953173] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 764.021280] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 764.021308] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 764.021315] EtherCAT DEBUG: Mapping of PDO 0x1A01 is already configured
correctly.
[ 764.021321] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 764.021327] EtherCAT DEBUG: Mapping of PDO 0x1A03 is already configured
correctly.
[ 764.021333] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 764.021339] EtherCAT DEBUG: Mapping of PDO 0x1A05 is already configured
correctly.
[ 764.021345] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 764.021352] EtherCAT DEBUG: Mapping of PDO 0x1A07 is already configured
correctly.
[ 764.021357] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 764.021372] EtherCAT DEBUG: SM0: Addr 0x1000, Size 1, Ctrl 0x00, En 1
[ 764.053189] EtherCAT DEBUG: FMMU: LogAddr 0x00000001, Size 1, PhysAddr
0x1000, SM0, Dir in
[ 764.153175] EtherCAT DEBUG: Slave 2 is now in SAFEOP.
[ 764.189163] EtherCAT: Domain 0: 2 working counter changes - now 9/14.
[ 764.221202] EtherCAT DEBUG: Slave 2 is now in OP.
[ 764.221209] EtherCAT DEBUG: Finished configuration of slave 2.
[ 764.253208] EtherCAT DEBUG: Changing state of slave 3 from PREOP to OP.
[ 764.253215] EtherCAT DEBUG: Configuring slave 3...
[ 764.321210] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 764.321217] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 764.353233] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 764.389197] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 764.453205] EtherCAT DEBUG: Slave 3: system_time=6645773377 (corrected
with 16000000), app_time=343149663122963000, diff=343149656477189623
[ 764.453215] EtherCAT DEBUG: Slave 3: Setting time offset to
343141086430453422 (was 18446735503662815415)
[ 764.489213] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 764.489224] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 764.489230] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 764.589226] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 764.589240] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 764.589246] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 764.589261] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 764.589267] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 764.589272] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 764.589278] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 764.589287] EtherCAT DEBUG: SM2: Addr 0x1100, Size 4, Ctrl 0x24, En 1
[ 764.589293] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 764.621232] EtherCAT DEBUG: FMMU: LogAddr 0x00000002, Size 4, PhysAddr
0x1100, SM2, Dir out
[ 764.721332] EtherCAT DEBUG: Slave 3 is now in SAFEOP.
[ 764.789299] EtherCAT DEBUG: Slave 3 is now in OP.
[ 764.789307] EtherCAT DEBUG: Finished configuration of slave 3.
[ 764.821283] EtherCAT DEBUG: Changing state of slave 4 from PREOP to OP.
[ 764.821292] EtherCAT DEBUG: Configuring slave 4...
[ 764.889240] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 764.889247] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 764.921276] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 764.953240] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 765.021254] EtherCAT DEBUG: Slave 4: system_time=7159901037 (corrected
with 16000000), app_time=343149666522963000, diff=343149659363061963
[ 765.021264] EtherCAT DEBUG: Slave 4: Setting time offset to
343141090563731678 (was 18446735504910221331)
[ 765.053281] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 765.053291] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 765.053297] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 765.153352] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 765.153366] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 765.153372] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 765.153394] EtherCAT DEBUG: Mapping of PDO 0x1600 is already configured
correctly.
[ 765.153401] EtherCAT DEBUG: Mapping of PDO 0x1601 is already configured
correctly.
[ 765.153407] EtherCAT DEBUG: Mapping of PDO 0x1602 is already configured
correctly.
[ 765.153413] EtherCAT DEBUG: Mapping of PDO 0x1603 is already configured
correctly.
[ 765.153419] EtherCAT DEBUG: Mapping of PDO 0x1604 is already configured
correctly.
[ 765.153426] EtherCAT DEBUG: Mapping of PDO 0x1605 is already configured
correctly.
[ 765.153432] EtherCAT DEBUG: Mapping of PDO 0x1606 is already configured
correctly.
[ 765.153438] EtherCAT DEBUG: Mapping of PDO 0x1607 is already configured
correctly.
[ 765.153444] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 765.153454] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 765.153464] EtherCAT DEBUG: SM2: Addr 0x1100, Size 16, Ctrl 0x24, En 1
[ 765.153470] EtherCAT DEBUG: SM3: Addr 0x1180, Size 0, Ctrl 0x20, En 0
[ 765.189280] EtherCAT DEBUG: FMMU: LogAddr 0x00000006, Size 16, PhysAddr
0x1100, SM2, Dir out
[ 765.205225] EtherCAT: Domain 0: Working counter changed to 11/14.
[ 765.289367] EtherCAT DEBUG: Slave 4 is now in SAFEOP.
[ 765.353275] EtherCAT DEBUG: Slave 4 is now in OP.
[ 765.353282] EtherCAT DEBUG: Finished configuration of slave 4.
[ 765.389289] EtherCAT DEBUG: Changing state of slave 5 from PREOP to OP.
[ 765.389298] EtherCAT DEBUG: Configuring slave 5...
[ 765.453309] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 765.453315] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 765.489320] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 765.521309] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 765.589305] EtherCAT DEBUG: Slave 5: system_time=7827152596 (corrected
with 16000000), app_time=343149669922963000, diff=343149662095810404
[ 765.589315] EtherCAT DEBUG: Slave 5: Setting time offset to
343141092128616483 (was 18446735503742357695)
[ 765.621333] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 765.621343] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 765.621349] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 765.721299] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 765.721311] EtherCAT DEBUG: PDO assignment for SM0 is already configured
correctly.
[ 765.721316] EtherCAT DEBUG: PDO assignment for SM1 is already configured
correctly.
[ 765.721321] EtherCAT DEBUG: PDO assignment for SM2 is already configured
correctly.
[ 765.721405] EtherCAT DEBUG: Mapping of PDO 0x1A00 is already configured
correctly.
[ 765.721417] EtherCAT DEBUG: Mapping of PDO 0x1A02 is already configured
correctly.
[ 765.721427] EtherCAT DEBUG: Mapping of PDO 0x1A04 is already configured
correctly.
[ 765.721437] EtherCAT DEBUG: Mapping of PDO 0x1A06 is already configured
correctly.
[ 765.721448] EtherCAT DEBUG: Mapping of PDO 0x1A08 is already configured
correctly.
[ 765.721458] EtherCAT DEBUG: Mapping of PDO 0x1A0A is already configured
correctly.
[ 765.721468] EtherCAT DEBUG: Mapping of PDO 0x1A0C is already configured
correctly.
[ 765.721477] EtherCAT DEBUG: Mapping of PDO 0x1A0E is already configured
correctly.
[ 765.721483] EtherCAT DEBUG: PDO assignment for SM3 is already configured
correctly.
[ 765.721514] EtherCAT DEBUG: SM2: Addr 0x1100, Size 0, Ctrl 0x04, En 0
[ 765.721522] EtherCAT DEBUG: SM3: Addr 0x1180, Size 32, Ctrl 0x20, En 1
[ 765.753334] EtherCAT DEBUG: FMMU: LogAddr 0x00000016, Size 32, PhysAddr
0x1180, SM3, Dir in
[ 765.853423] EtherCAT DEBUG: Slave 5 is now in SAFEOP.
[ 765.921386] EtherCAT DEBUG: Slave 5 is now in OP.
[ 765.921392] EtherCAT DEBUG: Finished configuration of slave 5.
[ 766.053361] EtherCAT: Slave states: OP.
[ 766.221335] EtherCAT: Domain 0: 2 working counter changes - now 14/14.
[ 768.528893] EtherCAT: Releasing master 0...
[ 768.528938] EtherCAT DEBUG: ecrt_master_deactivate(master = 0xdfa71800)
[ 768.528944] EtherCAT DEBUG: Stopping master thread.
[ 768.528975] EtherCAT DEBUG: Master OP thread exiting...
[ 768.529024] EtherCAT: Master thread exited.
[ 768.529139] EtherCAT: Starting EtherCAT-IDLE thread.
[ 768.529262] EtherCAT DEBUG: Idle thread running with send interval = 4000
us, max data size=45000
[ 768.529276] EtherCAT DEBUG: UNMATCHED datagram:
[ 768.529280] EtherCAT DEBUG: 0C A8 00 00 00 00 39 00 00 00 00 00 00 00 00
00
[ 768.529305] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00
[ 768.529329] EtherCAT DEBUG: 00 00 ED FF 00 00 F2 FF 00 00 FC FF 00 00 FB
FF
[ 768.529354] EtherCAT DEBUG: 00 00 EF FF 00 00 F6 FF 00 00 F9 FF 00 00 06
00
[ 768.529378] EtherCAT DEBUG: 00 00 08 0E 00
[ 768.529834] EtherCAT ERROR: Failed to receive AL state datagram for slave
0: Datagram initialized.
[ 768.529895] EtherCAT DEBUG: skipping datagram dfa71be8.
[ 768.532368] EtherCAT DEBUG: OPERATION -> IDLE.
[ 768.532377] EtherCAT: Released master 0.
[ 768.533585] EtherCAT: Slave states: SAFEOP, OP + ERROR.
[ 768.547566] EtherCAT DEBUG: Changing state of slave 0 from OP to PREOP
(forced).
[ 768.547576] EtherCAT DEBUG: Configuring slave 0...
[ 768.547635] EtherCAT DEBUG: Slave 0 is now in INIT.
[ 768.547640] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
[ 768.547676] EtherCAT DEBUG: Clearing sync manager configurations of slave
0...
[ 768.547706] EtherCAT DEBUG: Clearing DC assignment of slave 0...
[ 768.547758] EtherCAT DEBUG: Slave 0: system_time=343149658881558112
(corrected with 0), app_time=0, diff=-343149658881558112
[ 768.547766] EtherCAT DEBUG: Slave 0: Setting time offset to
18446735493586135604 (was 343141078758142100)
[ 768.547792] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
[ 768.549933] EtherCAT DEBUG: Slave 0 is now in PREOP.
[ 768.549941] EtherCAT DEBUG: Finished configuration of slave 0.
[ 768.553552] EtherCAT DEBUG: Changing state of slave 1 from OP to PREOP
(forced).
[ 768.553561] EtherCAT DEBUG: Configuring slave 1...
[ 768.553620] EtherCAT DEBUG: Slave 1 is now in INIT.
[ 768.553625] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
[ 768.553653] EtherCAT DEBUG: Clearing sync manager configurations of slave
1...
[ 768.553681] EtherCAT DEBUG: Clearing DC assignment of slave 1...
[ 768.553732] EtherCAT DEBUG: Slave 1: system_time=343149661387146160
(corrected with 0), app_time=0, diff=-343149661387146160
[ 768.553740] EtherCAT DEBUG: Slave 1: Setting time offset to
18446735494260934514 (was 343141081938529058)
[ 768.553770] EtherCAT DEBUG: Slave 1 does not support mailbox
communication.
[ 768.553819] EtherCAT DEBUG: Slave 1 is now in PREOP.
[ 768.553824] EtherCAT DEBUG: Finished configuration of slave 1.
[ 768.557491] EtherCAT DEBUG: Changing state of slave 2 from OP to PREOP
(forced).
[ 768.557500] EtherCAT DEBUG: Configuring slave 2...
[ 768.557559] EtherCAT DEBUG: Slave 2 is now in INIT.
[ 768.557564] EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
[ 768.557594] EtherCAT DEBUG: Clearing sync manager configurations of slave
2...
[ 768.557623] EtherCAT DEBUG: Clearing DC assignment of slave 2...
[ 768.557676] EtherCAT DEBUG: Slave 2: system_time=343149664559653837
(corrected with 0), app_time=0, diff=-343149664559653837
[ 768.557684] EtherCAT DEBUG: Slave 2: Setting time offset to
18446735493067969398 (was 343141083918071619)
[ 768.557714] EtherCAT DEBUG: Slave 2 does not support mailbox
communication.
[ 768.557765] EtherCAT DEBUG: Slave 2 is now in PREOP.
[ 768.557770] EtherCAT DEBUG: Finished configuration of slave 2.
[ 768.561476] EtherCAT DEBUG: Slave 3: OP -> SAFEOP + ERROR.
[ 768.566149] EtherCAT: Acknowledged state SAFEOP on slave 3.
[ 768.566186] EtherCAT DEBUG: Changing state of slave 3 from SAFEOP to
PREOP (forced).
[ 768.566192] EtherCAT DEBUG: Configuring slave 3...
[ 768.568283] EtherCAT DEBUG: Slave 3 is now in INIT.
[ 768.568288] EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
[ 768.568315] EtherCAT DEBUG: Clearing sync manager configurations of slave
3...
[ 768.568345] EtherCAT DEBUG: Clearing DC assignment of slave 3...
[ 768.568395] EtherCAT DEBUG: Slave 3: system_time=343149667238360413
(corrected with 0), app_time=0, diff=-343149667238360413
[ 768.568403] EtherCAT DEBUG: Slave 3: Setting time offset to
18446735492901644625 (was 343141086430453422)
[ 768.568433] EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
[ 768.568441] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 768.568447] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 768.568967] EtherCAT DEBUG: Slave 3 is now in PREOP.
[ 768.568972] EtherCAT DEBUG: Finished configuration of slave 3.
[ 768.570079] EtherCAT DEBUG: Slave 4: OP -> SAFEOP + ERROR.
[ 768.601674] EtherCAT: Acknowledged state SAFEOP on slave 4.
[ 768.601713] EtherCAT DEBUG: Changing state of slave 4 from SAFEOP to
PREOP (forced).
[ 768.601720] EtherCAT DEBUG: Configuring slave 4...
[ 768.619279] EtherCAT DEBUG: Slave 4 is now in INIT.
[ 768.619287] EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
[ 768.619316] EtherCAT DEBUG: Clearing sync manager configurations of slave
4...
[ 768.619345] EtherCAT DEBUG: Clearing DC assignment of slave 4...
[ 768.619397] EtherCAT DEBUG: Slave 4: system_time=343149670120827871
(corrected with 0), app_time=0, diff=-343149670120827871
[ 768.619405] EtherCAT DEBUG: Slave 4: Setting time offset to
18446735494152455423 (was 343141090563731678)
[ 768.619434] EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
[ 768.619442] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 768.619448] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 768.620457] EtherCAT DEBUG: Slave 4 is now in PREOP.
[ 768.620462] EtherCAT DEBUG: Finished configuration of slave 4.
[ 768.623291] EtherCAT DEBUG: Slave 5: OP -> SAFEOP + ERROR.
[ 768.624290] EtherCAT: Acknowledged state SAFEOP on slave 5.
[ 768.624330] EtherCAT DEBUG: Changing state of slave 5 from SAFEOP to
PREOP (forced).
[ 768.624337] EtherCAT DEBUG: Configuring slave 5...
[ 768.625187] EtherCAT DEBUG: Slave 5 is now in INIT.
[ 768.625192] EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
[ 768.625220] EtherCAT DEBUG: Clearing sync manager configurations of slave
5...
[ 768.625249] EtherCAT DEBUG: Clearing DC assignment of slave 5...
[ 768.625299] EtherCAT DEBUG: Slave 5: system_time=343149672959044704
(corrected with 0), app_time=0, diff=-343149672959044704
[ 768.625307] EtherCAT DEBUG: Slave 5: Setting time offset to
18446735492879123395 (was 343141092128616483)
[ 768.625336] EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
[ 768.625344] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 768.625350] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
[ 768.627394] EtherCAT DEBUG: Slave 5 is now in PREOP.
[ 768.627400] EtherCAT DEBUG: Finished configuration of slave 5.
[ 768.629942] EtherCAT DEBUG: Changing state of slave 6 from OP to PREOP
(forced).
[ 768.629952] EtherCAT DEBUG: Configuring slave 6...
[ 768.630009] EtherCAT DEBUG: Slave 6 is now in INIT.
[ 768.630014] EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
[ 768.630042] EtherCAT DEBUG: Clearing sync manager configurations of slave
6...
[ 768.630070] EtherCAT DEBUG: Clearing DC assignment of slave 6...
[ 768.630121] EtherCAT DEBUG: Slave 6: system_time=343149649800484691
(corrected with 0), app_time=0, diff=-343149649800484691
[ 768.630129] EtherCAT DEBUG: Slave 6: Setting time offset to
18446735492979417886 (was 343141069070350961)
[ 768.630159] EtherCAT DEBUG: Slave 6 does not support mailbox
communication.
[ 768.630208] EtherCAT DEBUG: Slave 6 is now in PREOP.
[ 768.630213] EtherCAT DEBUG: Finished configuration of slave 6.
[ 768.635265] EtherCAT DEBUG: Changing state of slave 7 from OP to PREOP
(forced).
[ 768.635275] EtherCAT DEBUG: Configuring slave 7...
[ 768.635334] EtherCAT DEBUG: Slave 7 is now in INIT.
[ 768.635339] EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
[ 768.635367] EtherCAT DEBUG: Clearing sync manager configurations of slave
7...
[ 768.635395] EtherCAT DEBUG: Clearing DC assignment of slave 7...
[ 768.635447] EtherCAT DEBUG: Slave 7: system_time=343149652469033427
(corrected with 0), app_time=0, diff=-343149652469033427
[ 768.635454] EtherCAT DEBUG: Slave 7: Setting time offset to
18446735494130638496 (was 343141072890120307)
[ 768.635483] EtherCAT DEBUG: Slave 7 does not support mailbox
communication.
[ 768.635532] EtherCAT DEBUG: Slave 7 is now in PREOP.
[ 768.635537] EtherCAT DEBUG: Finished configuration of slave 7.
[ 768.639292] EtherCAT DEBUG: Changing state of slave 8 from OP to PREOP
(forced).
[ 768.639302] EtherCAT DEBUG: Configuring slave 8...
[ 768.639360] EtherCAT DEBUG: Slave 8 is now in INIT.
[ 768.639365] EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
[ 768.639393] EtherCAT DEBUG: Clearing sync manager configurations of slave
8...
[ 768.639421] EtherCAT DEBUG: Clearing DC assignment of slave 8...
[ 768.639472] EtherCAT DEBUG: Slave 8: system_time=343149655641499711
(corrected with 0), app_time=0, diff=-343149655641499711
[ 768.639480] EtherCAT DEBUG: Slave 8: Setting time offset to
18446735492924676325 (was 343141074856624420)
[ 768.639509] EtherCAT DEBUG: Slave 8 does not support mailbox
communication.
[ 768.639559] EtherCAT DEBUG: Slave 8 is now in PREOP.
[ 768.639564] EtherCAT DEBUG: Finished configuration of slave 8.
[ 768.643345] EtherCAT: Slave states: PREOP.
[ 794.827718] usb 1-1: USB disconnect, address 2
************************************************************
4. output of Ethercat config:
No output generated (Ethercat is the latest version from sourceforge.net)
**************************************************************
5. application output:
15:58:03 e: Failed to register PDO entry: No such file or directory // this
error message only appears after the first time the application has run
(2nd, 3rd ... times)
15:58:03 o: EL 2502 Ch 0: FreqOffset= 0xFFFFFFFE
15:58:03 o: EL 2502 Ch 1: PWOffset= 0x4
15:58:03 e: Failed to register PDO entry: No such file or directory // this
error message only appears after the first time the application has run
(2nd, 3rd ... times)
15:58:03 o: EL 2502 Ch 1: FreqOffset= 0xFFFFFFFE
15:58:03 o: EL 2502 initialized - 2-Channel PWM Out
15:58:03 o: EL 4038 Module Data Offset= 0x6
-----Ursprüngliche Nachricht-----
Von: Andreas Stewering-Bone [mailto:ab at igh-essen.com]
Gesendet: Montag, 15. November 2010 13:25
An: Michael Sagner
Cc: etherlab-users at etherlab.org
Betreff: Re: [etherlab-users] EL2502 problem
Hello Michael,
please post
- your code
- output ethercat pdos -px -v
- dmesg output after ethercat debug 1 and starting your code
- output ethercat config -px -v
Greatings
Andreas
Michael Sagner schrieb:
> I made the changes to the code as quoted below, but I still don't get
> a valid data offset (0xFFFFFFFE).
>
>
> -----Ursprüngliche Nachricht-----
> Von: Andreas Stewering-Bone [mailto:Andreas.Stewering-Bone at gmx.de]
> Gesendet: Mittwoch, 10. November 2010 22:14
> An: etherlab-users at etherlab.org
> Cc: Michael Sagner
> Betreff: Re: [etherlab-users] EL2502 problem
>
> Hello Michael,
>
>
> please note the exclude directive in the xml description,
>
> you must not use pdo 0x1600 and 0x1602 at the same time, eg 0x1601 and
> 0x1603
>
>
> Am Wednesday 10 November 2010 19:27:04 schrieb Michael Sagner:
>
>> ec_pdo_info_t el2502_pdos[] = {
>> {0x1600, 1, el2502_pdo_entries + 0}, /* PWM RxPDO-Map Ch.1 */
>> {0x1602, 1, el2502_pdo_entries + 1}, /* Freq RxPDO-Map Ch.1 */
>> {0x1601, 1, el2502_pdo_entries + 2}, /* PWM RxPDO-Map Ch.2 */
>> {0x1603, 1, el2502_pdo_entries + 3}, /* Freq RxPDO-Map Ch.2 */
>> };
>>
>
> it should be
>
> ec_pdo_info_t el2502_pdos[] = {
> {0x1602, 2, el2502_pdo_entries }, /* Freq RxPDO-Map Ch.1 */
> {0x1603, 2, el2502_pdo_entries + 2}, /* Freq RxPDO-Map Ch.2 */
> };
>
> Greatings
>
> Andreas
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>
--
------------------------------------------------------------------------
Dipl.-Ing. Andreas Stewering-Bone Amtsgericht Essen HRB 11500
Ingenieurgemeinschaft IgH USt-Id.-Nr.: DE 174 626 722
Gesellschaft für Ingenieurleistungen mbH Geschäftsführung:
Heinz-Bäcker-Str. 34 Dr.-Ing. S. Rotthäuser
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Fax.: +49 201 / 360-14-14 Tel.: +49 201 / 360-14-0
Andreas.Stewering-Bone at igh-essen.com http://www.igh-essen.com
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