[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      
D-45356 Essen                                Dr.-Ing. T. Finke           
Tel.: +49 201 / 360-14-15                    Dr.-Ing. W. Hagemeister     
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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