[etherlab-users] Yaskawa Drive Requires SafeOp

Tue Oct 5 17:34:58 CEST 2010

That helped a little I am now in OP mode.  I turned on DC and the drive
goes through SafeOp into OP mode so the sync must be O.K.
The realtime behavior is very good I am using a  xenomai in kernel mode
driver on a 1Ghz AMCC460EX PowerPC processor.

I still have one major problem I still get 0s for the cyclic data even
though I am in OP mode!!!   

SDO's report valid data. I previously used the Copley and Kollmorgen
drives and had no problem reading and writing cyclic data.

Can you see any mistakes I have from the debug messages?

EtherCAT 0: Starting EtherCAT-IDLE thread.
EtherCAT DEBUG 0: OPERATION -> IDLE.
EtherCAT 0: Released.
EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max
data si0
EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Clearing FMMU configurations...
EtherCAT DEBUG 0-0: Clearing sync manager configurations...
EtherCAT DEBUG 0-0: Clearing DC assignment...
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: Finished configuration.
EtherCAT 0: Slave states: PREOP.
EtherCAT: Requesting master 0...
EtherCAT DEBUG 0: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xafbfb800, send_cb =
0xb91796)
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)
EtherCAT DEBUG 0: Created domain 0.
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)
EtherCAT DEBUG 0: Created domain 1.
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)
EtherCAT DEBUG 0: Created domain 2.
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xafbfb800)
EtherCAT DEBUG 0: Created domain 3.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias =
64, pos)
EtherCAT DEBUG 0: Creating slave configuration for 64:0,
0x00000539/0x02200001.
EtherCAT DEBUG 0 64:0: Attached slave 0.
Configure n_pdos 0
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf1f3000, n_syncs =
2, syn)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000,
sync_ind)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc =
0xaf1f3000, sync)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000,
sync_i)
EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601.
EtherCAT DEBUG 0 64:0: Entry 0x6040:00.
EtherCAT DEBUG 0 64:0: Entry 0x607A:00.
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xaf1f3000, pdo)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
0xaf1f3000, pdo_i)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
0xaf1f3000, pdo_i)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf1f3000,
sync_ind)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc =
0xaf1f3000, sync)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 0xaf1f3000,
sync_i)
EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01.
EtherCAT DEBUG 0 64:0: Entry 0x6041:00.
EtherCAT DEBUG 0 64:0: Entry 0x6064:00.
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc =
0xaf1f3000, pdo)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
0xaf1f3000, pdo_i)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc =
0xaf1f3000, pdo_i)
Configure PDOs on SM2.
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8c80,
regs = 0x)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias =
64, pos)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000,
index =)
EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias =
64, pos)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000,
index =)
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece83c0,
regs = 0x)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias =
64, pos)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000,
index =)
EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xafbfb800, alias =
64, pos)
EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 0xaf1f3000,
index =)
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8900,
regs = 0x)
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaece8600,
regs = 0x)
EtherCAT DEBUG 0: ecrt_master_activate(master = 0xafbfb800)
EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected
working count.
EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 6 byte,
type LRD.
EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected
working count.
EtherCAT 0:   Datagram domain1-6: Logical offset 0x00000006, 6 byte,
type LWR.
EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected
working count.
EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected
working count.
EtherCAT DEBUG 0: Stopping master thread.
EtherCAT DEBUG 0: Master IDLE thread exiting...
EtherCAT 0: Master thread exited.
EtherCAT DEBUG 0: FSM datagram is afbfbbe4.
EtherCAT 0: Starting EtherCAT-OP thread.
EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us,
max dat0
EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Clearing FMMU configurations...
EtherCAT DEBUG 0-0: Clearing sync manager configurations...
EtherCAT DEBUG 0-0: Clearing DC assignment...
EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1601.
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16
0x607A:00/32. En2
EtherCAT DEBUG 0-0: Setting entry count to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 16 00 00 00 00 00 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:01.
EtherCAT DEBUG: 10 00 40 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 16 01 10 00 40 60 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:02.
EtherCAT DEBUG: 20 00 7A 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 16 02 20 00 7A 60 
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 16 00 02 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1601.
EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1601. PDOs to assign:
0x1601
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Assigning PDO 0x1601 at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
EtherCAT DEBUG: 01 16 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 01 01 16 00 00 
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A01.
EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16
0x6064:00/32. En2
EtherCAT DEBUG 0-0: Setting entry count to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 1A 00 00 00 00 00 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:01.
EtherCAT DEBUG: 10 00 41 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 1A 01 10 00 41 60 
EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:02.
EtherCAT DEBUG: 20 00 64 60 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 1A 02 20 00 64 60 
EtherCAT DEBUG 0-0: Setting number of PDO entries to 2.
EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
EtherCAT DEBUG: 02 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 01 1A 00 02 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 01 1A 00 02 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A01.
EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01. PDOs to assign:
0x1A01
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 00 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 
EtherCAT DEBUG 0-0: Assigning PDO 0x1A01 at position 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
EtherCAT DEBUG: 01 1A 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 01 01 1A 00 00 
EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 01 
EtherCAT DEBUG 0-0: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Download response:
EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 
EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   6, Ctrl 0x74, En 1
EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size   6, Ctrl 0x30, En 1
EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000000, Size   6, PhysAddr
0x1400, SM3n
EtherCAT DEBUG 0 64:0: FMMU: LogAddr 0x00000006, Size   6, PhysAddr
0x1100, SM2t
EtherCAT DEBUG 0-0: Now in SAFEOP.
EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
EtherCAT 0: Slave states: OP.
EtherCAT DEBUG 0: Configuration changed.
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-0: DC system time offset calculation:
system_time=3754851127 (6
EtherCAT DEBUG 0-0: Setting time offset to 195945056 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0: Requesting OP...

On Tue, 2010-10-05 at 09:51 +0200, Andreas Stewering-Bone wrote:

> Hello Henry,
> 
> 
> for drives there are some points you have to look for:
> - Does the drive require DC?
> - Does the DC sync well?
>     If not the slave will get into Safeop+Err State
> - Does the master has good realtime behavior?
>     If not you will get Mailbox Error and you are not able to get the 
> drive working
> 
> Normally the Master steps into SafeOP to check if the drive is DC sync. 
> if it syncs it goes to OP.
> 
> Greatings
> 
> Andreas
> 
> 
> Henry Bausley schrieb:
> >
> > When attempting to use the latest Yaskawa drive I cannot get PDO's to 
> > update with valid data I just get 0s  as the slave stays in preop 
> > after calling ecrt_master_activate.
> >
> > Is there away to make  the master goes through SafeOP?  I didn't see 
> > the what to use in the API. According to Yaskawa the SafeOp state is 
> > required see the correspondence below:
> >
> > Also should the Yaskawa interface have SafeOp set in the SII?   When I 
> > do a ethercat slaves -v it comes back with Enable SafeOp: no
> >
> > Below is the correspondence with Yaskawa where they tell me SafeOp is 
> > required.
> >
> > I placed the debugging logs at the end of this email.
> >
> > _______________________________________________________________________________
> >
> > Hi Henry,
> >
> > This could indicate that the drive is not yet in OP mode.  One way to 
> > verify is to check if the RUN LED is solid green.  If it's not solid 
> > green, it's not in OP mode, so no PDO data is exchanged.  The drive 
> > can send SDO data in certain modes other than OP mode, so being able 
> > to read SDO information is not a good indicator of the drive's mode.
> >
> > As for bringing the drive to OP mode, our manual shows the ECAT State 
> > Machine.  Be sure to follow this state machine.  There is no way to 
> > jump from Pre-OP to OP mode without first going through Safe-OP. 
> >  Perhaps that is what your master is trying to do?  You might be able 
> > to verify this by reading a wireshark trace.
> >
> >
> >
> > Derek Lee
> > Motion Product Engineer
> > Yaskawa America Inc.
> > 2121 Norman Dr. S.
> > Waukegan, IL 60085
> >
> > Phone: 847-887-7235
> > Fax: 847-887-7280
> >
> >
> > *Henry Bausley <hbausley at deltatau.com>*
> >
> > 09/29/2010 04:06 PM
> >
> >
> > 	
> > To
> > 	Derek_Lee at Yaskawa.com
> > cc
> > 	
> > Subject
> > 	Re: Fw: Ethercat Module
> >
> >
> >
> > 	
> >
> >
> >
> > Thank you for sending another drive it arrived at my desk this morning.
> >
> > I do have a question for the developers.  
> >
> >   What would cause 0's to always be sent for the Process Data 
> > communication?
> >   If I read objects of the Service Dictionary Object via mailbox 
> > communication I can read index=$6064 subindex=0 and I get the encoder 
> > position.
> >   However if I use the default PDO mapping 0 is always returned for 
> > objects $6064 and $6041.  In addition I cannot set the output objects 
> > $607a and  $6040
> >   they always get overwritten to 0.
> >
> >   Is there a special sequence I need to perform to make cyclic Process 
> > data communication possible?
> >
> > _____________________________________________________________________________________
> >
> > EtherCAT: Master driver devel unknown
> > EtherCAT: 1 master waiting for devices.
> > ec_r8169 Gigabit Ethernet driver 2.3LK-NAPI loaded
> > ec_r8169 0000:81:00.0: no MSI. Back to INTx.
> > EtherCAT: Accepting device 00:0A:CD:17:F3:7D for master 0.
> > ec0: RTL8168b/8111b at 0xb91f8000, 00:0a:cd:17:f3:7d, XID 38000000 IRQ 18
> > EtherCAT 0: Starting EtherCAT-IDLE thread.
> > EtherCAT 0: Link state changed to UP.
> > EtherCAT 0: 1 slave(s) responding.
> > EtherCAT 0: Slave states: PREOP.
> > EtherCAT 0: Scanning bus.
> > EtherCAT 0: Bus scanning completed in 9 ms.
> > EtherCAT ERROR 0-0: Corrupt mailbox response received!
> > EtherCAT DEBUG: 8F 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00
> > EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72
> > EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60
> > EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60
> > EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60
> > EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60
> > EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60
> > EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60
> > EtherCAT 0: Master debug level set to 1.
> > EtherCAT: Requesting master 0...
> > EtherCAT DEBUG 0: IDLE -> OPERATION.
> > EtherCAT: Successfully requested master 0.
> > EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xaf33f000, send_cb = 
> > 0xb917963c, receive_cb = 0xb91795c4, cb_data = 0xaf33f000)
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> > EtherCAT DEBUG 0: Created domain 0.
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> > EtherCAT DEBUG 0: Created domain 1.
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> > EtherCAT DEBUG 0: Created domain 2.
> > EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xaf33f000)
> > EtherCAT DEBUG 0: Created domain 3.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias 
> > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> > EtherCAT DEBUG 0: Creating slave configuration for 64:0, 
> > 0x00000539/0x02200001.
> > EtherCAT DEBUG 0 64:0: Attached slave 0.
> > Configure n_pdos 0
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdos(sc = 0xaf0e4000, n_syncs 
> > = 2, syncs = 0xbcee87e0)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000, 
> > sync_index = 2, dir = 1, watchdog_mode = 0)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 
> > 0xaf0e4000, sync_index = 2)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 
> > 0xaf0e4000, sync_index = 2, pdo_index = 0x1601)
> > EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1601.
> > EtherCAT DEBUG 0 64:0: Entry 0x6040:00.
> > EtherCAT DEBUG 0 64:0: Entry 0x607A:00.
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 
> > 0xaf0e4000, pdo_index = 0x1601)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 
> > 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 
> > 0x00, entry_bit_length = 16)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 
> > 0xaf0e4000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 
> > 0x00, entry_bit_length = 32)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_sync_manager(sc = 0xaf0e4000, 
> > sync_index = 3, dir = 2, watchdog_mode = 0)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_clear(sc = 
> > 0xaf0e4000, sync_index = 3)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_assign_add(sc = 
> > 0xaf0e4000, sync_index = 3, pdo_index = 0x1A01)
> > EtherCAT DEBUG 0 64:0: Loading default mapping for PDO 0x1A01.
> > EtherCAT DEBUG 0 64:0: Entry 0x6041:00.
> > EtherCAT DEBUG 0 64:0: Entry 0x6064:00.
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_clear(sc = 
> > 0xaf0e4000, pdo_index = 0x1A01)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 
> > 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 
> > 0x00, entry_bit_length = 16)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_pdo_mapping_add(sc = 
> > 0xaf0e4000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 
> > 0x00, entry_bit_length = 32)
> > Configure PDOs on SM2.
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca640, 
> > regs = 0xbcf7b50c)
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias 
> > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 
> > 0xaf0e4000, index = 0x6041, subindex = 0x00, domain = 0xaf3ca640, 
> > bit_position = 0xbcf6b560)
> > EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias 
> > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 
> > 0xaf0e4000, index = 0x6064, subindex = 0x00, domain = 0xaf3ca640, 
> > bit_position = 0xbcf6b580)
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca740, 
> > regs = 0xbcf8750c)
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias 
> > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 
> > 0xaf0e4000, index = 0x6040, subindex = 0x00, domain = 0xaf3ca740, 
> > bit_position = 0xbcf6b520)
> > EtherCAT DEBUG 0: Domain 1: Added 6 bytes, total 6.
> > EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xaf33f000, alias 
> > = 64, position = 0, vendor_id = 0x00000539, product_code = 0x02200001)
> > EtherCAT DEBUG 0 64:0: ecrt_slave_config_reg_pdo_entry(sc = 
> > 0xaf0e4000, index = 0x607A, subindex = 0x00, domain = 0xaf3ca740, 
> > bit_position = 0xbcf6b540)
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3ca600, 
> > regs = 0xbcfa3510)
> > EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xaf3caf80, 
> > regs = 0xbcfaf510)
> > EtherCAT DEBUG 0: ecrt_master_activate(master = 0xaf33f000)
> > EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected 
> > working counter 1.
> > EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 6 byte, 
> > type LRD.
> > EtherCAT 0: Domain1: Logical address 0x00000006, 6 byte, expected 
> > working counter 1.
> > EtherCAT 0:   Datagram domain1-6: Logical offset 0x00000006, 6 byte, 
> > type LWR.
> > EtherCAT 0: Domain2: Logical address 0x0000000c, 0 byte, expected 
> > working counter 0.
> > EtherCAT 0: Domain3: Logical address 0x0000000c, 0 byte, expected 
> > working counter 0.
> > EtherCAT DEBUG 0: Stopping master thread.
> > EtherCAT DEBUG 0: Master IDLE thread exiting...
> > EtherCAT 0: Master thread exited.
> > EtherCAT DEBUG 0: FSM datagram is af33f3e4.
> > EtherCAT 0: Starting EtherCAT-OP thread.
> > EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 
> > us, max data size=11250
> > root at 10.34.9.212:/opt/ppmac#
> >
> >
> >
> >
> > ------------------------------------------------------------------------
> >
> > _______________________________________________
> > etherlab-users mailing list
> > etherlab-users at etherlab.org
> > http://lists.etherlab.org/mailman/listinfo/etherlab-users
> >   
> 
> 

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