[etherlab-users] ethercat initialisation of kollmorgan s300 servo drives - F29 error
Alison Eve
A.Eve at CranfieldAerospace.com
Wed Jan 12 11:25:01 CET 2011
> Hi,
>
> I am trying to help a colleague with a problem on an Ethercat system we have.
> Below is a copy of his email.
>
> I have done some research and have found the following two pieces of information.
>
> F29 Fieldbus not synchronized Timing error Communication problem by the controller
Power supply External power supply for an expansion card missed
>
> and
>
F29 0x10000000 DPR-card (EtherCAT)
is activated if the communication is switched to a lower level
while the drive is enabled
a not supported mapping of cyclic data is refined
or a SW enable is set via slotcard without a set HW Enable.
> Both these obviously imply a communication problem but we are unable to work out what. Is it timing, lack of communication at a specified time, too much communication? Has any one else seen this? Can any one suggest something to try?
>
> Thank you for your time
>
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> -----Original Message-----
> From: Ian Norton
> Sent: 06 January 2011 12:01
> To: etherlab-users at etherlab.org
> Cc: Phil Simpson
> Subject: ehtercat bus initialisation problem
>
> Hi,
>
> I have a system that's made up of 3 Kollmorgen S300 servo drives and 11 Beckoff i/o modules (EP3174 and EP4174).
>
> The system has problems getting the S300's into OP state. Specifically, one or more of the drives ends up with a F29 FieldBus error.
>
> The system never comes up first time and takes up to 10 or more attempts at restarting the Master and configuration before finally all the drives are in OP state. Gradually, during the retries, all the drives will establish the OP state.
>
> I enclose two sets of "dmesg" diagnostics outputs using "Debug 0" and "Debug 1" levels and corresponding 'slave' command line tool o/p at various stages.
>
> dmes1 is Debug level 0 o/p. st1 is the corresponding slave status. dmes1 contains all o/p for all retries.
>
> dmes2, dmes2a-d contain debug level 1 o/p. st2 has the slave status.
>
> You can see at the end of dmes1 and dmes2d that the bus finally aquires the OP status on all devices.
>
> Can anyone see what is going wrong here please?
>
> regards
> Ian
>
I have deleted the attached file as they were making the message too big.
Here is the text from st2:
[root at localhost mgp]# /opt/etherlab/bin/ethercat slaves
0 0:0 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
1 0:1 INIT + S300/S400/S600/S700 EtherCAT Drive (CoE)
2 0:2 INIT + S300/S400/S600/S700 EtherCAT Drive (CoE)
3 0:3 INIT + S300/S400/S600/S700 EtherCAT Drive (CoE)
4 0:4 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
5 0:5 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
6 0:6 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
7 0:7 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
8 0:8 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
9 0:9 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
10 0:10 PREOP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
11 0:11 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
12 0:12 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
13 0:13 PREOP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
[root at localhost mgp]# /opt/etherlab/bin/ethercat slaves
0 0:0 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
1 0:1 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
2 0:2 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
3 0:3 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
4 0:4 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
5 0:5 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
6 0:6 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
7 0:7 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
8 0:8 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
9 0:9 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
10 0:10 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
11 0:11 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
12 0:12 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
13 0:13 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
[root at localhost mgp]# /opt/etherlab/bin/ethercat slaves
0 0:0 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
1 0:1 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
2 0:2 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
3 0:3 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
4 0:4 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
5 0:5 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
6 0:6 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
7 0:7 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
8 0:8 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
9 0:9 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
10 0:10 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
11 0:11 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
12 0:12 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
13 0:13 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
0 0:0 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
1 0:1 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
2 0:2 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
3 0:3 PREOP E S300/S400/S600/S700 EtherCAT Drive (CoE)
4 0:4 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
5 0:5 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
6 0:6 INIT E 0x00000000:0x00000000
7 0:7 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
8 0:8 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
9 0:9 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
10 0:10 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
11 0:11 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
12 0:12 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
13 0:13 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
0 0:0 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
1 0:1 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
2 0:2 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
3 0:3 OP + S300/S400/S600/S700 EtherCAT Drive (CoE)
4 0:4 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
5 0:5 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
6 0:6 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
7 0:7 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
8 0:8 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
9 0:9 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
10 0:10 OP + EP4174-0002 4K. Ana. Ausgang +/-10V, 0-10V, 0/4-20mA konfigurie
11 0:11 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
12 0:12 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
13 0:13 OP + EP3174-0002 4K. Ana. Eingang +/-10V, 0-10V, 0/4-20mA konfigurie
And here is some text from dmes2a (where the slaves fail to initialise)
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 78 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 8D waited 2000 us.
EtherCAT WARNING: 406 datagrams TIMED OUT!
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 98 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index A5 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index CB waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index E2 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 02 waited 2000 us.
EtherCAT WARNING: Unknown category type 0x003C in slave 13.
EtherCAT DEBUG: Reading alias from register 0x0012 of slave 13.
EtherCAT DEBUG: Alias of slave 13 is 0.
EtherCAT DEBUG: Reading mailbox syncmanager configuration of slave 13.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 37 waited 2000 us.
EtherCAT DEBUG: Mailbox configuration of slave 13:
EtherCAT DEBUG: RX offset=0x1000 size=128
EtherCAT DEBUG: TX offset=0x1080 size=128
EtherCAT DEBUG: Scanning PDO assignment and mapping of slave 13.
EtherCAT DEBUG: Reading PDO assignment of SM2.
EtherCAT DEBUG: Uploading SDO 0x1C12:00 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 50 waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 12 1C 00 00 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 00
EtherCAT DEBUG: 0 PDOs assigned.
EtherCAT DEBUG: Reading PDO assignment of SM3.
EtherCAT DEBUG: Uploading SDO 0x1C13:00 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 53 waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 13 1C 00 04 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 04
EtherCAT DEBUG: 4 PDOs assigned.
EtherCAT DEBUG: Uploading SDO 0x1C13:01 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 57 waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 13 1C 00 04 00 00 00
EtherCAT ERROR: Received upload response for wrong SDO (0x1C13:00, requested: 0x1C13:01) from slave 13.
EtherCAT DEBUG: 00 30 4F 13 1C 00 04 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 5C waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 00 1A
EtherCAT DEBUG: PDO 0x1A00.
EtherCAT DEBUG: Uploading SDO 0x1A00:00 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 4F 00 1A 00 0A 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 0A
EtherCAT DEBUG: 10 PDO entries mapped.
EtherCAT DEBUG: Uploading SDO 0x1A00:01 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 01 01 01 00 60
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 01 01 00 60
EtherCAT DEBUG: PDO entry 0x6000:01, 1 bit, "???".
EtherCAT DEBUG: Uploading SDO 0x1A00:02 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index BD waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 01 02 00 60
EtherCAT DEBUG: PDO entry 0x6000:02, 1 bit, "???".
EtherCAT DEBUG: Uploading SDO 0x1A00:03 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 03 02 03 00 60
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 02 03 00 60
EtherCAT DEBUG: PDO entry 0x6000:03, 2 bit, "???".
EtherCAT DEBUG: Uploading SDO 0x1A00:04 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 07 waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 04 02 05 00 60
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 02 05 00 60
EtherCAT DEBUG: PDO entry 0x6000:05, 2 bit, "???".
EtherCAT DEBUG: Uploading SDO 0x1A00:05 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 22 waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 05 01 07 00 60
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 01 07 00 60
EtherCAT DEBUG: PDO entry 0x6000:07, 1 bit, "???".
EtherCAT DEBUG: Uploading SDO 0x1A00:06 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 2F waited 2000 us.
EtherCAT DEBUG: Upload response:
EtherCAT DEBUG: 00 30 43 00 1A 06 01 00 00 00
EtherCAT DEBUG: Uploaded data:
EtherCAT DEBUG: 01 00 00 00
EtherCAT DEBUG: PDO entry 0x0000:00, 1 bit, "Gap".
EtherCAT DEBUG: Uploading SDO 0x1A00:07 from slave 13.
EtherCAT DEBUG: Upload request:
EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 51 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 53 waited 2000 us.
EtherCAT ERROR: Reception of CoE upload response failed on slave 13: No response.
EtherCAT ERROR: Failed to read mapped PDO entry.
EtherCAT ERROR: Failed to read mapped PDO entries for PDO 0x1A00.
EtherCAT DEBUG: Reading of PDO configuration finished.
EtherCAT: Bus scanning completed in 5040 ms.
EtherCAT DEBUG: Changing state of slave 0 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 0...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 5E waited 2000 us.
EtherCAT DEBUG: Slave 0 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
EtherCAT DEBUG: Clearing sync manager configurations of slave 0...
EtherCAT DEBUG: Clearing DC assignment of slave 0...
EtherCAT DEBUG: Slave 0: DC system_time=7132872080 old_offset=18446743656926078366, app_time=0, new_offset=18446743649793206286
EtherCAT DEBUG: Configuring mailbox sync managers of slave 0.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 73 waited 2000 us.
EtherCAT DEBUG: Slave 0 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 0.
EtherCAT DEBUG: Changing state of slave 1 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 1...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 81 waited 2000 us.
EtherCAT DEBUG: Slave 1 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
EtherCAT DEBUG: Clearing sync manager configurations of slave 1...
EtherCAT DEBUG: Clearing DC assignment of slave 1...
EtherCAT DEBUG: Slave 1: DC system_time=2840122864 old_offset=1245830352, app_time=0, new_offset=18446744072115259104
EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
EtherCAT DEBUG: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1C00, Size 512, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 90 waited 2000 us.
EtherCAT DEBUG: Slave 1 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 1.
EtherCAT DEBUG: Changing state of slave 2 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 2...
EtherCAT DEBUG: Slave 2 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 2...
EtherCAT DEBUG: Clearing sync manager configurations of slave 2...
EtherCAT DEBUG: Clearing DC assignment of slave 2...
EtherCAT DEBUG: Slave 2: DC system_time=2839720744 old_offset=1115263732, app_time=0, new_offset=18446744071985094604
EtherCAT DEBUG: Configuring mailbox sync managers of slave 2.
EtherCAT DEBUG: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1C00, Size 512, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 2 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 2.
EtherCAT DEBUG: Changing state of slave 3 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 3...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index AE waited 2000 us.
EtherCAT DEBUG: Slave 3 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 3...
EtherCAT DEBUG: Clearing sync manager configurations of slave 3...
EtherCAT DEBUG: Clearing DC assignment of slave 3...
EtherCAT DEBUG: Slave 3: DC system_time=2838060984 old_offset=1205563252, app_time=0, new_offset=18446744072077053884
EtherCAT DEBUG: Configuring mailbox sync managers of slave 3.
EtherCAT DEBUG: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1C00, Size 512, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 3 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 3.
EtherCAT DEBUG: Changing state of slave 4 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 4...
EtherCAT DEBUG: Slave 4 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 4...
EtherCAT DEBUG: Clearing sync manager configurations of slave 4...
EtherCAT DEBUG: Clearing DC assignment of slave 4...
EtherCAT DEBUG: Slave 4: DC system_time=7133056760 old_offset=18446743656909802966, app_time=0, new_offset=18446743649776746206
EtherCAT DEBUG: Configuring mailbox sync managers of slave 4.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index E6 waited 2000 us.
EtherCAT DEBUG: Slave 4 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 4.
EtherCAT DEBUG: Changing state of slave 5 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 5...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index EF waited 2000 us.
EtherCAT DEBUG: Slave 5 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 5...
EtherCAT DEBUG: Clearing sync manager configurations of slave 5...
EtherCAT DEBUG: Clearing DC assignment of slave 5...
EtherCAT DEBUG: Slave 5: DC system_time=7132002400 old_offset=18446743656902909706, app_time=0, new_offset=18446743649770907306
EtherCAT DEBUG: Configuring mailbox sync managers of slave 5.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 5 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 5.
EtherCAT DEBUG: Changing state of slave 6 from PREOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 6...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 15 waited 2000 us.
EtherCAT DEBUG: Slave 6 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 6...
EtherCAT DEBUG: Clearing sync manager configurations of slave 6...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 6.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 6 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 6.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 30 waited 2000 us.
EtherCAT: Acknowledged state SAFEOP on slave 7.
EtherCAT DEBUG: Changing state of slave 7 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 7...
EtherCAT DEBUG: Slave 7 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 7...
EtherCAT DEBUG: Clearing sync manager configurations of slave 7...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 7.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 45 waited 2000 us.
EtherCAT DEBUG: Slave 7 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 7.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 49 waited 2000 us.
EtherCAT: Acknowledged state SAFEOP on slave 8.
EtherCAT DEBUG: Changing state of slave 8 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 8...
EtherCAT DEBUG: Slave 8 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 8...
EtherCAT DEBUG: Clearing sync manager configurations of slave 8...
EtherCAT DEBUG: Clearing DC assignment of slave 8...
EtherCAT DEBUG: Slave 8: DC system_time=276525131280 old_offset=18446743926284180006, app_time=0, new_offset=18446743649759048726
EtherCAT DEBUG: Configuring mailbox sync managers of slave 8.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 8 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 8.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 6C waited 2000 us.
EtherCAT: Acknowledged state SAFEOP on slave 9.
EtherCAT DEBUG: Changing state of slave 9 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 9...
EtherCAT DEBUG: Slave 9 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 9...
EtherCAT DEBUG: Clearing sync manager configurations of slave 9...
EtherCAT DEBUG: Clearing DC assignment of slave 9...
EtherCAT DEBUG: Slave 9: DC system_time=276447518040 old_offset=18446743926205099946, app_time=0, new_offset=18446743649757581906
EtherCAT DEBUG: Configuring mailbox sync managers of slave 9.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 9 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 9.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 90 waited 2000 us.
EtherCAT: Acknowledged state SAFEOP on slave 10.
EtherCAT DEBUG: Changing state of slave 10 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 10...
EtherCAT DEBUG: Slave 10 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 10...
EtherCAT DEBUG: Clearing sync manager configurations of slave 10...
EtherCAT DEBUG: Clearing DC assignment of slave 10...
EtherCAT DEBUG: Slave 10: DC system_time=276372466320 old_offset=18446743926124552366, app_time=0, new_offset=18446743649752086046
EtherCAT DEBUG: Configuring mailbox sync managers of slave 10.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 10 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 10.
EtherCAT: Acknowledged state SAFEOP on slave 11.
EtherCAT DEBUG: Changing state of slave 11 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 11...
EtherCAT DEBUG: Slave 11 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 11...
EtherCAT DEBUG: Clearing sync manager configurations of slave 11...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 11.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 11 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 11.
EtherCAT: Acknowledged state SAFEOP on slave 12.
EtherCAT DEBUG: Changing state of slave 12 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 12...
EtherCAT DEBUG: Slave 12 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 12...
EtherCAT DEBUG: Clearing sync manager configurations of slave 12...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 12.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 34 waited 2000 us.
EtherCAT DEBUG: Slave 12 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 12.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 4E waited 2000 us.
EtherCAT: Acknowledged state SAFEOP on slave 13.
EtherCAT DEBUG: Changing state of slave 13 from SAFEOP to PREOP (forced).
EtherCAT DEBUG: Configuring slave 13...
EtherCAT DEBUG: Slave 13 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 13...
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 57 waited 2000 us.
EtherCAT DEBUG: Clearing sync manager configurations of slave 13...
EtherCAT DEBUG: Configuring mailbox sync managers of slave 13.
EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 5B waited 2000 us.
EtherCAT DEBUG: Slave 13 is now in PREOP.
EtherCAT DEBUG: Finished configuration of slave 13.
EtherCAT DEBUG: Slave 0 ready for SDO/FOE.
EtherCAT DEBUG: Slave 1 ready for SDO/FOE.
EtherCAT DEBUG: Slave 2 ready for SDO/FOE.
EtherCAT DEBUG: Slave 3 ready for SDO/FOE.
EtherCAT DEBUG: Slave 4 ready for SDO/FOE.
EtherCAT DEBUG: Slave 5 ready for SDO/FOE.
EtherCAT DEBUG: Slave 6 ready for SDO/FOE.
EtherCAT DEBUG: Slave 7 ready for SDO/FOE.
EtherCAT DEBUG: Slave 8 ready for SDO/FOE.
EtherCAT DEBUG: Slave 9 ready for SDO/FOE.
EtherCAT DEBUG: Slave 10 ready for SDO/FOE.
EtherCAT DEBUG: Slave 11 ready for SDO/FOE.
EtherCAT DEBUG: Slave 12 ready for SDO/FOE.
EtherCAT DEBUG: Slave 13 ready for SDO/FOE.
EtherCAT: Slave states: PREOP.
EtherCAT DEBUG: Fetching SDO dictionary from slave 0.
EtherCAT WARNING: 33 datagrams TIMED OUT!
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 03 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 68 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 72 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 86 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 88 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 0: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 4.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index B4 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index E5 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 27 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 29 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 4: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 5.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 3A waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description request failed on slave 5: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 6.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 8A waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index D6 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index F2 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 09 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 0C waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 0D waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description request failed on slave 6: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 7.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 7A waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 7D waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description request failed on slave 7: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 8.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 92 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index B3 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index B7 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index C5 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index DE waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index FD waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 13 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 30 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 32 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 8: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 9.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 45 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 5B waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 6E waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 7E waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 87 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index AE waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description request failed on slave 9: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 10.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 24 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 28 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 30 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 4F waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 65 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index AC waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index BF waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index C2 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index C3 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description request failed on slave 10: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 11.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index E8 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 40 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 6D waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 7B waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 7D waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 11: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 12.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index D4 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index DA waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index E6 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index F2 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index F5 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index F8 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 08 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 49 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 68 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 72 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 83 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 8A waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 9B waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index A4 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index C8 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 1E waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 20 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 12: No response.
EtherCAT DEBUG: Fetching SDO dictionary from slave 13.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 3C waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 3F waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 47 waited 2000 us.
EtherCAT DEBUG: TIMED OUT datagram c59d6b14, index 49 waited 2000 us.
EtherCAT ERROR: Reception of CoE SDO description response failed on slave 13: No response.
EtherCAT: Requesting master 0...
EtherCAT DEBUG: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG: ecrt_master_create_domain(master = 0xc59d6800)
EtherCAT DEBUG: Created domain 0.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: Creating slave configuration for 0:1, 0x0000006A/0x03000600.
EtherCAT DEBUG: Attached slave 1 to config 0:1.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd1c68800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd1c68800, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd1c68800, sync_index = 2, pdo_index = 0x1702)
EtherCAT DEBUG: Loading default mapping for PDO 0x1702 in config 0:1.
EtherCAT DEBUG: Found PDO name "Outputs".
EtherCAT DEBUG: Entry 0x606B:00.
EtherCAT DEBUG: Entry 0x6040:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd1c68800, pdo_index = 0x1702)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd1c68800, pdo_index = 0x1702, entry_index = 0x606B, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd1c68800, pdo_index = 0x1702, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd1c68800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd1c68800, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd1c68800, sync_index = 3, pdo_index = 0x1B03)
EtherCAT DEBUG: Loading default mapping for PDO 0x1B03 in config 0:1.
EtherCAT DEBUG: Found PDO name "Inputs".
EtherCAT DEBUG: Entry 0x6064:00.
EtherCAT DEBUG: Entry 0x6077:00.
EtherCAT DEBUG: Entry 0x6041:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd1c68800, pdo_index = 0x1B03)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd1c68800, pdo_index = 0x1B03, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd1c68800, pdo_index = 0x1B03, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd1c68800, pdo_index = 0x1B03, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd1c68800, index = 0x6060, subindex = 0x00, data = 0xd5392680, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd1c68800, index = 0x3691, subindex = 0x01, data = 0xd5392680, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x3613, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x35CA, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x6060, subindex = 0x00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x352D, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x35B4, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x352C, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd1c68800, index = 0x3628, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:0, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 0 to config 0:0.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xe7340c00, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xe7340c00, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xe7340c00, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:0.
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xe7340c00, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xe7340c00, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xe7340c00, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:0.
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xe7340c00, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xe7340c00, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xe7340c00, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:0.
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xe7340c00, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xe7340c00, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xe7340c00, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:0.
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xe7340c00, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xe7340c00, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xe7340c00, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xe7340c00, index = 0x1C32, subindex = 0x01, data = 0xd5392e20, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xe7340c00, index = 0x8000, subindex = 0x05, data = 0xd5392e20, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xe7340c00, index = 0x8010, subindex = 0x05, data = 0xd5392e20, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xe7340c00, index = 0x8020, subindex = 0x05, data = 0xd5392e20, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xe7340c00, index = 0x8030, subindex = 0x05, data = 0xd5392e20, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: Creating slave configuration for 0:3, 0x0000006A/0x03000600.
EtherCAT DEBUG: Attached slave 3 to config 0:3.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc7fbbc00, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc7fbbc00, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbbc00, sync_index = 2, pdo_index = 0x1702)
EtherCAT DEBUG: Loading default mapping for PDO 0x1702 in config 0:3.
EtherCAT DEBUG: Found PDO name "Outputs".
EtherCAT DEBUG: Entry 0x606B:00.
EtherCAT DEBUG: Entry 0x6040:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbbc00, pdo_index = 0x1702)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbbc00, pdo_index = 0x1702, entry_index = 0x606B, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbbc00, pdo_index = 0x1702, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc7fbbc00, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc7fbbc00, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbbc00, sync_index = 3, pdo_index = 0x1B03)
EtherCAT DEBUG: Loading default mapping for PDO 0x1B03 in config 0:3.
EtherCAT DEBUG: Found PDO name "Inputs".
EtherCAT DEBUG: Entry 0x6064:00.
EtherCAT DEBUG: Entry 0x6077:00.
EtherCAT DEBUG: Entry 0x6041:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbbc00, pdo_index = 0x1B03)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbbc00, pdo_index = 0x1B03, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbbc00, pdo_index = 0x1B03, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbbc00, pdo_index = 0x1B03, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbbc00, index = 0x6060, subindex = 0x00, data = 0xd5392480, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbbc00, index = 0x3691, subindex = 0x01, data = 0xd5392480, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x3613, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x35CA, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x6060, subindex = 0x00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x352D, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x35B4, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x352C, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xc7fbbc00, index = 0x3628, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: Creating slave configuration for 0:2, 0x0000006A/0x03000600.
EtherCAT DEBUG: Attached slave 2 to config 0:2.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xead98400, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xead98400, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xead98400, sync_index = 2, pdo_index = 0x1702)
EtherCAT DEBUG: Loading default mapping for PDO 0x1702 in config 0:2.
EtherCAT DEBUG: Found PDO name "Outputs".
EtherCAT DEBUG: Entry 0x606B:00.
EtherCAT DEBUG: Entry 0x6040:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xead98400, pdo_index = 0x1702)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xead98400, pdo_index = 0x1702, entry_index = 0x606B, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xead98400, pdo_index = 0x1702, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xead98400, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xead98400, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xead98400, sync_index = 3, pdo_index = 0x1B03)
EtherCAT DEBUG: Loading default mapping for PDO 0x1B03 in config 0:2.
EtherCAT DEBUG: Found PDO name "Inputs".
EtherCAT DEBUG: Entry 0x6064:00.
EtherCAT DEBUG: Entry 0x6077:00.
EtherCAT DEBUG: Entry 0x6041:00.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xead98400, pdo_index = 0x1B03)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xead98400, pdo_index = 0x1B03, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xead98400, pdo_index = 0x1B03, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xead98400, pdo_index = 0x1B03, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xead98400, index = 0x6060, subindex = 0x00, data = 0xea921d80, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xead98400, index = 0x3691, subindex = 0x01, data = 0xea921d80, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x3613, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x35CA, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x6060, subindex = 0x00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x352D, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x35B4, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x352C, subindex = 0x01, size = 1)
EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xead98400, index = 0x3628, subindex = 0x01, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:4, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 4 to config 0:4.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc82eb800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc82eb800, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc82eb800, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:4.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 1".
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc82eb800, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc82eb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc82eb800, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:4.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 2".
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc82eb800, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc82eb800, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc82eb800, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:4.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 3".
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc82eb800, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc82eb800, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc82eb800, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:4.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 4".
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc82eb800, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc82eb800, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc82eb800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc82eb800, index = 0x1C32, subindex = 0x01, data = 0xc51bf740, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc82eb800, index = 0x8000, subindex = 0x05, data = 0xc51bf740, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc82eb800, index = 0x8010, subindex = 0x05, data = 0xc51bf740, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc82eb800, index = 0x8020, subindex = 0x05, data = 0xc51bf740, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc82eb800, index = 0x8030, subindex = 0x05, data = 0xc51bf740, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: Creating slave configuration for 0:6, 0x00000002/0x0C664052.
EtherCAT DEBUG: Attached slave 6 to config 0:6.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd56ff400, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd56ff400, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd56ff400, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd56ff400, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:6.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 1".
EtherCAT DEBUG: Entry 0x6000:01.
EtherCAT DEBUG: Entry 0x6000:02.
EtherCAT DEBUG: Entry 0x6000:03.
EtherCAT DEBUG: Entry 0x6000:05.
EtherCAT DEBUG: Entry 0x6000:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1800:07.
EtherCAT DEBUG: Entry 0x1800:09.
EtherCAT DEBUG: Entry 0x6000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd56ff400, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd56ff400, sync_index = 3, pdo_index = 0x1A02)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A02 in config 0:6.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 2".
EtherCAT DEBUG: Entry 0x6010:01.
EtherCAT DEBUG: Entry 0x6010:02.
EtherCAT DEBUG: Entry 0x6010:03.
EtherCAT DEBUG: Entry 0x6010:05.
EtherCAT DEBUG: Entry 0x6010:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1802:07.
EtherCAT DEBUG: Entry 0x1802:09.
EtherCAT DEBUG: Entry 0x6010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd56ff400, pdo_index = 0x1A02)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd56ff400, sync_index = 3, pdo_index = 0x1A04)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A04 in config 0:6.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 3".
EtherCAT DEBUG: Entry 0x6020:01.
EtherCAT DEBUG: Entry 0x6020:02.
EtherCAT DEBUG: Entry 0x6020:03.
EtherCAT DEBUG: Entry 0x6020:05.
EtherCAT DEBUG: Entry 0x6020:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1804:07.
EtherCAT DEBUG: Entry 0x1804:09.
EtherCAT DEBUG: Entry 0x6020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd56ff400, pdo_index = 0x1A04)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd56ff400, sync_index = 3, pdo_index = 0x1A06)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A06 in config 0:6.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 4".
EtherCAT DEBUG: Entry 0x6030:01.
EtherCAT DEBUG: Entry 0x6030:02.
EtherCAT DEBUG: Entry 0x6030:03.
EtherCAT DEBUG: Entry 0x6030:05.
EtherCAT DEBUG: Entry 0x6030:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1806:07.
EtherCAT DEBUG: Entry 0x1806:09.
EtherCAT DEBUG: Entry 0x6030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd56ff400, pdo_index = 0x1A06)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd56ff400, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x8000, subindex = 0x06, data = 0xc73907e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x8010, subindex = 0x06, data = 0xc73907e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x8020, subindex = 0x06, data = 0xc73907e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x8030, subindex = 0x06, data = 0xc73907e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x1C33, subindex = 0x01, data = 0xc73907e0, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd56ff400, index = 0x1C33, subindex = 0x02, data = 0xc73907e0, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:5, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 5 to config 0:5.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc7fbb800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc7fbb800, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbb800, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:5.
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbb800, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbb800, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:5.
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbb800, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbb800, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbb800, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:5.
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbb800, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbb800, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc7fbb800, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:5.
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc7fbb800, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc7fbb800, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc7fbb800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbb800, index = 0x1C32, subindex = 0x01, data = 0xd5392ec0, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbb800, index = 0x8000, subindex = 0x05, data = 0xd5392ec0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbb800, index = 0x8010, subindex = 0x05, data = 0xd5392ec0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbb800, index = 0x8020, subindex = 0x05, data = 0xd5392ec0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc7fbb800, index = 0x8030, subindex = 0x05, data = 0xd5392ec0, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: Creating slave configuration for 0:7, 0x00000002/0x0C664052.
EtherCAT DEBUG: Attached slave 7 to config 0:7.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xebb20800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xebb20800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xebb20800, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xebb20800, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:7.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 1".
EtherCAT DEBUG: Entry 0x6000:01.
EtherCAT DEBUG: Entry 0x6000:02.
EtherCAT DEBUG: Entry 0x6000:03.
EtherCAT DEBUG: Entry 0x6000:05.
EtherCAT DEBUG: Entry 0x6000:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1800:07.
EtherCAT DEBUG: Entry 0x1800:09.
EtherCAT DEBUG: Entry 0x6000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xebb20800, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xebb20800, sync_index = 3, pdo_index = 0x1A02)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A02 in config 0:7.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 2".
EtherCAT DEBUG: Entry 0x6010:01.
EtherCAT DEBUG: Entry 0x6010:02.
EtherCAT DEBUG: Entry 0x6010:03.
EtherCAT DEBUG: Entry 0x6010:05.
EtherCAT DEBUG: Entry 0x6010:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1802:07.
EtherCAT DEBUG: Entry 0x1802:09.
EtherCAT DEBUG: Entry 0x6010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xebb20800, pdo_index = 0x1A02)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xebb20800, sync_index = 3, pdo_index = 0x1A04)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A04 in config 0:7.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 3".
EtherCAT DEBUG: Entry 0x6020:01.
EtherCAT DEBUG: Entry 0x6020:02.
EtherCAT DEBUG: Entry 0x6020:03.
EtherCAT DEBUG: Entry 0x6020:05.
EtherCAT DEBUG: Entry 0x6020:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1804:07.
EtherCAT DEBUG: Entry 0x1804:09.
EtherCAT DEBUG: Entry 0x6020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xebb20800, pdo_index = 0x1A04)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xebb20800, sync_index = 3, pdo_index = 0x1A06)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A06 in config 0:7.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 4".
EtherCAT DEBUG: Entry 0x6030:01.
EtherCAT DEBUG: Entry 0x6030:02.
EtherCAT DEBUG: Entry 0x6030:03.
EtherCAT DEBUG: Entry 0x6030:05.
EtherCAT DEBUG: Entry 0x6030:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1806:07.
EtherCAT DEBUG: Entry 0x1806:09.
EtherCAT DEBUG: Entry 0x6030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xebb20800, pdo_index = 0x1A06)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xebb20800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x8000, subindex = 0x06, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x8010, subindex = 0x06, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x8020, subindex = 0x06, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x8030, subindex = 0x06, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x1C33, subindex = 0x01, data = 0xc5e028e0, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xebb20800, index = 0x1C33, subindex = 0x02, data = 0xc5e028e0, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:8, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 8 to config 0:8.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xf33af800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xf33af800, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xf33af800, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:8.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 1".
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf33af800, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf33af800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xf33af800, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:8.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 2".
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf33af800, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf33af800, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xf33af800, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:8.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 3".
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf33af800, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf33af800, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xf33af800, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:8.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 4".
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xf33af800, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xf33af800, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xf33af800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xf33af800, index = 0x1C32, subindex = 0x01, data = 0xc5e028e0, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xf33af800, index = 0x8000, subindex = 0x05, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xf33af800, index = 0x8010, subindex = 0x05, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xf33af800, index = 0x8020, subindex = 0x05, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xf33af800, index = 0x8030, subindex = 0x05, data = 0xc5e028e0, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 11, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: Creating slave configuration for 0:11, 0x00000002/0x0C664052.
EtherCAT DEBUG: Attached slave 11 to config 0:11.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc916f000, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc916f000, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc916f000, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916f000, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:11.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 1".
EtherCAT DEBUG: Entry 0x6000:01.
EtherCAT DEBUG: Entry 0x6000:02.
EtherCAT DEBUG: Entry 0x6000:03.
EtherCAT DEBUG: Entry 0x6000:05.
EtherCAT DEBUG: Entry 0x6000:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1800:07.
EtherCAT DEBUG: Entry 0x1800:09.
EtherCAT DEBUG: Entry 0x6000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916f000, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916f000, sync_index = 3, pdo_index = 0x1A02)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A02 in config 0:11.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 2".
EtherCAT DEBUG: Entry 0x6010:01.
EtherCAT DEBUG: Entry 0x6010:02.
EtherCAT DEBUG: Entry 0x6010:03.
EtherCAT DEBUG: Entry 0x6010:05.
EtherCAT DEBUG: Entry 0x6010:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1802:07.
EtherCAT DEBUG: Entry 0x1802:09.
EtherCAT DEBUG: Entry 0x6010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916f000, pdo_index = 0x1A02)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916f000, sync_index = 3, pdo_index = 0x1A04)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A04 in config 0:11.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 3".
EtherCAT DEBUG: Entry 0x6020:01.
EtherCAT DEBUG: Entry 0x6020:02.
EtherCAT DEBUG: Entry 0x6020:03.
EtherCAT DEBUG: Entry 0x6020:05.
EtherCAT DEBUG: Entry 0x6020:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1804:07.
EtherCAT DEBUG: Entry 0x1804:09.
EtherCAT DEBUG: Entry 0x6020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916f000, pdo_index = 0x1A04)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916f000, sync_index = 3, pdo_index = 0x1A06)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A06 in config 0:11.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 4".
EtherCAT DEBUG: Entry 0x6030:01.
EtherCAT DEBUG: Entry 0x6030:02.
EtherCAT DEBUG: Entry 0x6030:03.
EtherCAT DEBUG: Entry 0x6030:05.
EtherCAT DEBUG: Entry 0x6030:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1806:07.
EtherCAT DEBUG: Entry 0x1806:09.
EtherCAT DEBUG: Entry 0x6030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916f000, pdo_index = 0x1A06)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916f000, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x8000, subindex = 0x06, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x8010, subindex = 0x06, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x8020, subindex = 0x06, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x8030, subindex = 0x06, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x1C33, subindex = 0x01, data = 0xc5e02580, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916f000, index = 0x1C33, subindex = 0x02, data = 0xc5e02580, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 9, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:9, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 9 to config 0:9.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc916fc00, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc916fc00, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916fc00, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:9.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 1".
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916fc00, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916fc00, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916fc00, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:9.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 2".
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916fc00, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916fc00, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916fc00, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:9.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 3".
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916fc00, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916fc00, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc916fc00, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:9.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 4".
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc916fc00, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc916fc00, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc916fc00, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916fc00, index = 0x1C32, subindex = 0x01, data = 0xc5e02580, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916fc00, index = 0x8000, subindex = 0x05, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916fc00, index = 0x8010, subindex = 0x05, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916fc00, index = 0x8020, subindex = 0x05, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc916fc00, index = 0x8030, subindex = 0x05, data = 0xc5e02580, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 12, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: Creating slave configuration for 0:12, 0x00000002/0x0C664052.
EtherCAT DEBUG: Attached slave 12 to config 0:12.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd5533800, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd5533800, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd5533800, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd5533800, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:12.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 1".
EtherCAT DEBUG: Entry 0x6000:01.
EtherCAT DEBUG: Entry 0x6000:02.
EtherCAT DEBUG: Entry 0x6000:03.
EtherCAT DEBUG: Entry 0x6000:05.
EtherCAT DEBUG: Entry 0x6000:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1800:07.
EtherCAT DEBUG: Entry 0x1800:09.
EtherCAT DEBUG: Entry 0x6000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd5533800, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd5533800, sync_index = 3, pdo_index = 0x1A02)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A02 in config 0:12.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 2".
EtherCAT DEBUG: Entry 0x6010:01.
EtherCAT DEBUG: Entry 0x6010:02.
EtherCAT DEBUG: Entry 0x6010:03.
EtherCAT DEBUG: Entry 0x6010:05.
EtherCAT DEBUG: Entry 0x6010:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1802:07.
EtherCAT DEBUG: Entry 0x1802:09.
EtherCAT DEBUG: Entry 0x6010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd5533800, pdo_index = 0x1A02)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd5533800, sync_index = 3, pdo_index = 0x1A04)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A04 in config 0:12.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 3".
EtherCAT DEBUG: Entry 0x6020:01.
EtherCAT DEBUG: Entry 0x6020:02.
EtherCAT DEBUG: Entry 0x6020:03.
EtherCAT DEBUG: Entry 0x6020:05.
EtherCAT DEBUG: Entry 0x6020:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1804:07.
EtherCAT DEBUG: Entry 0x1804:09.
EtherCAT DEBUG: Entry 0x6020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd5533800, pdo_index = 0x1A04)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd5533800, sync_index = 3, pdo_index = 0x1A06)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A06 in config 0:12.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 4".
EtherCAT DEBUG: Entry 0x6030:01.
EtherCAT DEBUG: Entry 0x6030:02.
EtherCAT DEBUG: Entry 0x6030:03.
EtherCAT DEBUG: Entry 0x6030:05.
EtherCAT DEBUG: Entry 0x6030:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1806:07.
EtherCAT DEBUG: Entry 0x1806:09.
EtherCAT DEBUG: Entry 0x6030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd5533800, pdo_index = 0x1A06)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd5533800, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x8000, subindex = 0x06, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x8010, subindex = 0x06, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x8020, subindex = 0x06, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x8030, subindex = 0x06, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x1C33, subindex = 0x01, data = 0xc6a64c00, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xd5533800, index = 0x1C33, subindex = 0x02, data = 0xc6a64c00, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 10, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: Creating slave configuration for 0:10, 0x00000002/0x104E4052.
EtherCAT DEBUG: Attached slave 10 to config 0:10.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc53f6c00, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xc53f6c00, sync_index = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc53f6c00, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG: Loading default mapping for PDO 0x1600 in config 0:10.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 1".
EtherCAT DEBUG: Entry 0x7000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc53f6c00, pdo_index = 0x1600)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc53f6c00, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc53f6c00, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG: Loading default mapping for PDO 0x1601 in config 0:10.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 2".
EtherCAT DEBUG: Entry 0x7010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc53f6c00, pdo_index = 0x1601)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc53f6c00, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc53f6c00, sync_index = 2, pdo_index = 0x1602)
EtherCAT DEBUG: Loading default mapping for PDO 0x1602 in config 0:10.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 3".
EtherCAT DEBUG: Entry 0x7020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc53f6c00, pdo_index = 0x1602)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc53f6c00, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xc53f6c00, sync_index = 2, pdo_index = 0x1603)
EtherCAT DEBUG: Loading default mapping for PDO 0x1603 in config 0:10.
EtherCAT DEBUG: Found PDO name "AO Outputs Channel 4".
EtherCAT DEBUG: Entry 0x7030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xc53f6c00, pdo_index = 0x1603)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xc53f6c00, pdo_index = 0x1603, entry_index = 0x7030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xc53f6c00, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc53f6c00, index = 0x1C32, subindex = 0x01, data = 0xc6a64c00, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc53f6c00, index = 0x8000, subindex = 0x05, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc53f6c00, index = 0x8010, subindex = 0x05, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc53f6c00, index = 0x8020, subindex = 0x05, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xc53f6c00, index = 0x8030, subindex = 0x05, data = 0xc6a64c00, size = 1)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 13, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: Creating slave configuration for 0:13, 0x00000002/0x0C664052.
EtherCAT DEBUG: Attached slave 13 to config 0:13.
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xee6c8c00, sync_index = 2, dir = 1, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xee6c8c00, sync_index = 3, dir = 2, watchdog_mode = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xee6c8c00, sync_index = 3)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xee6c8c00, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A00 in config 0:13.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 1".
EtherCAT DEBUG: Entry 0x6000:01.
EtherCAT DEBUG: Entry 0x6000:02.
EtherCAT DEBUG: Entry 0x6000:03.
EtherCAT DEBUG: Entry 0x6000:05.
EtherCAT DEBUG: Entry 0x6000:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1800:07.
EtherCAT DEBUG: Entry 0x1800:09.
EtherCAT DEBUG: Entry 0x6000:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xee6c8c00, pdo_index = 0x1A00)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xee6c8c00, sync_index = 3, pdo_index = 0x1A02)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A02 in config 0:13.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 2".
EtherCAT DEBUG: Entry 0x6010:01.
EtherCAT DEBUG: Entry 0x6010:02.
EtherCAT DEBUG: Entry 0x6010:03.
EtherCAT DEBUG: Entry 0x6010:05.
EtherCAT DEBUG: Entry 0x6010:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1802:07.
EtherCAT DEBUG: Entry 0x1802:09.
EtherCAT DEBUG: Entry 0x6010:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xee6c8c00, pdo_index = 0x1A02)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A02, entry_index = 0x6010, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xee6c8c00, sync_index = 3, pdo_index = 0x1A04)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A04 in config 0:13.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 3".
EtherCAT DEBUG: Entry 0x6020:01.
EtherCAT DEBUG: Entry 0x6020:02.
EtherCAT DEBUG: Entry 0x6020:03.
EtherCAT DEBUG: Entry 0x6020:05.
EtherCAT DEBUG: Entry 0x6020:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1804:07.
EtherCAT DEBUG: Entry 0x1804:09.
EtherCAT DEBUG: Entry 0x6020:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xee6c8c00, pdo_index = 0x1A04)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x1804, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A04, entry_index = 0x6020, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xee6c8c00, sync_index = 3, pdo_index = 0x1A06)
EtherCAT DEBUG: Loading default mapping for PDO 0x1A06 in config 0:13.
EtherCAT DEBUG: Found PDO name "AI Standard Channel 4".
EtherCAT DEBUG: Entry 0x6030:01.
EtherCAT DEBUG: Entry 0x6030:02.
EtherCAT DEBUG: Entry 0x6030:03.
EtherCAT DEBUG: Entry 0x6030:05.
EtherCAT DEBUG: Entry 0x6030:07.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x0000:00.
EtherCAT DEBUG: Entry 0x1806:07.
EtherCAT DEBUG: Entry 0x1806:09.
EtherCAT DEBUG: Entry 0x6030:11.
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xee6c8c00, pdo_index = 0x1A06)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x02, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x03, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x05, entry_bit_length = 2)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x07, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x1806, entry_subindex = 0x09, entry_bit_length = 1)
EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xee6c8c00, pdo_index = 0x1A06, entry_index = 0x6030, entry_subindex = 0x11, entry_bit_length = 16)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x8000, subindex = 0x06, data = 0xcd92e5a0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x8010, subindex = 0x06, data = 0xcd92e5a0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x8020, subindex = 0x06, data = 0xcd92e5a0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x8030, subindex = 0x06, data = 0xcd92e5a0, size = 1)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x1C33, subindex = 0x01, data = 0xcd92e5a0, size = 2)
EtherCAT DEBUG: ecrt_slave_config_sdo(sc = 0xee6c8c00, index = 0x1C33, subindex = 0x02, data = 0xcd92e5a0, size = 4)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd1c68800, index = 0x606B, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 6 bytes, total 6.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd1c68800, index = 0x6040, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xe7340c00, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 14.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd1c68800, index = 0x6064, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 22.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd1c68800, index = 0x6077, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 1, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd1c68800, index = 0x6041, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbbc00, index = 0x606B, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 6 bytes, total 28.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbbc00, index = 0x6040, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xe7340c00, index = 0x7010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbbc00, index = 0x6064, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 36.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbbc00, index = 0x6077, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 3, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbbc00, index = 0x6041, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xead98400, index = 0x606B, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 6 bytes, total 42.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xead98400, index = 0x6040, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xe7340c00, index = 0x7020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xead98400, index = 0x6064, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 50.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xead98400, index = 0x6077, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 2, vendor_id = 0x0000006a, product_code = 0x03000600)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xead98400, index = 0x6041, subindex = 0x00, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc82eb800, index = 0x7020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 58.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd56ff400, index = 0x6020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 16 bytes, total 74.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbb800, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 82.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xebb20800, index = 0x6000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 16 bytes, total 98.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf33af800, index = 0x7020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 106.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 11, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916f000, index = 0x6020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 16 bytes, total 122.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 9, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916fc00, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 130.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 12, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd5533800, index = 0x6000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 16 bytes, total 146.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 9, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916fc00, index = 0x7010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 12, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd5533800, index = 0x6010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc82eb800, index = 0x7030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd56ff400, index = 0x6030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbb800, index = 0x7010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xebb20800, index = 0x6010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf33af800, index = 0x7030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 11, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916f000, index = 0x6030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 9, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916fc00, index = 0x7020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 12, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd5533800, index = 0x6020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 9, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916fc00, index = 0x7030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 12, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd5533800, index = 0x6030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc82eb800, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd56ff400, index = 0x6000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc82eb800, index = 0x7010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 6, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd56ff400, index = 0x6010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbb800, index = 0x7020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xebb20800, index = 0x6020, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc7fbb800, index = 0x7030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 7, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xebb20800, index = 0x6030, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf33af800, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 11, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916f000, index = 0x6000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 8, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xf33af800, index = 0x7010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 11, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc916f000, index = 0x6010, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 10, vendor_id = 0x00000002, product_code = 0x104e4052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xc53f6c00, index = 0x7000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 8 bytes, total 154.
EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc59d6800, alias = 0, position = 13, vendor_id = 0x00000002, product_code = 0x0c664052)
EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xee6c8c00, index = 0x6000, subindex = 0x11, domain = 0xcd05de80, bit_position = 0xcb659f1c)
EtherCAT DEBUG: Domain 0: Added 16 bytes, total 170.
EtherCAT DEBUG: ecrt_domain_external_memory(domain = 0xcd05de80, mem = 0xf88cf000)
EtherCAT DEBUG: ecrt_master_callbacks(master = 0xc59d6800, send_cb = 0xf91b055f, receive_cb = 0xf91b058a, cb_data = 0xc59d6800)
EtherCAT DEBUG: ecrt_master_activate(master = 0xc59d6800)
EtherCAT: Domain0: Logical address 0x00000000, 170 byte, expected working counter 26.
EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 170 byte, type LRW.
EtherCAT DEBUG: Stopping master thread.
EtherCAT DEBUG: Master IDLE thread exiting...
EtherCAT: Master thread exited.
EtherCAT DEBUG: FSM datagram is c59d6b14.
EtherCAT: Starting EtherCAT-OP thread.
EtherCAT DEBUG: Operation thread running with fsm interval = 1000 us, max data size=11250
EtherCAT WARNING: 67 datagrams TIMED OUT!
EtherCAT DEBUG: mmap()
EtherCAT DEBUG: Nopage fault vma, address = 0xb7fb4000, offset = 0x0, page = c1125340
EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
EtherCAT DEBUG: Configuring slave 1...
EtherCAT DEBUG: Slave 1 is now in INIT.
EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
EtherCAT DEBUG: Clearing sync manager configurations of slave 1...
EtherCAT DEBUG: Clearing DC assignment of slave 1...
EtherCAT DEBUG: Slave 1: DC system_time=667907888 old_offset=2700674784, app_time=0, new_offset=2032766896
EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
EtherCAT DEBUG: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1
EtherCAT DEBUG: SM1: Addr 0x1C00, Size 512, Ctrl 0x22, En 1
EtherCAT DEBUG: Slave 1 is now in PREOP.
EtherCAT DEBUG: Downloading SDO 0x6060:00 to slave 1.
EtherCAT DEBUG: FE
EtherCAT DEBUG: Expedited download request:
EtherCAT DEBUG: 00 20 2F 60 60 00 FE 00 00 00
EtherCAT DEBUG: Download response:
EtherCAT DEBUG: 00 30 60 60 60 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: Downloading SDO 0x3691:01 to slave 1.
EtherCAT DEBUG: 00 00 06 00
EtherCAT DEBUG: Expedited download request:
EtherCAT DEBUG: 00 20 23 91 36 01 00 00 06 00
EtherCAT: Master debug level set to 0.
EtherCAT: Domain 0: Working counter changed to 2/26.
EtherCAT ERROR: Failed to set SAFEOP state, slave 1 refused state change (PREOP + ERROR).
EtherCAT ERROR: AL status message 0x0017: "Invalid sync manager configuration".
EtherCAT: Acknowledged state PREOP on slave 1.
EtherCAT ERROR: Failed to set SAFEOP state, slave 2 refused state change (PREOP + ERROR).
EtherCAT ERROR: AL status message 0x0017: "Invalid sync manager configuration".
EtherCAT: Acknowledged state PREOP on slave 2.
EtherCAT ERROR: Failed to set SAFEOP state, slave 3 refused state change (PREOP + ERROR).
EtherCAT ERROR: AL status message 0x0017: "Invalid sync manager configuration".
EtherCAT: Acknowledged state PREOP on slave 3.
EtherCAT: Slave states: PREOP, OP.
EtherCAT: Domain 0: 13 working counter changes - now 23/26.
> regards
> Alison
>
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