[etherlab-users] DC problems

carlos_jimenez at encopim.com carlos_jimenez at encopim.com
Tue Nov 15 12:26:31 CET 2011


Hello,

>>
>>> - Which NIC driver do you use?
>>
>> root at rtai:~/ethercat-default/examples/dc_rtai# lspci
>> ...
>> ___01:01.0 Ethernet controller: Intel Corporation 82547GI Gigabit   
>> Ethernet Controller___
>> 02:08.0 Ethernet controller: Intel Corporation 82801EB/ER   
>> (ICH5/ICH5R) integrated LAN Controller (rev 02)
>> ...
>>
> If you have the possibility please take a Realtec NIC
I'm looking for even though I have not

>
>
>>> - Which etherlab master version do you use?
>>
>> root at rtai:~/ethercat-default/examples/dc_rtai# ethercat version
>> IgH EtherCAT master devel afb40fd6018e
>>
>> after this commit:
>> author    Florian Pose <fp at igh-essen.com>
>> Thu Sep 22 16:52:54 2011 +0200 (7 weeks ago)
>
> Please take the stable branch
>
> do a hg clone of the reposiroy
>
> hg up stable-1.5
> ./boostrap
> ./configure .........

Now work with the stable version (1.5), kernel 2.6.28, rtai 3.8.1
>
>>> - Which slave do you want to use?
>>
>> I tried with 4 slaves, EL2004, EL1004, EL3102 and EL4132
>>
> Please note, these slave does not support DC, That is the reason for OP Mode.

Now only test with EL3102 and EL4132

>>>
>>> About OP State
>>>
>>> try to set
>>>
>>> ethercat debug 1
>>>
>>> and start your application and post the dmesg output.

I'm still having problems. I configure dc_rtai example with the  
modules EL3102 and EL4132 (Beckhoff according to whether they support  
DC), and only one set to OP state.

dmesg output:

EtherCAT 0: Slave states: PREOP.
ec_dc_rtai_sample: Starting...
EtherCAT: Requesting master 0...
EtherCAT DEBUG 0: IDLE -> OPERATION.
EtherCAT: Successfully requested master 0.
EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xf71e7800, send_cb =  
0xf881b020, receive_cb = 0xf881b000, cb_data = 0xf71e7800)
ec_dc_rtai_sample: Registering domain...
EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf71e7800)
EtherCAT DEBUG 0: Created domain 0.
ec_dc_rtai_sample: Configuring PDOs...
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf71e7800, alias  
= 0, position = 0, vendor_id = 0x00000002, product_code = 0x044d2c52)
EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044D2C52.
EtherCAT DEBUG 0 0:0: Attached slave 0.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf71e7800, alias  
= 0, position = 3, vendor_id = 0x00000002, product_code = 0x0c1e3052)
EtherCAT DEBUG 0: Creating slave configuration for 0:3, 0x00000002/0x0C1E3052.
EtherCAT DEBUG 0 0:3: Attached slave 3.
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdos(sc = 0xf72a5400, n_syncs  
= 4294967295, syncs = 0xf881c320)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xf72a5400,  
sync_index = 2, dir = 1, watchdog_mode = 0)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xf72a5400,  
sync_index = 3, dir = 2, watchdog_mode = 0)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_clear(sc =  
0xf72a5400, sync_index = 3)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc =  
0xf72a5400, sync_index = 3, pdo_index = 0x1A00)
EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A00.
EtherCAT DEBUG 0 0:3: Found PDO name "TxPDO-Map Channel 1".
EtherCAT DEBUG 0 0:3: Entry 0x3101:01.
EtherCAT DEBUG 0 0:3: Entry 0x3101:02.
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc =  
0xf72a5400, pdo_index = 0x1A00)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex =  
0x01, entry_bit_length = 8)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5400, pdo_index = 0x1A00, entry_index = 0x3101, entry_subindex =  
0x02, entry_bit_length = 16)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc =  
0xf72a5400, sync_index = 3, pdo_index = 0x1A01)
EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A01.
EtherCAT DEBUG 0 0:3: Found PDO name "TxPDO-Map Channel 2".
EtherCAT DEBUG 0 0:3: Entry 0x3102:01.
EtherCAT DEBUG 0 0:3: Entry 0x3102:02.
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc =  
0xf72a5400, pdo_index = 0x1A01)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5400, pdo_index = 0x1A01, entry_index = 0x3102, entry_subindex =  
0x01, entry_bit_length = 8)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5400, pdo_index = 0x1A01, entry_index = 0x3102, entry_subindex =  
0x02, entry_bit_length = 16)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf71e7800, alias  
= 0, position = 4, vendor_id = 0x00000002, product_code = 0x10243052)
EtherCAT DEBUG 0: Creating slave configuration for 0:4, 0x00000002/0x10243052.
EtherCAT DEBUG 0 0:4: Attached slave 4.
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdos(sc = 0xf72a5000, n_syncs  
= 4294967295, syncs = 0xf881c360)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xf72a5000,  
sync_index = 2, dir = 1, watchdog_mode = 0)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_clear(sc =  
0xf72a5000, sync_index = 2)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc =  
0xf72a5000, sync_index = 2, pdo_index = 0x1600)
EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1600.
EtherCAT DEBUG 0 0:4: Found PDO name "RxPDO 01 mapping".
EtherCAT DEBUG 0 0:4: Entry 0x3001:01.
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc =  
0xf72a5000, pdo_index = 0x1600)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5000, pdo_index = 0x1600, entry_index = 0x3001, entry_subindex =  
0x01, entry_bit_length = 16)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc =  
0xf72a5000, sync_index = 2, pdo_index = 0x1601)
EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1601.
EtherCAT DEBUG 0 0:4: Found PDO name "RxPDO 02 mapping".
EtherCAT DEBUG 0 0:4: Entry 0x3002:01.
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc =  
0xf72a5000, pdo_index = 0x1601)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc =  
0xf72a5000, pdo_index = 0x1601, entry_index = 0x3002, entry_subindex =  
0x01, entry_bit_length = 16)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xf72a5000,  
sync_index = 3, dir = 2, watchdog_mode = 0)
ec_dc_rtai_sample: Registering PDO entries...
EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xf726dfc0,  
regs = 0xf881b400)
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf71e7800, alias  
= 0, position = 3, vendor_id = 0x00000002, product_code = 0x0c1e3052)
EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0xf72a5400,  
index = 0x3101, subindex = 0x02, domain = 0xf726dfc0, bit_position =  
0x00000000)
EtherCAT DEBUG 0: Domain 0: Added 6 bytes, total 6.
EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf71e7800, alias  
= 0, position = 4, vendor_id = 0x00000002, product_code = 0x10243052)
EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0xf72a5000,  
index = 0x3001, subindex = 0x01, domain = 0xf726dfc0, bit_position =  
0x00000000)
EtherCAT DEBUG 0: Domain 0: Added 4 bytes, total 10.
EtherCAT DEBUG 0 0:4: ecrt_slave_config_dc(sc = 0xf72a5000,  
assign_activate = 0x0700, sync0_cycle = 1000000, sync0_shift = 440000,  
sync1_cycle = 0, sync1_shift = 0
ec_dc_rtai_sample: Activating master...
EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf71e7800)
EtherCAT 0: Domain0: Logical address 0x00000000, 10 byte, expected  
working counter 3.
EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000, 10 byte,  
type LRW.
EtherCAT DEBUG 0: Stopping master thread.
EtherCAT DEBUG 0: Master IDLE thread exiting...
EtherCAT 0: Master thread exited.
EtherCAT DEBUG 0: FSM datagram is f71e7be0.
EtherCAT 0: Starting EtherCAT-OP thread.
ec_dc_rtai_sample: Starting cyclic sample thread...
ec_dc_rtai_sample: RT timer started with 8333/8334 ticks.
ec_dc_rtai_sample: Initialized.
EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000  
us, max data size=45000
EtherCAT WARNING 0: 1 datagram UNMATCHED!
ec_dc_rtai_sample: 5 slave(s).
ec_dc_rtai_sample: AL states: 0x02.
ec_dc_rtai_sample: Link is up.
EtherCAT DEBUG 0: Configuration changed.
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-0: DC system time offset calculation:  
system_time=690111306919 (corrected with 4000000),  
app_time=374670051569305000, diff=374669361457998081
EtherCAT DEBUG 0-0: Setting time offset to 374669361457998081 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-1: DC system time offset calculation:  
system_time=690119275624 (corrected with 4000000),  
app_time=374670051577305000, diff=374669361458029376
EtherCAT DEBUG 0-1: Setting time offset to 374669361458029376 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-2: DC system time offset calculation:  
system_time=690127578636 (corrected with 4000000),  
app_time=374670051585305000, diff=374669361457726364
EtherCAT DEBUG 0-2: Setting time offset to 374669361457726364 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-3: DC system time offset calculation:  
system_time=690017575368 (corrected with 4000000),  
app_time=374670051593305000, diff=374669361575729632
EtherCAT DEBUG 0-3: Setting time offset to 374669361575729632 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0-4: DC system time offset calculation:  
system_time=690143304364 (corrected with 4000000),  
app_time=374670051601305000, diff=374669361458000636
EtherCAT DEBUG 0-4: Setting time offset to 374669361458000636 (was 0)
EtherCAT DEBUG 0: Writing system time offsets...
EtherCAT DEBUG 0: Requesting OP...
EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Clearing FMMU configurations...
EtherCAT DEBUG 0-0: Clearing sync manager configurations...
EtherCAT DEBUG 0-0: Clearing DC assignment...
EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
EtherCAT DEBUG 0-0: Now in PREOP.
EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size   2, Ctrl 0x00, En 0
EtherCAT DEBUG 0-0: Now in SAFEOP.
EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
EtherCAT DEBUG 0-3: Changing state from PREOP to OP.
EtherCAT DEBUG 0-3: Configuring...
EtherCAT DEBUG 0-3: Now in INIT.
EtherCAT DEBUG 0-3: Clearing FMMU configurations...
EtherCAT DEBUG 0-3: Clearing sync manager configurations...
EtherCAT DEBUG 0-3: Clearing DC assignment...
EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
EtherCAT DEBUG 0-3: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
EtherCAT DEBUG 0-3: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
EtherCAT DEBUG 0-3: Now in PREOP.
EtherCAT DEBUG 0-3: Setting PDO assignment of SM2:
EtherCAT DEBUG 0-3: Currently assigned PDOs: (none). PDOs to assign: (none)
EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 00
EtherCAT DEBUG 0-3: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
EtherCAT DEBUG 0-3: Download response:
EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
EtherCAT DEBUG 0-3: Setting PDO assignment of SM3:
EtherCAT DEBUG 0-3: Currently assigned PDOs: 0x1A00 0x1A01. PDOs to  
assign: 0x1A00 0x1A01
EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 00
EtherCAT DEBUG 0-3: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
EtherCAT DEBUG 0-3: Download response:
EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
EtherCAT DEBUG 0-3: Assigning PDO 0x1A00 at position 1.
EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:01.
EtherCAT DEBUG: 00 1A
EtherCAT DEBUG 0-3: Expedited download request:
EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
EtherCAT DEBUG 0-3: Download response:
EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00
EtherCAT DEBUG 0-3: Assigning PDO 0x1A01 at position 2.
EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:02.
EtherCAT DEBUG: 01 1A
EtherCAT DEBUG 0-3: Expedited download request:
EtherCAT DEBUG: 00 20 2B 13 1C 02 01 1A 00 00
EtherCAT DEBUG 0-3: Download response:
EtherCAT DEBUG: 00 30 60 13 1C 02 01 1A 00 00
EtherCAT DEBUG 0-3: Setting number of assigned PDOs to 2.
EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 02
EtherCAT DEBUG 0-3: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 02 00 00 00
EtherCAT DEBUG 0-3: Download response:
EtherCAT DEBUG: 00 30 60 13 1C 00 02 00 00 00
EtherCAT DEBUG 0-3: Successfully configured PDO assignment of SM3.
EtherCAT DEBUG 0-3: SM2: Addr 0x1100, Size   0, Ctrl 0x04, En 0
EtherCAT DEBUG 0-3: SM3: Addr 0x1180, Size   6, Ctrl 0x20, En 1
EtherCAT DEBUG 0 0:3: FMMU: LogAddr 0x00000000, Size   6, PhysAddr  
0x1180, SM3, Dir in
EtherCAT 0: Domain 0: Working counter changed to 1/3.
ec_dc_rtai_sample: Domain1: WC 1.
ec_dc_rtai_sample: Domain1: State 1.
EtherCAT DEBUG 0-3: Now in SAFEOP.
EtherCAT DEBUG 0-3: Now in OP. Finished configuration.
EtherCAT DEBUG 0-4: Changing state from PREOP to OP.
EtherCAT DEBUG 0-4: Configuring...
EtherCAT DEBUG 0-4: Now in INIT.
EtherCAT DEBUG 0-4: Clearing FMMU configurations...
EtherCAT DEBUG 0-4: Clearing sync manager configurations...
EtherCAT DEBUG 0-4: Clearing DC assignment...
EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
EtherCAT DEBUG 0-4: SM0: Addr 0x1800, Size 246, Ctrl 0x26, En 1
EtherCAT DEBUG 0-4: SM1: Addr 0x18F6, Size 246, Ctrl 0x22, En 1
EtherCAT DEBUG 0-4: Now in PREOP.
EtherCAT DEBUG 0-4: Setting PDO assignment of SM2:
EtherCAT DEBUG 0-4: Currently assigned PDOs: 0x1600 0x1601. PDOs to  
assign: 0x1600 0x1601
EtherCAT DEBUG 0-4: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 00
EtherCAT DEBUG 0-4: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
EtherCAT DEBUG 0-4: Download response:
EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
EtherCAT DEBUG 0-4: Assigning PDO 0x1600 at position 1.
EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:01.
EtherCAT DEBUG: 00 16
EtherCAT DEBUG 0-4: Expedited download request:
EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
EtherCAT DEBUG 0-4: Download response:
EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
EtherCAT DEBUG 0-4: Assigning PDO 0x1601 at position 2.
EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:02.
EtherCAT DEBUG: 01 16
EtherCAT DEBUG 0-4: Expedited download request:
EtherCAT DEBUG: 00 20 2B 12 1C 02 01 16 00 00
EtherCAT DEBUG 0-4: Download response:
EtherCAT DEBUG: 00 30 60 12 1C 02 01 16 00 00
EtherCAT DEBUG 0-4: Setting number of assigned PDOs to 2.
EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:00.
EtherCAT DEBUG: 02
EtherCAT DEBUG 0-4: Expedited download request:
EtherCAT DEBUG: 00 20 2F 12 1C 00 02 00 00 00
EtherCAT DEBUG 0-4: Download response:
EtherCAT DEBUG: 00 30 60 12 1C 00 02 00 00 00
EtherCAT DEBUG 0-4: Successfully configured PDO assignment of SM2.
EtherCAT DEBUG 0-4: Setting PDO assignment of SM3:
EtherCAT DEBUG 0-4: Currently assigned PDOs: (none). PDOs to assign: (none)
EtherCAT DEBUG 0-4: Setting number of assigned PDOs to zero.
EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:00.
EtherCAT DEBUG: 00
EtherCAT DEBUG 0-4: Expedited download request:
EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
EtherCAT DEBUG 0-4: Download response:
EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
EtherCAT DEBUG 0-4: SM2: Addr 0x1000, Size   4, Ctrl 0x24, En 1
EtherCAT DEBUG 0-4: SM3: Addr 0x1100, Size   0, Ctrl 0x20, En 0
EtherCAT DEBUG 0 0:4: FMMU: LogAddr 0x00000006, Size   4, PhysAddr  
0x1000, SM2, Dir out
EtherCAT DEBUG 0-4: Setting DC cycle times to 1000000 / 0.
EtherCAT DEBUG 0-4: Checking for synchrony.
EtherCAT DEBUG 0-4: Sync after    0 ms:      61880 ns
EtherCAT DEBUG 0-4: Sync after    0 ms:      55294 ns
EtherCAT DEBUG 0-4: Sync after    4 ms:      49503 ns
EtherCAT DEBUG 0-4: Sync after    4 ms:      44413 ns
EtherCAT DEBUG 0-4: Sync after    8 ms:      39938 ns
EtherCAT DEBUG 0-4: Sync after    8 ms:      36001 ns
EtherCAT DEBUG 0-4: Sync after   12 ms:      32542 ns
EtherCAT DEBUG 0-4: Sync after   12 ms:      29500 ns
EtherCAT DEBUG 0-4: Sync after   16 ms:      26825 ns
EtherCAT DEBUG 0-4: Sync after   16 ms:      24472 ns
EtherCAT DEBUG 0-4: Sync after   20 ms:      22403 ns
EtherCAT DEBUG 0-4: Sync after   20 ms:      20583 ns
EtherCAT DEBUG 0-4: Sync after   24 ms:      18982 ns
EtherCAT DEBUG 0-4: Sync after   24 ms:      17574 ns
EtherCAT DEBUG 0-4: Sync after   28 ms:      16334 ns
EtherCAT DEBUG 0-4: Sync after   28 ms:      15244 ns
EtherCAT DEBUG 0-4: Sync after   32 ms:      14283 ns
EtherCAT DEBUG 0-4: Sync after   32 ms:      13438 ns
EtherCAT DEBUG 0-4: Sync after   36 ms:      12694 ns
EtherCAT DEBUG 0-4: Sync after   36 ms:      12038 ns
EtherCAT DEBUG 0-4: Sync after   40 ms:      11460 ns
EtherCAT DEBUG 0-4: Sync after   40 ms:      10951 ns
EtherCAT DEBUG 0-4: Sync after   44 ms:      10502 ns
EtherCAT DEBUG 0-4: Sync after   44 ms:      10106 ns
EtherCAT DEBUG 0-4: Sync after   48 ms:       9755 ns
EtherCAT DEBUG 0-4: Sync after   48 ms:       9447 ns
EtherCAT DEBUG 0-4: Sync after   52 ms:       9174 ns
EtherCAT DEBUG 0-4: Sync after   52 ms:       8933 ns
EtherCAT DEBUG 0-4: Sync after   56 ms:       8718 ns
EtherCAT DEBUG 0-4: Sync after   56 ms:       8529 ns
EtherCAT DEBUG 0-4: Sync after   60 ms:       8361 ns
EtherCAT DEBUG 0-4: Sync after   60 ms:       8212 ns
EtherCAT DEBUG 0-4: Sync after   64 ms:       8079 ns
EtherCAT DEBUG 0-4: Sync after   64 ms:       7960 ns
EtherCAT DEBUG 0-4: Sync after   68 ms:       7854 ns
EtherCAT DEBUG 0-4: Sync after   68 ms:       7760 ns
EtherCAT DEBUG 0-4: Sync after   72 ms:       7675 ns
EtherCAT DEBUG 0-4: Sync after   72 ms:       7599 ns
EtherCAT DEBUG 0-4: Sync after   76 ms:       7531 ns
EtherCAT DEBUG 0-4: Sync after   76 ms:       7469 ns
EtherCAT DEBUG 0-4: Sync after   80 ms:       7414 ns
EtherCAT DEBUG 0-4: Sync after   80 ms:       7362 ns
EtherCAT DEBUG 0-4: Sync after   84 ms:       7316 ns
EtherCAT DEBUG 0-4: Sync after   84 ms:       7274 ns
EtherCAT DEBUG 0-4: Sync after   88 ms:       7236 ns
EtherCAT DEBUG 0-4: Sync after   88 ms:       7199 ns
EtherCAT DEBUG 0-4: Sync after   92 ms:       7166 ns
EtherCAT DEBUG 0-4: Sync after   92 ms:       7136 ns
EtherCAT DEBUG 0-4: Sync after   96 ms:       7106 ns
EtherCAT DEBUG 0-4: Sync after   96 ms:       7079 ns
EtherCAT DEBUG 0-4: Sync after  100 ms:       7053 ns
EtherCAT DEBUG 0-4: Sync after  100 ms:       7029 ns
EtherCAT DEBUG 0-4: Sync after  104 ms:       7006 ns
EtherCAT DEBUG 0-4: Sync after  104 ms:       6984 ns
EtherCAT DEBUG 0-4: Sync after  108 ms:       6963 ns
EtherCAT DEBUG 0-4: Sync after  108 ms:       6943 ns
EtherCAT DEBUG 0-4: Sync after  112 ms:       6923 ns
EtherCAT DEBUG 0-4: Sync after  112 ms:       6904 ns
EtherCAT DEBUG 0-4: Sync after  116 ms:       6885 ns
EtherCAT DEBUG 0-4: Sync after  116 ms:       6867 ns
EtherCAT DEBUG 0-4: Sync after  120 ms:       6849 ns
EtherCAT DEBUG 0-4: Sync after  120 ms:       6832 ns
EtherCAT DEBUG 0-4: Sync after  124 ms:       6814 ns
EtherCAT DEBUG 0-4: Sync after  124 ms:       6798 ns
EtherCAT DEBUG 0-4: Sync after  128 ms:       6781 ns
EtherCAT DEBUG 0-4: Sync after  128 ms:       6764 ns
EtherCAT DEBUG 0-4: Sync after  132 ms:       6747 ns
EtherCAT DEBUG 0-4: Sync after  132 ms:       6731 ns
EtherCAT DEBUG 0-4: Sync after  136 ms:       6715 ns
EtherCAT DEBUG 0-4: Sync after  136 ms:       6699 ns
EtherCAT DEBUG 0-4: Sync after  140 ms:       6682 ns
EtherCAT DEBUG 0-4: Sync after  140 ms:       6667 ns
EtherCAT DEBUG 0-4: Sync after  144 ms:       6650 ns
EtherCAT DEBUG 0-4: Sync after  144 ms:       6635 ns
EtherCAT DEBUG 0-4: Sync after  148 ms:       6618 ns
EtherCAT DEBUG 0-4: Sync after  148 ms:       6602 ns
EtherCAT DEBUG 0-4: Sync after  152 ms:       6585 ns
EtherCAT DEBUG 0-4: Sync after  152 ms:       6569 ns
EtherCAT DEBUG 0-4: Sync after  156 ms:       6553 ns
EtherCAT DEBUG 0-4: Sync after  156 ms:       6536 ns
EtherCAT DEBUG 0-4: Sync after  160 ms:       6521 ns
EtherCAT DEBUG 0-4: Sync after  160 ms:       6505 ns
EtherCAT DEBUG 0-4: Sync after  164 ms:       6488 ns
EtherCAT DEBUG 0-4: Sync after  164 ms:       6472 ns
EtherCAT DEBUG 0-4: Sync after  168 ms:       6455 ns
EtherCAT DEBUG 0-4: Sync after  168 ms:       6438 ns
EtherCAT DEBUG 0-4: Sync after  172 ms:       6422 ns
EtherCAT DEBUG 0-4: Sync after  172 ms:       6405 ns
EtherCAT DEBUG 0-4: Sync after  176 ms:       6389 ns
EtherCAT DEBUG 0-4: Sync after  176 ms:       6372 ns
EtherCAT DEBUG 0-4: Sync after  180 ms:       6355 ns
EtherCAT DEBUG 0-4: Sync after  180 ms:       6337 ns
EtherCAT DEBUG 0-4: Sync after  184 ms:       6322 ns
EtherCAT DEBUG 0-4: Sync after  184 ms:       6304 ns
EtherCAT DEBUG 0-4: Sync after  188 ms:       6288 ns
EtherCAT DEBUG 0-4: Sync after  188 ms:       6271 ns
EtherCAT DEBUG 0-4: Sync after  192 ms:       6253 ns
EtherCAT DEBUG 0-4: Sync after  192 ms:       6236 ns
EtherCAT DEBUG 0-4: Sync after  196 ms:       6219 ns
EtherCAT DEBUG 0-4: Sync after  196 ms:       6201 ns
EtherCAT DEBUG 0-4: Sync after  200 ms:       6184 ns
EtherCAT DEBUG 0-4: Sync after  200 ms:       6165 ns
EtherCAT DEBUG 0-4: Sync after  204 ms:       6148 ns
EtherCAT DEBUG 0-4: Sync after  204 ms:       6131 ns
EtherCAT DEBUG 0-4: Sync after  208 ms:       6114 ns
EtherCAT DEBUG 0-4: Sync after  208 ms:       6096 ns
EtherCAT DEBUG 0-4: Sync after  212 ms:       6078 ns
EtherCAT DEBUG 0-4: Sync after  212 ms:       6060 ns
EtherCAT DEBUG 0-4: Sync after  216 ms:       6041 ns
EtherCAT DEBUG 0-4: Sync after  216 ms:       6024 ns
EtherCAT DEBUG 0-4: Sync after  220 ms:       6005 ns
EtherCAT DEBUG 0-4: Sync after  220 ms:       5987 ns
EtherCAT DEBUG 0-4: Sync after  224 ms:       5968 ns
EtherCAT DEBUG 0-4: Sync after  224 ms:       5950 ns
EtherCAT DEBUG 0-4: Sync after  228 ms:       5932 ns
EtherCAT DEBUG 0-4: Sync after  228 ms:       5913 ns
EtherCAT DEBUG 0-4: Sync after  232 ms:       5895 ns
EtherCAT DEBUG 0-4: Sync after  232 ms:       5876 ns
EtherCAT DEBUG 0-4: Sync after  236 ms:       5857 ns
EtherCAT DEBUG 0-4: Sync after  236 ms:       5838 ns
EtherCAT DEBUG 0-4: Sync after  240 ms:       5819 ns
EtherCAT DEBUG 0-4: Sync after  240 ms:       5801 ns
EtherCAT DEBUG 0-4: Sync after  244 ms:       5781 ns
EtherCAT DEBUG 0-4: Sync after  244 ms:       5762 ns
EtherCAT DEBUG 0-4: Sync after  248 ms:       5743 ns
EtherCAT DEBUG 0-4: Sync after  248 ms:       5724 ns
EtherCAT DEBUG 0-4: Sync after  252 ms:       5705 ns
EtherCAT DEBUG 0-4: Sync after  252 ms:       5684 ns
EtherCAT DEBUG 0-4: Sync after  256 ms:       5666 ns
EtherCAT DEBUG 0-4: Sync after  256 ms:       5646 ns
EtherCAT DEBUG 0-4: Sync after  260 ms:       5627 ns
EtherCAT DEBUG 0-4: Sync after  260 ms:       5607 ns
EtherCAT DEBUG 0-4: Sync after  264 ms:       5587 ns
EtherCAT DEBUG 0-4: Sync after  264 ms:       5567 ns
EtherCAT DEBUG 0-4: Sync after  268 ms:       5548 ns
EtherCAT DEBUG 0-4: Sync after  268 ms:       5527 ns
EtherCAT DEBUG 0-4: Sync after  272 ms:       5507 ns
EtherCAT DEBUG 0-4: Sync after  272 ms:       5487 ns
EtherCAT DEBUG 0-4: Sync after  276 ms:       5468 ns
EtherCAT DEBUG 0-4: Sync after  276 ms:       5447 ns
EtherCAT DEBUG 0-4: Sync after  280 ms:       5427 ns
EtherCAT DEBUG 0-4: Sync after  280 ms:       5406 ns
EtherCAT DEBUG 0-4: Sync after  284 ms:       5385 ns
EtherCAT DEBUG 0-4: Sync after  284 ms:       5365 ns
EtherCAT DEBUG 0-4: Sync after  288 ms:       5345 ns
EtherCAT DEBUG 0-4: Sync after  288 ms:       5325 ns
EtherCAT DEBUG 0-4: Sync after  292 ms:       5303 ns
EtherCAT DEBUG 0-4: Sync after  292 ms:       5282 ns
EtherCAT DEBUG 0-4: Sync after  296 ms:       5261 ns
EtherCAT DEBUG 0-4: Sync after  296 ms:       5240 ns
EtherCAT DEBUG 0-4: Sync after  300 ms:       5219 ns
EtherCAT DEBUG 0-4: Sync after  300 ms:       5198 ns
EtherCAT DEBUG 0-4: Sync after  304 ms:       5177 ns
EtherCAT DEBUG 0-4: Sync after  304 ms:       5156 ns
EtherCAT DEBUG 0-4: Sync after  308 ms:       5135 ns
EtherCAT DEBUG 0-4: Sync after  308 ms:       5114 ns
EtherCAT DEBUG 0-4: Sync after  312 ms:       5092 ns
EtherCAT DEBUG 0-4: Sync after  312 ms:       5070 ns
EtherCAT DEBUG 0-4: Sync after  316 ms:       5048 ns
EtherCAT DEBUG 0-4: Sync after  316 ms:       5027 ns
EtherCAT DEBUG 0-4: Sync after  320 ms:       5005 ns
EtherCAT DEBUG 0-4: 4983 ns difference after 320 ms.
EtherCAT DEBUG 0-4: app_start_time=374670051565305000
EtherCAT DEBUG 0-4:       app_time=374670052085305000
EtherCAT DEBUG 0-4:     start_time=374670052185305000
EtherCAT DEBUG 0-4:     cycle_time=1000000
EtherCAT DEBUG 0-4:     shift_time=440000
EtherCAT DEBUG 0-4:      remainder=0
EtherCAT DEBUG 0-4:          start=374670052186745000
EtherCAT DEBUG 0-4: Setting DC cyclic operation start time to  
374670052186745000.
EtherCAT DEBUG 0-4: Setting DC AssignActivate to 0x0700.
ec_dc_rtai_sample: Domain1: WC 3.
ec_dc_rtai_sample: Domain1: State 2.
EtherCAT DEBUG 0-4: Now in SAFEOP.
EtherCAT 0: Domain 0: Working counter changed to 3/3.
EtherCAT ERROR 0-4: Failed to set OP state, slave refused state change  
(SAFEOP + ERROR).
EtherCAT ERROR 0-4: AL status message 0x002D: "No Sync Error".
EtherCAT 0-4: Acknowledged state SAFEOP.
EtherCAT 0: Slave states: PREOP, SAFEOP, OP.
ec_dc_rtai_sample: AL states: 0x0E.
ec_dc_rtai_sample: Stopping...
EtherCAT 0: Releasing master...
EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xf71e7800)
EtherCAT DEBUG 0: Stopping master thread.
EtherCAT DEBUG 0: Master OP thread exiting...
EtherCAT 0: Master thread exited.
EtherCAT 0: Starting EtherCAT-IDLE thread.
EtherCAT DEBUG 0: OPERATION -> IDLE.
EtherCAT 0: Released.
ec_dc_rtai_sample: Unloading.

Thank you for your response.

-- 
Carlos Jiménez

ENCOPIM S.L.
C/. del Parc 5 (nau 13), P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

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