[etherlab-users] (no subject)

Benjamin zsx1987friend at 126.com
Fri Oct 5 16:35:50 CEST 2012 

[ 3623.052712] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1600, entry_index = 0x0000, entry_subindex = 0x00,
entry_bit_length = 8)
[ 3623.052723] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc =
0xf702e800, sync_index = 3, dir = 2, watchdog_mode = 0)
[ 3623.052732] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc =
0xf702e800, sync_index = 3)
[ 3623.052742] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc =
0xf702e800, sync_index = 3, pdo_index = 0x1A00)
[ 3623.052750] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[ 3623.052757] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 3623.052765] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc
= 0xf702e800, pdo_index = 0x1A00)
[ 3623.052775] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00,
entry_bit_length = 16)
[ 3623.052787] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00,
entry_bit_length = 32)
[ 3623.052799] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00,
entry_bit_length = 8)
[ 3623.052811] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00,
entry_bit_length = 16)
[ 3623.052823] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc =
0xf702e800, pdo_index = 0x1A00, entry_index = 0x0000, entry_subindex = 0x00,
entry_bit_length = 8)
[ 3623.052832] ec_rtai_sample: Registering PDO entries...
[ 3623.052840] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xf18fdb00, regs = 0xfa2a56a0)
[ 3623.052849] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052861] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6040, subindex = 0x00, domain = 0xf18fdb00,
bit_position = 0x(null))
[ 3623.052872] EtherCAT DEBUG 0: Domain 0: Added 8 bytes, total 8.
[ 3623.052880] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052891] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6060, subindex = 0x00, domain = 0xf18fdb00,
bit_position = 0x(null))
[ 3623.052902] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052913] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x607A, subindex = 0x00, domain = 0xf18fdb00,
bit_position = 0x(null))
[ 3623.052923] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain =
0xf18fdac0, regs = 0xfa2a5700)
[ 3623.052931] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052943] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6041, subindex = 0x00, domain = 0xf18fdac0,
bit_position = 0x(null))
[ 3623.052953] EtherCAT DEBUG 0: Domain 1: Added 10 bytes, total 10.
[ 3623.052961] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052972] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6064, subindex = 0x00, domain = 0xf18fdac0,
bit_position = 0x(null))
[ 3623.052983] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.052994] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6077, subindex = 0x00, domain = 0xf18fdac0,
bit_position = 0x(null))
[ 3623.053004] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
0xf6b65800, alias = 0, position = 0, vendor_id = 0x000001b9, product_code =
0x00000002)
[ 3623.053013] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc =
0xf702e800, index = 0x6061, subindex = 0x00, domain = 0xf18fdac0,
bit_position = 0x(null))
[ 3623.053022] ec_rtai_sample: Activating master...
[ 3623.053029] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf6b65800)
[ 3623.053039] EtherCAT 0: Domain0: Logical address 0x00000000, 8 byte,
expected working counter 1.
[ 3623.053047] EtherCAT 0:   Datagram domain0-0: Logical offset 0x00000000,
8 byte, type LWR.
[ 3623.053057] EtherCAT 0: Domain1: Logical address 0x00000008, 10 byte,
expected working counter 1.
[ 3623.053065] EtherCAT 0:   Datagram domain1-8: Logical offset 0x00000008,
10 byte, type LRD.
[ 3623.053073] EtherCAT DEBUG 0: Stopping master thread.
[ 3623.053090] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 3623.053111] EtherCAT 0: Master thread exited.
[ 3623.053124] EtherCAT DEBUG 0: FSM datagram is f6b65cc0.
[ 3623.053132] EtherCAT 0: Starting EtherCAT-OP thread.
[ 3623.053203] ec_rtai_sample: Starting cyclic sample thread...
[ 3623.053211] EtherCAT DEBUG 0: Operation thread running with fsm interval
= 4000 us, max data size=45000
[ 3623.057258] ec_rtai_sample: RT timer started with 6249/6250 ticks.
[ 3623.057271] ec_rtai_sample: Initialized.
[ 3623.057784] ec_rtai_sample: 1 slave(s).
[ 3623.057791] ec_rtai_sample: AL states: 0x02.
[ 3623.057796] ec_rtai_sample: Link is up.
[ 3623.057801] ec_rtai_sample: Beckhoff: State 0x02.
[ 3623.057807] ec_rtai_sample: Beckhoff: online.
[ 3623.064339] EtherCAT DEBUG 0: Configuration changed (aborting state
check).
[ 3623.064350] EtherCAT DEBUG 0: Writing system time offsets...
[ 3623.068405] EtherCAT DEBUG 0-0: DC system time offset calculation:
system_time=72702016170 (corrected with 0), app_time=390969623875367000,
diff=390969551173350830
[ 3623.068418] EtherCAT DEBUG 0-0: Setting time offset to 390969551173350830
(was 0)
[ 3623.072417] EtherCAT DEBUG 0: Writing system time offsets...
[ 3623.072426] EtherCAT DEBUG 0: Requesting OP...
[ 3623.080266] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 3623.080273] EtherCAT DEBUG 0-0: Configuring...
[ 3623.082236] EtherCAT DEBUG 0-0: Now in INIT.
[ 3623.082241] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 3623.083234] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 3623.084480] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 3623.085245] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 3623.085254] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En
1
[ 3623.085261] EtherCAT DEBUG 0-0: SM1: Addr 0x1C00, Size 512, Ctrl 0x22, En
1
[ 3623.088417] EtherCAT DEBUG 0-0: Now in PREOP.
[ 3623.088429] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 3623.088436] EtherCAT DEBUG: 00 
[ 3623.088445] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.088451] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[ 3623.091236] EtherCAT DEBUG 0-0: Download response:
[ 3623.091241] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[ 3623.091260] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 3623.091264] EtherCAT DEBUG: 00 
[ 3623.091270] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.091274] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[ 3623.094239] EtherCAT DEBUG 0-0: Download response:
[ 3623.094244] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[ 3623.094263] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 3623.094267] EtherCAT DEBUG: 04 
[ 3623.094274] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.094278] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[ 3623.097250] EtherCAT DEBUG 0-0: Download response:
[ 3623.097259] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[ 3623.097290] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 3623.097295] EtherCAT DEBUG: 10 00 40 60 
[ 3623.097310] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.097316] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[ 3623.100468] EtherCAT DEBUG 0-0: Download response:
[ 3623.100475] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[ 3623.100502] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 3623.100508] EtherCAT DEBUG: 20 00 7A 60 
[ 3623.100523] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.100529] EtherCAT DEBUG: 00 20 23 00 16 02 20 00 7A 60 
[ 3623.103231] EtherCAT DEBUG 0-0: Download response:
[ 3623.103236] EtherCAT DEBUG: 00 30 60 00 16 02 20 00 7A 60 
[ 3623.103255] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 3623.103259] EtherCAT DEBUG: 08 00 60 60 
[ 3623.103269] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.103273] EtherCAT DEBUG: 00 20 23 00 16 03 08 00 60 60 
[ 3623.106242] EtherCAT DEBUG 0-0: Download response:
[ 3623.106249] EtherCAT DEBUG: 00 30 60 00 16 03 08 00 60 60 
[ 3623.106275] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 3623.106279] EtherCAT DEBUG: 08 00 00 00 
[ 3623.106289] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.106293] EtherCAT DEBUG: 00 20 23 00 16 04 08 00 00 00 
[ 3623.109244] EtherCAT DEBUG 0-0: Download response:
[ 3623.109251] EtherCAT DEBUG: 00 30 60 00 16 04 08 00 00 00 
[ 3623.109275] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 3623.109280] EtherCAT DEBUG: 00 16 
[ 3623.109287] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.109291] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[ 3623.112418] EtherCAT DEBUG 0-0: Download response:
[ 3623.112423] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[ 3623.112442] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 3623.112446] EtherCAT DEBUG: 01 
[ 3623.112453] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.112456] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[ 3623.115228] EtherCAT DEBUG 0-0: Download response:
[ 3623.115232] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[ 3623.115250] EtherCAT DEBUG 0-0: Downloading SDO 0x6060:00.
[ 3623.115254] EtherCAT DEBUG: 08 
[ 3623.115260] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.115264] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 
[ 3623.118230] EtherCAT DEBUG 0-0: Download response:
[ 3623.118235] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 
[ 3623.118254] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 3623.118258] EtherCAT DEBUG: 00 
[ 3623.118264] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.118268] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[ 3623.121231] EtherCAT DEBUG 0-0: Download response:
[ 3623.121236] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[ 3623.121254] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 3623.121258] EtherCAT DEBUG: 00 
[ 3623.121264] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.121268] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[ 3623.124414] EtherCAT DEBUG 0-0: Download response:
[ 3623.124420] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[ 3623.124438] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 3623.124442] EtherCAT DEBUG: 10 00 41 60 
[ 3623.124453] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.124456] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[ 3623.127225] EtherCAT DEBUG 0-0: Download response:
[ 3623.127229] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[ 3623.127247] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 3623.127251] EtherCAT DEBUG: 20 00 64 60 
[ 3623.127261] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.127265] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60 
[ 3623.130227] EtherCAT DEBUG 0-0: Download response:
[ 3623.130231] EtherCAT DEBUG: 00 30 60 00 1A 02 20 00 64 60 
[ 3623.130250] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 3623.130254] EtherCAT DEBUG: 08 00 61 60 
[ 3623.130264] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.130268] EtherCAT DEBUG: 00 20 23 00 1A 03 08 00 61 60 
[ 3623.133227] EtherCAT DEBUG 0-0: Download response:
[ 3623.133232] EtherCAT DEBUG: 00 30 60 00 1A 03 08 00 61 60 
[ 3623.133251] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[ 3623.133254] EtherCAT DEBUG: 10 00 77 60 
[ 3623.133264] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.133268] EtherCAT DEBUG: 00 20 23 00 1A 04 10 00 77 60 
[ 3623.136423] EtherCAT DEBUG 0-0: Download response:
[ 3623.136428] EtherCAT DEBUG: 00 30 60 00 1A 04 10 00 77 60 
[ 3623.136447] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:05.
[ 3623.136451] EtherCAT DEBUG: 08 00 00 00 
[ 3623.136461] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.136464] EtherCAT DEBUG: 00 20 23 00 1A 05 08 00 00 00 
[ 3623.139221] EtherCAT DEBUG 0-0: Download response:
[ 3623.139225] EtherCAT DEBUG: 00 30 60 00 1A 05 08 00 00 00 
[ 3623.139243] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 3623.139247] EtherCAT DEBUG: 05 
[ 3623.139253] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.139257] EtherCAT DEBUG: 00 20 2F 00 1A 00 05 00 00 00 
[ 3623.142224] EtherCAT DEBUG 0-0: Download response:
[ 3623.142229] EtherCAT DEBUG: 00 30 60 00 1A 00 05 00 00 00 
[ 3623.142247] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 3623.142251] EtherCAT DEBUG: 00 1A 
[ 3623.142259] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.142263] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[ 3623.145225] EtherCAT DEBUG 0-0: Download response:
[ 3623.145230] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[ 3623.145249] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 3623.145253] EtherCAT DEBUG: 01 
[ 3623.145259] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.145263] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[ 3623.148389] EtherCAT DEBUG 0-0: Download response:
[ 3623.148394] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[ 3623.148415] EtherCAT DEBUG 0-0: Downloading SDO 0x1C32:01.
[ 3623.148419] EtherCAT DEBUG: 03 
[ 3623.148426] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.148429] EtherCAT DEBUG: 00 20 2F 32 1C 01 03 00 00 00 
[ 3623.151219] EtherCAT DEBUG 0-0: Download response:
[ 3623.151224] EtherCAT DEBUG: 00 30 60 32 1C 01 03 00 00 00 
[ 3623.151243] EtherCAT DEBUG 0-0: Downloading SDO 0x1C33:01.
[ 3623.151247] EtherCAT DEBUG: 03 
[ 3623.151253] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.151257] EtherCAT DEBUG: 00 20 2F 33 1C 01 03 00 00 00 
[ 3623.154220] EtherCAT DEBUG 0-0: Download response:
[ 3623.154225] EtherCAT DEBUG: 00 30 60 33 1C 01 03 00 00 00 
[ 3623.154248] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1600.
[ 3623.154254] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[ 3623.154259] EtherCAT DEBUG 0-0: Upload request:
[ 3623.154263] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 
[ 3623.157223] EtherCAT DEBUG 0-0: Upload response:
[ 3623.157228] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00 
[ 3623.157246] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.157250] EtherCAT DEBUG: 04 
[ 3623.157256] EtherCAT DEBUG 0-0: 4 PDO entries mapped.
[ 3623.157262] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01.
[ 3623.157266] EtherCAT DEBUG 0-0: Upload request:
[ 3623.157270] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 
[ 3623.160235] EtherCAT DEBUG 0-0: Upload response:
[ 3623.160240] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 
[ 3623.160428] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.160433] EtherCAT DEBUG: 10 00 40 60 
[ 3623.160567] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 3623.160575] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02.
[ 3623.160580] EtherCAT DEBUG 0-0: Upload request:
[ 3623.160584] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 
[ 3623.163217] EtherCAT DEBUG 0-0: Upload response:
[ 3623.163222] EtherCAT DEBUG: 00 30 43 00 16 02 20 00 7A 60 
[ 3623.163239] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.163243] EtherCAT DEBUG: 20 00 7A 60 
[ 3623.163254] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".
[ 3623.163260] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03.
[ 3623.163265] EtherCAT DEBUG 0-0: Upload request:
[ 3623.163268] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 
[ 3623.166218] EtherCAT DEBUG 0-0: Upload response:
[ 3623.166223] EtherCAT DEBUG: 00 30 43 00 16 03 08 00 60 60 
[ 3623.166241] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.166244] EtherCAT DEBUG: 08 00 60 60 
[ 3623.166256] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???".
[ 3623.166261] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04.
[ 3623.166266] EtherCAT DEBUG 0-0: Upload request:
[ 3623.166270] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 
[ 3623.169220] EtherCAT DEBUG 0-0: Upload response:
[ 3623.169225] EtherCAT DEBUG: 00 30 43 00 16 04 08 00 00 00 
[ 3623.169242] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.169246] EtherCAT DEBUG: 08 00 00 00 
[ 3623.169258] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 8 bit, "Gap".
[ 3623.169264] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[ 3623.169268] EtherCAT DEBUG 0-0: Currently mapped PDO entries:
0x6040:00/16 0x607A:00/32 0x6060:00/8 0x0000:00/8. Entries to map:
0x6040:00/16 0x607A:00/32 0x6060:00/8 0x0000:00/8
[ 3623.169299] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 3623.169305] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 3623.169309] EtherCAT DEBUG: 00 
[ 3623.169315] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.169319] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[ 3623.172430] EtherCAT DEBUG 0-0: Download response:
[ 3623.172435] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[ 3623.172457] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at
position 1.
[ 3623.172463] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 3623.172467] EtherCAT DEBUG: 10 00 40 60 
[ 3623.172477] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.172481] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[ 3623.175215] EtherCAT DEBUG 0-0: Download response:
[ 3623.175220] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[ 3623.175239] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at
position 2.
[ 3623.175245] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 3623.175249] EtherCAT DEBUG: 20 00 7A 60 
[ 3623.175259] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.175263] EtherCAT DEBUG: 00 20 23 00 16 02 20 00 7A 60 
[ 3623.178216] EtherCAT DEBUG 0-0: Download response:
[ 3623.178220] EtherCAT DEBUG: 00 30 60 00 16 02 20 00 7A 60 
[ 3623.178239] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at
position 3.
[ 3623.178245] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 3623.178249] EtherCAT DEBUG: 08 00 60 60 
[ 3623.178259] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.178263] EtherCAT DEBUG: 00 20 23 00 16 03 08 00 60 60 
[ 3623.181218] EtherCAT DEBUG 0-0: Download response:
[ 3623.181222] EtherCAT DEBUG: 00 30 60 00 16 03 08 00 60 60 
[ 3623.181241] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (8 bit) at
position 4.
[ 3623.181247] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 3623.181251] EtherCAT DEBUG: 08 00 00 00 
[ 3623.181261] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.181265] EtherCAT DEBUG: 00 20 23 00 16 04 08 00 00 00 
[ 3623.184395] EtherCAT DEBUG 0-0: Download response:
[ 3623.184402] EtherCAT DEBUG: 00 30 60 00 16 04 08 00 00 00 
[ 3623.184420] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[ 3623.184426] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 3623.184430] EtherCAT DEBUG: 04 
[ 3623.184436] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.184440] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[ 3623.187212] EtherCAT DEBUG 0-0: Download response:
[ 3623.187216] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[ 3623.187234] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO
0x1600.
[ 3623.187240] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 3623.187245] EtherCAT DEBUG 0-0: Currently assigned PDOs: (none). PDOs to
assign: 0x1600
[ 3623.187258] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 3623.187263] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 3623.187267] EtherCAT DEBUG: 00 
[ 3623.187274] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.187277] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[ 3623.190213] EtherCAT DEBUG 0-0: Download response:
[ 3623.190218] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[ 3623.190237] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
[ 3623.190242] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 3623.190246] EtherCAT DEBUG: 00 16 
[ 3623.190254] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.190258] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[ 3623.193213] EtherCAT DEBUG 0-0: Download response:
[ 3623.193218] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[ 3623.193236] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 3623.193242] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 3623.193246] EtherCAT DEBUG: 01 
[ 3623.193252] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.193256] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[ 3623.196228] EtherCAT DEBUG 0-0: Download response:
[ 3623.196233] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[ 3623.196427] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of
SM2.
[ 3623.196558] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A00.
[ 3623.196565] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[ 3623.196570] EtherCAT DEBUG 0-0: Upload request:
[ 3623.196574] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 
[ 3623.199209] EtherCAT DEBUG 0-0: Upload response:
[ 3623.199213] EtherCAT DEBUG: 00 30 4F 00 1A 00 05 00 00 00 
[ 3623.199230] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.199234] EtherCAT DEBUG: 05 
[ 3623.199240] EtherCAT DEBUG 0-0: 5 PDO entries mapped.
[ 3623.199245] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01.
[ 3623.199250] EtherCAT DEBUG 0-0: Upload request:
[ 3623.199254] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 
[ 3623.202210] EtherCAT DEBUG 0-0: Upload response:
[ 3623.202215] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 
[ 3623.202232] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.202236] EtherCAT DEBUG: 10 00 41 60 
[ 3623.202248] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 3623.202253] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02.
[ 3623.202258] EtherCAT DEBUG 0-0: Upload request:
[ 3623.202262] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 
[ 3623.205212] EtherCAT DEBUG 0-0: Upload response:
[ 3623.205217] EtherCAT DEBUG: 00 30 43 00 1A 02 20 00 64 60 
[ 3623.205235] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.205238] EtherCAT DEBUG: 20 00 64 60 
[ 3623.205250] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 3623.205256] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03.
[ 3623.205260] EtherCAT DEBUG 0-0: Upload request:
[ 3623.205264] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 
[ 3623.208457] EtherCAT DEBUG 0-0: Upload response:
[ 3623.208461] EtherCAT DEBUG: 00 30 43 00 1A 03 08 00 61 60 
[ 3623.208479] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.208482] EtherCAT DEBUG: 08 00 61 60 
[ 3623.208494] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???".
[ 3623.208500] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:04.
[ 3623.208504] EtherCAT DEBUG 0-0: Upload request:
[ 3623.208508] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 
[ 3623.211206] EtherCAT DEBUG 0-0: Upload response:
[ 3623.211210] EtherCAT DEBUG: 00 30 43 00 1A 04 10 00 77 60 
[ 3623.211227] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.211231] EtherCAT DEBUG: 10 00 77 60 
[ 3623.211242] EtherCAT DEBUG 0-0: PDO entry 0x6077:00, 16 bit, "???".
[ 3623.211248] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:05.
[ 3623.211252] EtherCAT DEBUG 0-0: Upload request:
[ 3623.211256] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 
[ 3623.214209] EtherCAT DEBUG 0-0: Upload response:
[ 3623.214214] EtherCAT DEBUG: 00 30 43 00 1A 05 08 00 00 00 
[ 3623.214232] EtherCAT DEBUG 0-0: Uploaded data:
[ 3623.214235] EtherCAT DEBUG: 08 00 00 00 
[ 3623.214248] EtherCAT DEBUG 0-0: PDO entry 0x0000:00, 8 bit, "Gap".
[ 3623.214254] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[ 3623.214258] EtherCAT DEBUG 0-0: Currently mapped PDO entries:
0x6041:00/16 0x6064:00/32 0x6061:00/8 0x6077:00/16 0x0000:00/8. Entries to
map: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x6077:00/16 0x0000:00/8
[ 3623.214294] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 3623.214300] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 3623.214304] EtherCAT DEBUG: 00 
[ 3623.214310] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.214314] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[ 3623.217210] EtherCAT DEBUG 0-0: Download response:
[ 3623.217215] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[ 3623.217233] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at
position 1.
[ 3623.217240] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 3623.217244] EtherCAT DEBUG: 10 00 41 60 
[ 3623.217254] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.217257] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[ 3623.220222] EtherCAT DEBUG 0-0: Download response:
[ 3623.220227] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[ 3623.220246] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at
position 2.
[ 3623.220252] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 3623.220256] EtherCAT DEBUG: 20 00 64 60 
[ 3623.220266] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.220270] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60 
[ 3623.223204] EtherCAT DEBUG 0-0: Download response:
[ 3623.223209] EtherCAT DEBUG: 00 30 60 00 1A 02 20 00 64 60 
[ 3623.223228] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at
position 3.
[ 3623.223234] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 3623.223238] EtherCAT DEBUG: 08 00 61 60 
[ 3623.223248] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.223252] EtherCAT DEBUG: 00 20 23 00 1A 03 08 00 61 60 
[ 3623.226206] EtherCAT DEBUG 0-0: Download response:
[ 3623.226210] EtherCAT DEBUG: 00 30 60 00 1A 03 08 00 61 60 
[ 3623.226229] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6077:00 (16 bit) at
position 4.
[ 3623.226235] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[ 3623.226239] EtherCAT DEBUG: 10 00 77 60 
[ 3623.226249] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.226253] EtherCAT DEBUG: 00 20 23 00 1A 04 10 00 77 60 
[ 3623.229207] EtherCAT DEBUG 0-0: Download response:
[ 3623.229212] EtherCAT DEBUG: 00 30 60 00 1A 04 10 00 77 60 
[ 3623.229231] EtherCAT DEBUG 0-0: Mapping PDO entry 0x0000:00 (8 bit) at
position 5.
[ 3623.229237] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:05.
[ 3623.229241] EtherCAT DEBUG: 08 00 00 00 
[ 3623.229251] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.229255] EtherCAT DEBUG: 00 20 23 00 1A 05 08 00 00 00 
[ 3623.232385] EtherCAT DEBUG 0-0: Download response:
[ 3623.232392] EtherCAT DEBUG: 00 30 60 00 1A 05 08 00 00 00 
[ 3623.232410] EtherCAT DEBUG 0-0: Setting number of PDO entries to 5.
[ 3623.232416] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 3623.232420] EtherCAT DEBUG: 05 
[ 3623.232426] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.232430] EtherCAT DEBUG: 00 20 2F 00 1A 00 05 00 00 00 
[ 3623.235201] EtherCAT DEBUG 0-0: Download response:
[ 3623.235206] EtherCAT DEBUG: 00 30 60 00 1A 00 05 00 00 00 
[ 3623.235224] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO
0x1A00.
[ 3623.235230] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 3623.235234] EtherCAT DEBUG 0-0: Currently assigned PDOs: (none). PDOs to
assign: 0x1A00
[ 3623.235245] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 3623.235251] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 3623.235255] EtherCAT DEBUG: 00 
[ 3623.235261] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.235265] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[ 3623.238203] EtherCAT DEBUG 0-0: Download response:
[ 3623.238207] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[ 3623.238225] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
[ 3623.238232] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 3623.238235] EtherCAT DEBUG: 00 1A 
[ 3623.238243] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.238247] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[ 3623.241203] EtherCAT DEBUG 0-0: Download response:
[ 3623.241208] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[ 3623.241225] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 3623.241231] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 3623.241235] EtherCAT DEBUG: 01 
[ 3623.241242] EtherCAT DEBUG 0-0: Expedited download request:
[ 3623.241245] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[ 3623.244379] EtherCAT DEBUG 0-0: Download response:
[ 3623.244386] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[ 3623.244522] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of
SM3.
[ 3623.244534] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   8, Ctrl 0x24, En
1
[ 3623.244542] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size  10, Ctrl 0x20, En
1
[ 3623.245205] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size   8,
PhysAddr 0x1100, SM2, Dir out
[ 3623.245213] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000008, Size  10,
PhysAddr 0x1400, SM3, Dir in
[ 3623.248388] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused
state change (PREOP + ERROR).
[ 3623.249202] EtherCAT ERROR 0-0: AL status message 0x0018: "No valid
inputs available".
[ 3623.251198] EtherCAT 0-0: Acknowledged state PREOP.
Anyone can help me?Thank you.

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