[etherlab-users] Failed to set SAFEOP state , slave refused state change

Sat Oct 6 23:32:17 CEST 2012

Nihao Benjamin,

please learn how to ask for help. Asking the right way shows your manners,
your personality, and how smart you are. Eric S. Raymond has written an
article called "How To Ask Questions The Smart Way", which would help.

Basically, before asking for help, do your homework first. Get enough
background information to put your issue or problem in context. Provide
selectively all the information which you would consider relevant to your
problem. e.g. the revision of the EtherLab Master you're using, linux
kernel, slave information, PDO mapping, …

Explain your problem in detail.  Don't just spam with the long and boring
DEBUG messages. Nobody would read that. Find out the key points. Try to
write your own sentences, and make them as short meanwhile information-rich
as possible.

Don't just cry, "Anyone can help me?". Try to find out as much information
as you can. RTFM or Google, so you've got a general direction to find out
the answer. Form an opinion on what you think where is wrong.

Here is a reformed example of your original email:

Hi all,

I'm trying to control a Sanyo Denki EtherCAT(CoE) servo amplifier using
EtherLab Master (version: 1.x, revision XXXXXXX). My code is based on the
example "rtai_sample.c" without DC Sync.

The PDO entries in my program are like the following:
1) RxPDO assignment of SM2:
PDO Mapping 0x1600
0x6040:00/16   // control word
0x607A:00/32  // target position
0x6060:00/8     // operation mode
0x0000:00/8.    // padding object

2) TxPDO assignment of SM3:
PDO Mapping 0x1A00
0x6041:00/16  // status word
0x6064:00/32  // actual position
0x6061:00/8    // operation mode display
0x6077:00/16  // effective torque
0x0000:00/8.   // padding object

And I've learned to split the pdos into two domains:
1) domain1_regs contains the following RxPDOs
0x6040:00/16
0x6060:00/8
0x607A:00/32

2) domain2_regs contains the following TxPDOs
0x6041:00/16
0x6064:00/32
0x6077:00/16
0x6061:00/8

But the master receives an error from the slave during the transition
PREOP->SafeOP:

[ 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] FMMU: LogAddr 0x00000000, Size   8, PhysAddr 0x1100, SM2,
Dir out
[ 3623.245213] 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.

As I read from the etherCAT manual/googled from the internet, the slave
error "No valid inputs available" would imply that "The Sync Manager was
not configured previously. How to configure the input data is described in
the particular stack implementing the cyclic process data communication."
But why? I have configured the Sync Manager in my code, and I didn't see
how to make this right.

Since SyncManager 3 is for the inputs, do I have anything wrong in the PDO
mapping of SM3? Does anyone encounter the same problem? I've enclosed the
whole debug messages from the master. Any help / hints would be
appreciated.

Best Regards,
Benjamin

On Fri, Oct 5, 2012 22:35:50 +0800 "Benjamin" <zsx1987friend at 126.com> wrote:

> Subject: [etherlab-users] Failed to set SAFEOP state , slave refused state
> change
>
> [ 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.****
>
>
>
>

-- 
Jun Yuan
[Aussprache: Djün Üän]

Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24
Mobile: +49 176 2176 5238
Fax: +49 89 189 0465 11
mailto: j.yuan at rtleaders.com

Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten y, j,
q, und x wird u als ü ausgesprochen, z.B. yu => ü,  ju => dschü,  qu =>
tschü,  xu => schü.
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20121006/737cd633/attachment-0005.htm>