[etherlab-users] ethercat-1.5.2 imx27 cross compilation
dariobin at libero.it
dariobin at libero.it
Thu Aug 8 11:18:19 CEST 2013
Hi,
I compiled and installed ethercat master 1.5.2 (using generic driver)
on a PC x86 VMWARE Slackware 13 image (Linux 2.6.29.6 version).
I successfully developed a simple program to communicate with a
slave ethercat Robox SPIMD20 device.
Next i cross-compiled for a imx27 Freescale micro board based
(ARM9 with integrated 10/100 Mbps FEC plus external MAC-PHY SMSC 8710A) :
./configure --enable-sii-assign=yes
--enable-tty=yes
--enable-regalias=yes
--enable-hrtimer=yes
--prefix=/home/dario_binacchi/iMX27/projects/ethercat-1.5.2/arm-install/ --with-linux-dir=/home/dario_binacchi/iMX27/projects/linux-2.6.30-ethercat/
--enable-generic
--host=arm-angstrom-linux-gnueabi
--enable-8139too=no
make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi-
make install
make modules
I modified the Makefile file in the modules_install section adding the INSTALL_MOD_PATH variable:
modules_install:
$(MAKE) -C "$(LINUX_SOURCE_DIR)" M="/home/dario_binacchi/iMX27/projects/ethercat-1.5.2" \
INSTALL_MOD_DIR="$(INSTALL_MOD_DIR)" INSTALL_MOD_PATH="$(DESTDIR)" modules_install
make DESTDIR=/home/dario_binacchi/iMX27/projects/ethercat-1.5.2/arm-install/rootfs/ modules_install
and then i executed installation on board rootfs.
The cross-compiled application was not able to communicate with ethercat
slave and the dmesg output reported a lot of timeout/corruption errors
on frames even before to execute the application.
Next the output of dmesg and of some tests executed with ethercat utility.
Has anyone else ever run into this issue ?
Best Regards
Dario Binacchi
EtherCAT: Master driver 1.5.2 2eff7c993a63
EtherCAT: 1 master waiting for devices.
ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63
EtherCAT: Accepting 00:21:F3:07:00:00 as main device for master 0.
ec_generic: Binding socket to interface 2 (eth0).
EtherCAT 0: Starting EtherCAT-IDLE thread.
EtherCAT 0: Link state of ecm0 changed to UP.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT WARNING 0: 1 frame CORRUPTED!
EtherCAT 0: Scanning bus.
EtherCAT WARNING 0: 32 datagrams TIMED OUT!
EtherCAT WARNING 0: 31 frames CORRUPTED!
EtherCAT WARNING 0: 34 datagrams TIMED OUT!
EtherCAT WARNING 0: 32 frames CORRUPTED!
EtherCAT ERROR 0-0: Failed to receive SII read datagram: Datagram timed out.
EtherCAT ERROR 0-0: Failed to fetch SII contents.
EtherCAT 0: Bus scanning completed in 2050 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive station address datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 120 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive system time datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 250 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT WARNING 0: 35 datagrams TIMED OUT!
EtherCAT WARNING 0: 22 frames CORRUPTED!
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 130 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 110 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT WARNING 0: 45 datagrams TIMED OUT!
EtherCAT WARNING 0: 16 frames CORRUPTED!
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 130 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT WARNING 0: 48 datagrams TIMED OUT!
EtherCAT WARNING 0: 6 frames CORRUPTED!
EtherCAT WARNING 0: 50 datagrams TIMED OUT!
EtherCAT WARNING 0: 2 frames CORRUPTED!
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive system time datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 190 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 130 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT ERROR 0-0: Failed to receive state checking datagram: Datagram timed ou
t.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT WARNING 0: 42 datagrams TIMED OUT!
EtherCAT WARNING 0: 22 frames CORRUPTED!
EtherCAT WARNING 0: 50 datagrams TIMED OUT!
EtherCAT WARNING 0: 1 frame CORRUPTED!
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT WARNING 0: 48 datagrams TIMED OUT!
EtherCAT WARNING 0: 1 frame CORRUPTED!
EtherCAT ERROR 0-0: Failed to receive station address datagram: Datagram timed o
ut.
EtherCAT 0: Bus scanning completed in 120 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive address clearing datagram on main link: Data
gram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive SII read datagram: Datagram timed out.
EtherCAT ERROR 0-0: Failed to determine SII content size: Reading word offset 0x
0040 failed. Assuming 64 words.
EtherCAT WARNING 0: 39 datagrams TIMED OUT!
EtherCAT WARNING 0: 31 frames CORRUPTED!
EtherCAT ERROR 0-0: Failed to receive SII check/fetch datagram: Datagram timed o
ut.
EtherCAT ERROR 0-0: Failed to fetch SII contents.
EtherCAT 0: Bus scanning completed in 480 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datag
ram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT ERROR 0: Failed to receive delay measuring datagram on main link: Datagram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive station address datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 120 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram timed out.
EtherCAT 0: Bus scanning completed in 170 ms.
EtherCAT 0: No DC reference clock found.
EtherCAT ERROR 0: Failed to calculate bus topology.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT WARNING 0: 40 datagrams TIMED OUT!
EtherCAT WARNING 0: 29 frames CORRUPTED!
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT ERROR 0-0: Failed to receive SII check/fetch datagram: Datagram timed o
ut.
EtherCAT ERROR 0-0: Failed to fetch SII contents.
EtherCAT 0: Bus scanning completed in 760 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: 0 slave(s) responding on main device.
root at elco:~#
/// --------------------------------------------------- /////
root at elco:~# ethercat master
Master0
Phase: Idle
Active: no
Slaves: 1
Ethernet devices:
Main: 00:21:f3:07:00:00 (attached)
Link: UP
Tx frames: 5235
Tx bytes: 314132
Rx frames: 3562
Rx bytes: 213752
Tx errors: 0
Tx frame rate [1/s]: 63 56 44
Tx rate [KByte/s]: 3.7 3.3 2.6
Rx frame rate [1/s]: 63 41 30
Rx rate [KByte/s]: 3.7 2.4 1.8
Common:
Tx frames: 5235
Tx bytes: 314132
Rx frames: 3562
Rx bytes: 213752
Lost frames: 1673
Tx frame rate [1/s]: 63 56 44
Tx rate [KByte/s]: 3.7 3.3 2.6
Rx frame rate [1/s]: 63 37 324438
Rx rate [KByte/s]: 3.7 86.7 369855.9
Loss rate [1/s]: 0 15 14
Frame loss [%]: 0.0 26.9 30.9
Distributed clocks:
Reference clock: None
Application time: 0
2000-01-01 00:00:00.000000000
/// --------------------------------------------------- /////
root at elco:~# ethercat debug 2
root at elco:~# dmesg
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 16 10
EtherCAT DEBUG: 72 43 41 54 20 44 45 42 55 47 20 30 3A 20 6E 6F
EtherCAT DEBUG: 74 68 69 6E 67 20 74 6F 20 73 65 6E 64 2E 30 30
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Corrupted frame received (invalid data size 581):
EtherCAT DEBUG: 16 10 72 43 41 54 20 44 45 42 55 47 20 30 3A 20
EtherCAT DEBUG: 6E 6F 74 68 69 6E 67 20 74 6F 20 73 65 6E 64 2E
EtherCAT DEBUG: 30 30 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 14 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x15
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 16 10
EtherCAT DEBUG: 04 15 01 00 02 05 0A 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 15 waited 20000 us.
EtherCAT ERROR 0-0: Failed to receive SII check/fetch datagram: Datagram timed o
ut.
EtherCAT ERROR 0-0: Failed to fetch SII contents.
EtherCAT 0: Bus scanning completed in 4720 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)
EtherCAT DEBUG 0: No app_time received up to now.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x16
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 16 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 16 waited 20000 us.
EtherCAT 0: 0 slave(s) responding on main device.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x17
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 17 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 17 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x18
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 18 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 18 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x19
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 19 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 19 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1A
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 1A 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 1A 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT 0: 1 slave(s) responding on main device.
EtherCAT 0: Slave states on main device: INIT.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1B
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 08 1B 00 00 10 00 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 1B waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1C
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 08 1C 00 00 10 00 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 1C waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1D
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 08 1D 00 00 10 00 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 1D waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1E
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 08 1E 00 00 10 00 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 72 43 41 54 20 44 45 42 55 47 20 30 3A 20 6E 6F
EtherCAT DEBUG: 74 68 69 6E 67 20 74 6F 20 73 65 6E 64 2E 61 6D
EtherCAT DEBUG: 01 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Corrupted frame received (invalid data size 581):
EtherCAT DEBUG: 0E 10 72 43 41 54 20 44 45 42 55 47 20 30 3A 20
EtherCAT DEBUG: 6E 6F 74 68 69 6E 67 20 74 6F 20 73 65 6E 64 2E
EtherCAT DEBUG: 61 6D 01 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 1E waited 20000 us.
EtherCAT ERROR 0: Failed to receive address clearing datagram on main link: Data
gram timed out.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x1F
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 1F 00 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 07 1F 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x20
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 20 01 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 20 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0-0: (unknown) -> INIT.
EtherCAT DEBUG 0-0: Changing state from INIT to PREOP (forced).
EtherCAT DEBUG 0-0: Configuring...
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x21
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 05 21 01 00 20 01 02 00 00 00 01 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 20 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Corrupted frame received (invalid data size 258):
EtherCAT DEBUG: 0E 10 FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4
EtherCAT DEBUG: 0E 10 04 20 01 00 30 01 02 00 00 00 01 00 01 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 21 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x22
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 05 22 01 00 20 01 02 00 00 00 01 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 05 22 01 00 20 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x23
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 23 01 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 23 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0-0: Now in INIT.
EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
EtherCAT DEBUG 0-0: Assigning SII access to PDI.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x24
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0D 10
EtherCAT DEBUG: 05 24 01 00 00 05 01 00 00 00 01 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0D 10
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 23 01 00 30 01 02 00 00 00 01 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Corrupted frame received (invalid data size 258):
EtherCAT DEBUG: 0D 10 FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4
EtherCAT DEBUG: 0E 10 04 23 01 00 30 01 02 00 00 00 01 00 01 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: nothing to send.
EtherCAT DEBUG 0: TIMED OUT datagram c3bfe41c, index 24 waited 20000 us.
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x25
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0D 10
EtherCAT DEBUG: 05 25 01 00 00 05 01 00 00 00 01 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0D 10
EtherCAT DEBUG: 05 25 01 00 00 05 01 00 00 00 01 01 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x26
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 05 26 01 00 20 01 02 00 00 00 02 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 05 26 01 00 20 01 02 00 00 00 02 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x27
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 27 01 00 30 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG 0: Received frame:
EtherCAT DEBUG: FF FF FF FF FF FF 02 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 27 01 00 30 01 02 00 00 00 11 00 01 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT
+ ERROR).
EtherCAT DEBUG 0: ec_master_send_datagrams(device_index = 0)
EtherCAT DEBUG 0: Adding datagram 0x28
EtherCAT DEBUG 0: frame size: 46
EtherCAT DEBUG 0: Sending frame:
EtherCAT DEBUG: FF FF FF FF FF FF 00 21 F3 07 00 00 88 A4 0E 10
EtherCAT DEBUG: 04 28 01 00 34 01 02 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
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