[etherlab-users] Metronix controller's sync manager address same with PDO index
Jun Yuan
j.yuan at rtleaders.com
Tue Feb 11 12:14:07 CET 2014
Hi Zhiyong,
about the SII:
When the slave only have a EEPROM of 128 byte, it is impossible to write
the whole SII to the slave. You've done a great job by hardcoding the SII
to the source code.
If you need to have it more flexible in the future, I once tried the patch
from Jesper Smith
http://lists.etherlab.org/pipermail/etherlab-users/2011/001458.html, which
load the SII file from your file system as a firmware, and it worked nice.
To your question:
The SyncManager StartAddress is its physical address in the ESC's memory.
And the object index is only an index for the object retrieval, though
sometimes people call it object address, but basically it has nothing to do
with physical address.
It is unusual that the engineer from Metronix pick up exactly the same
number 0x1600 and 0x1a00 for as the physical address of SyncM in ESC, but
yes they can do that. I think either they didn't understand the meaning of
StartAddress when they design the ESC, or they just want to make a joke.
To the problem you have:
Your slave is in OP. Domain 1 has data exchange. But the domain0 is
missing. Did you forget to send the domain0 frame out in your loop?
And the source code in your last email makes the pdo data only sending out
every 1 second. This is too slow for the EtherLab master, which would
complain if it can't receive the PDO data in 1 second. Change your code
back like the following
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain0);
ecrt_domain_process(domain1);
// check process data state (optional)
check_domain1_state();
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// check for master state (optional)
check_master_state();
// check for islave configuration state(s) (optional)
check_slave_config_states();
#if SDO_ACCESS
// read process data SDO
read_sdo();
#endif
}
// send process data
ecrt_domain_queue(domain0);
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
Regards,
Jun
<http://lists.etherlab.org/pipermail/etherlab-users/2011/001458.html>
On Tue, Feb 11, 2014 at 3:40 AM, Zhiyong Weng <zhiyong.weng at gmail.com>wrote:
> Hi ALL,
>
> The problem is : no PDO data exchanged.
>
> I find in esi file, the sync manager 2 and 3 address are same with
> PDO index. Is it normal?
>
> I attached logs and esi xml.
>
> Thanks.
>
> Regards,
> Max
>
> Feb 11 09:24:15 MAX kernel: [ 2867.475505] EtherCAT 0: Releasing master...
> Feb 11 09:24:15 MAX kernel: [ 2867.475519] EtherCAT DEBUG 0:
> ecrt_master_deactivate(master = 0xffff88019fbae000)
> Feb 11 09:24:15 MAX kernel: [ 2867.475527] EtherCAT DEBUG 0: Stopping
> master thread.
> Feb 11 09:24:15 MAX kernel: [ 2867.475551] EtherCAT DEBUG 0: Master OP
> thread exiting...
> Feb 11 09:24:15 MAX kernel: [ 2867.475603] EtherCAT 0: Master thread
> exited.
> Feb 11 09:24:15 MAX kernel: [ 2867.475627] EtherCAT 0: Starting
> EtherCAT-IDLE thread.
> Feb 11 09:24:15 MAX kernel: [ 2867.475750] EtherCAT DEBUG 0: OPERATION ->
> IDLE.
> Feb 11 09:24:15 MAX kernel: [ 2867.475755] EtherCAT 0: Released.
> Feb 11 09:24:15 MAX kernel: [ 2867.475810] EtherCAT DEBUG 0: Idle thread
> running with send interval = 4000 us, max data size=45000
> Feb 11 09:24:15 MAX kernel: [ 2867.475829] EtherCAT DEBUG 0: UNMATCHED
> datagram:
> Feb 11 09:24:15 MAX kernel: [ 2867.475833] EtherCAT DEBUG: 0B 7C 08 00 00
> 00 08 80 00 00 00 00 00 00 00 00
> Feb 11 09:24:15 MAX kernel: [ 2867.475853] EtherCAT DEBUG: 00 00 01 00
> Feb 11 09:24:15 MAX kernel: [ 2867.475861] EtherCAT DEBUG 0: UNMATCHED
> datagram:
> Feb 11 09:24:15 MAX kernel: [ 2867.475864] EtherCAT DEBUG: 0A 7D 00 00 00
> 00 08 80 00 00 00 00 00 00 00 00
> Feb 11 09:24:15 MAX kernel: [ 2867.475883] EtherCAT DEBUG: 00 00 00 00
> Feb 11 09:24:15 MAX kernel: [ 2867.475896] EtherCAT DEBUG 0-0: Changing
> state from OP to PREOP (forced).
> Feb 11 09:24:15 MAX kernel: [ 2867.475901] EtherCAT DEBUG 0-0:
> Configuring...
> Feb 11 09:24:15 MAX kernel: [ 2867.476155] EtherCAT DEBUG 0-0: Now in INIT.
> Feb 11 09:24:15 MAX kernel: [ 2867.476160] EtherCAT DEBUG 0-0: Clearing
> FMMU configurations...
> Feb 11 09:24:15 MAX kernel: [ 2867.476304] EtherCAT DEBUG 0-0: Clearing
> sync manager configurations...
> Feb 11 09:24:15 MAX kernel: [ 2867.476455] EtherCAT DEBUG 0-0: Configuring
> mailbox sync managers...
> Feb 11 09:24:15 MAX kernel: [ 2867.476463] EtherCAT DEBUG 0-0: SM0: Addr
> 0x1800, Size 16, Ctrl 0x26, En 1
> Feb 11 09:24:15 MAX kernel: [ 2867.476469] EtherCAT DEBUG 0-0: SM1: Addr
> 0x1900, Size 16, Ctrl 0x12, En 1
> Feb 11 09:24:15 MAX kernel: [ 2867.476886] EtherCAT DEBUG 0-0: Now in
> PREOP.
> Feb 11 09:24:15 MAX kernel: [ 2867.476890] EtherCAT DEBUG 0-0: Finished
> configuration.
> Feb 11 09:24:15 MAX kernel: [ 2867.479134] EtherCAT 0: Slave states on
> main device: PREOP.
> Feb 11 09:24:16 MAX kernel: [ 2868.275983] EtherCAT: Requesting master 0...
> Feb 11 09:24:16 MAX kernel: [ 2868.275993] EtherCAT DEBUG 0: IDLE ->
> OPERATION.
> Feb 11 09:24:16 MAX kernel: [ 2868.275999] EtherCAT: Successfully
> requested master 0.
> Feb 11 09:24:16 MAX kernel: [ 2868.276007] EtherCAT DEBUG 0:
> ecrt_master_create_domain(master = 0xffff88019fbae000)
> Feb 11 09:24:16 MAX kernel: [ 2868.276013] EtherCAT DEBUG 0: Created
> domain 0.
> Feb 11 09:24:16 MAX kernel: [ 2868.276019] EtherCAT DEBUG 0:
> ecrt_master_create_domain(master = 0xffff88019fbae000)
> Feb 11 09:24:16 MAX kernel: [ 2868.276024] EtherCAT DEBUG 0: Created
> domain 1.
> Feb 11 09:24:16 MAX kernel: [ 2868.276033] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276042] EtherCAT DEBUG 0: Creating
> slave configuration for 0:0, 0x000000E4/0x00001133.
> Feb 11 09:24:16 MAX kernel: [ 2868.276050] EtherCAT DEBUG 0 0:0: Attached
> slave 0.
> Feb 11 09:24:16 MAX kernel: [ 2868.276127] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 0, dir
> = 1, watchdog_mode = 2)
> Feb 11 09:24:16 MAX kernel: [ 2868.276136] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 1, dir
> = 2, watchdog_mode = 2)
> Feb 11 09:24:16 MAX kernel: [ 2868.276144] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 2, dir
> = 1, watchdog_mode = 2)
> Feb 11 09:24:16 MAX kernel: [ 2868.276155] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880175cd6800, sync_index = 2)
> Feb 11 09:24:16 MAX kernel: [ 2868.276166] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_add(sc = 0xffff880175cd6800, sync_index = 2,
> pdo_index = 0x1600)
> Feb 11 09:24:16 MAX kernel: [ 2868.276173] EtherCAT DEBUG 0 0:0: Loading
> default mapping for PDO 0x1600.
> Feb 11 09:24:16 MAX kernel: [ 2868.276178] EtherCAT DEBUG 0 0:0: No
> default mapping found.
> Feb 11 09:24:16 MAX kernel: [ 2868.276186] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880175cd6800, pdo_index =
> 0x1600)
> Feb 11 09:24:16 MAX kernel: [ 2868.276197] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
> Feb 11 09:24:16 MAX kernel: [ 2868.276208] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
> Feb 11 09:24:16 MAX kernel: [ 2868.276218] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880175cd6800, sync_index = 3, dir
> = 2, watchdog_mode = 2)
> Feb 11 09:24:16 MAX kernel: [ 2868.276226] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880175cd6800, sync_index = 3)
> Feb 11 09:24:16 MAX kernel: [ 2868.276234] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_add(sc = 0xffff880175cd6800, sync_index = 3,
> pdo_index = 0x1A00)
> Feb 11 09:24:16 MAX kernel: [ 2868.276241] EtherCAT DEBUG 0 0:0: Loading
> default mapping for PDO 0x1A00.
> Feb 11 09:24:16 MAX kernel: [ 2868.276245] EtherCAT DEBUG 0 0:0: No
> default mapping found.
> Feb 11 09:24:16 MAX kernel: [ 2868.276251] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880175cd6800, pdo_index =
> 0x1A00)
> Feb 11 09:24:16 MAX kernel: [ 2868.276259] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
> Feb 11 09:24:16 MAX kernel: [ 2868.276270] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
> Feb 11 09:24:16 MAX kernel: [ 2868.276280] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
> Feb 11 09:24:16 MAX kernel: [ 2868.276289] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880175cd6800, pdo_index =
> 0x1A00, entry_index = 0x1001, entry_subindex = 0x00, entry_bit_length = 8)
> Feb 11 09:24:16 MAX kernel: [ 2868.276302] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276314] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x607A,
> subindex = 0x00, domain = 0xffff8801b52bb700, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276323] EtherCAT DEBUG 0: Domain 1:
> Added 8 bytes, total 8.
> Feb 11 09:24:16 MAX kernel: [ 2868.276330] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276340] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x60FF,
> subindex = 0x00, domain = 0xffff8801b52bb700, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276349] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276359] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6041,
> subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276368] EtherCAT DEBUG 0: Domain 0:
> Added 8 bytes, total 8.
> Feb 11 09:24:16 MAX kernel: [ 2868.276373] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276383] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6064,
> subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276392] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276402] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x6061,
> subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276411] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 09:24:16 MAX kernel: [ 2868.276421] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880175cd6800, index = 0x1001,
> subindex = 0x00, domain = 0xffff8801b52bbd00, bit_position =
> 0xffff880151691ca4)
> Feb 11 09:24:16 MAX kernel: [ 2868.276469] EtherCAT DEBUG 0:
> ecrt_domain_external_memory(domain = 0xffff8801b52bbd00, mem =
> 0xffffc900193c4000)
> Feb 11 09:24:16 MAX kernel: [ 2868.276476] EtherCAT DEBUG 0:
> ecrt_domain_external_memory(domain = 0xffff8801b52bb700, mem =
> 0xffffc900193c4008)
> Feb 11 09:24:16 MAX kernel: [ 2868.276483] EtherCAT DEBUG 0:
> ecrt_master_callbacks(master = 0xffff88019fbae000, send_cb =
> 0xffffffffa056c8f0, receive_cb = 0xffffffffa056d020, cb_data =
> 0xffff88019fbae000)
> Feb 11 09:24:16 MAX kernel: [ 2868.276491] EtherCAT DEBUG 0:
> ecrt_master_activate(master = 0xffff88019fbae000)
> Feb 11 09:24:16 MAX kernel: [ 2868.276499] EtherCAT DEBUG 0: Adding
> datagram pair with expected WC 1.
> Feb 11 09:24:16 MAX kernel: [ 2868.276505] EtherCAT 0: Domain0: Logical
> address 0x00000000, 8 byte, expected working counter 1.
> Feb 11 09:24:16 MAX kernel: [ 2868.276511] EtherCAT 0: Datagram
> domain0-0-main: Logical offset 0x00000000, 8 byte, type LRD.
> Feb 11 09:24:16 MAX kernel: [ 2868.276518] EtherCAT DEBUG 0: Adding
> datagram pair with expected WC 1.
> Feb 11 09:24:16 MAX kernel: [ 2868.276523] EtherCAT 0: Domain1: Logical
> address 0x00000008, 8 byte, expected working counter 1.
> Feb 11 09:24:16 MAX kernel: [ 2868.276529] EtherCAT 0: Datagram
> domain1-8-main: Logical offset 0x00000008, 8 byte, type LWR.
> Feb 11 09:24:16 MAX kernel: [ 2868.276534] EtherCAT DEBUG 0: Stopping
> master thread.
> Feb 11 09:24:16 MAX kernel: [ 2868.276550] EtherCAT DEBUG 0: Master IDLE
> thread exiting...
> Feb 11 09:24:16 MAX kernel: [ 2868.276585] EtherCAT 0: Master thread
> exited.
> Feb 11 09:24:16 MAX kernel: [ 2868.276592] EtherCAT DEBUG 0: FSM datagram
> is ffff88019fbae678.
> Feb 11 09:24:16 MAX kernel: [ 2868.276597] EtherCAT 0: Starting
> EtherCAT-OP thread.
> Feb 11 09:24:16 MAX kernel: [ 2868.276768] EtherCAT DEBUG 0: Operation
> thread running with fsm interval = 4000 us, max data size=45000
> Feb 11 09:24:16 MAX kernel: [ 2868.276777] EtherCAT DEBUG 0: mmap()
> Feb 11 09:24:16 MAX kernel: [ 2868.276785] EtherCAT WARNING 0: 2 datagrams
> UNMATCHED!
> Feb 11 09:24:16 MAX kernel: [ 2868.276792] EtherCAT DEBUG 0: Vma fault,
> virtual_address = 00007f979608d000, offset = 0, page = ffffea000695bd00
> Feb 11 09:24:16 MAX kernel: [ 2868.278887] EtherCAT DEBUG 0: Configuration
> changed.
> Feb 11 09:24:16 MAX kernel: [ 2868.278897] EtherCAT WARNING 0: No app_time
> received up to now, but master already active.
> Feb 11 09:24:16 MAX kernel: [ 2868.278905] EtherCAT DEBUG 0: Requesting
> OP...
> Feb 11 09:24:16 MAX kernel: [ 2868.318833] EtherCAT DEBUG 0-0: Changing
> state from PREOP to OP.
> Feb 11 09:24:16 MAX kernel: [ 2868.318840] EtherCAT DEBUG 0-0:
> Configuring...
> Feb 11 09:24:16 MAX kernel: [ 2868.347855] EtherCAT DEBUG 0-0: Now in INIT.
> Feb 11 09:24:16 MAX kernel: [ 2868.347857] EtherCAT DEBUG 0-0: Clearing
> FMMU configurations...
> Feb 11 09:24:16 MAX kernel: [ 2868.367847] EtherCAT DEBUG 0-0: Clearing
> sync manager configurations...
> Feb 11 09:24:16 MAX kernel: [ 2868.387835] EtherCAT DEBUG 0-0: Configuring
> mailbox sync managers...
> Feb 11 09:24:16 MAX kernel: [ 2868.387838] EtherCAT DEBUG 0-0: SM0: Addr
> 0x1800, Size 16, Ctrl 0x26, En 1
> Feb 11 09:24:16 MAX kernel: [ 2868.387840] EtherCAT DEBUG 0-0: SM1: Addr
> 0x1900, Size 16, Ctrl 0x12, En 1
> Feb 11 09:24:16 MAX kernel: [ 2868.427833] EtherCAT DEBUG 0-0: Now in
> PREOP.
> Feb 11 09:24:16 MAX kernel: [ 2868.427839] EtherCAT DEBUG 0-0: Reading
> mapping of PDO 0x1600.
> Feb 11 09:24:16 MAX kernel: [ 2868.427841] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1600:00.
> Feb 11 09:24:16 MAX kernel: [ 2868.427843] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:16 MAX kernel: [ 2868.427844] EtherCAT DEBUG: 00 20 40 00 16
> 00 00 00 00 00
> Feb 11 09:24:16 MAX kernel: [ 2868.467812] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:16 MAX kernel: [ 2868.467814] EtherCAT DEBUG: 00 30 4F 00 16
> 00 02 00 00 00
> Feb 11 09:24:16 MAX kernel: [ 2868.467818] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:16 MAX kernel: [ 2868.467819] EtherCAT DEBUG: 02
> Feb 11 09:24:16 MAX kernel: [ 2868.467821] EtherCAT DEBUG 0-0: 2 PDO
> entries mapped.
> Feb 11 09:24:16 MAX kernel: [ 2868.467822] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1600:01.
> Feb 11 09:24:16 MAX kernel: [ 2868.467823] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:16 MAX kernel: [ 2868.467824] EtherCAT DEBUG: 00 20 40 00 16
> 01 00 00 00 00
> Feb 11 09:24:16 MAX kernel: [ 2868.507802] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:16 MAX kernel: [ 2868.507804] EtherCAT DEBUG: 00 30 43 00 16
> 01 20 00 7A 60
> Feb 11 09:24:16 MAX kernel: [ 2868.507808] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:16 MAX kernel: [ 2868.507809] EtherCAT DEBUG: 20 00 7A 60
> Feb 11 09:24:16 MAX kernel: [ 2868.507812] EtherCAT DEBUG 0-0: PDO entry
> 0x607A:00, 32 bit, "???".
> Feb 11 09:24:16 MAX kernel: [ 2868.507814] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1600:02.
> Feb 11 09:24:16 MAX kernel: [ 2868.507816] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:16 MAX kernel: [ 2868.507817] EtherCAT DEBUG: 00 20 40 00 16
> 02 00 00 00 00
> Feb 11 09:24:16 MAX kernel: [ 2868.547788] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:16 MAX kernel: [ 2868.547790] EtherCAT DEBUG: 00 30 43 00 16
> 02 20 00 FF 60
> Feb 11 09:24:16 MAX kernel: [ 2868.547795] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:16 MAX kernel: [ 2868.547796] EtherCAT DEBUG: 20 00 FF 60
> Feb 11 09:24:16 MAX kernel: [ 2868.547800] EtherCAT DEBUG 0-0: PDO entry
> 0x60FF:00, 32 bit, "???".
> Feb 11 09:24:16 MAX kernel: [ 2868.547801] EtherCAT DEBUG 0-0: Changing
> mapping of PDO 0x1600.
> Feb 11 09:24:16 MAX kernel: [ 2868.547803] EtherCAT DEBUG 0-0: Currently
> mapped PDO entries: 0x607A:00/32 0x60FF:00/32. Entries to map: 0x607A:00/32
> 0x60FF:00/32
> Feb 11 09:24:16 MAX kernel: [ 2868.547824] EtherCAT DEBUG 0-0: Setting
> entry count to zero.
> Feb 11 09:24:16 MAX kernel: [ 2868.547826] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1600:00.
> Feb 11 09:24:16 MAX kernel: [ 2868.547827] EtherCAT DEBUG: 00
> Feb 11 09:24:16 MAX kernel: [ 2868.547829] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:16 MAX kernel: [ 2868.547830] EtherCAT DEBUG: 00 20 2F 00 16
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.587775] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.587777] EtherCAT DEBUG: 00 30 60 00 16
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.587781] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x607A:00 (32 bit) at position 1.
> Feb 11 09:24:17 MAX kernel: [ 2868.587783] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1600:01.
> Feb 11 09:24:17 MAX kernel: [ 2868.587784] EtherCAT DEBUG: 20 00 7A 60
> Feb 11 09:24:17 MAX kernel: [ 2868.587786] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.587787] EtherCAT DEBUG: 00 20 23 00 16
> 01 20 00 7A 60
> Feb 11 09:24:17 MAX kernel: [ 2868.627764] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.627766] EtherCAT DEBUG: 00 30 60 00 16
> 01 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.627772] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x60FF:00 (32 bit) at position 2.
> Feb 11 09:24:17 MAX kernel: [ 2868.627775] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1600:02.
> Feb 11 09:24:17 MAX kernel: [ 2868.627776] EtherCAT DEBUG: 20 00 FF 60
> Feb 11 09:24:17 MAX kernel: [ 2868.627779] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.627780] EtherCAT DEBUG: 00 20 23 00 16
> 02 20 00 FF 60
> Feb 11 09:24:17 MAX kernel: [ 2868.667749] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.667751] EtherCAT DEBUG: 00 30 60 00 16
> 02 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.667755] EtherCAT DEBUG 0-0: Setting
> number of PDO entries to 2.
> Feb 11 09:24:17 MAX kernel: [ 2868.667756] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1600:00.
> Feb 11 09:24:17 MAX kernel: [ 2868.667757] EtherCAT DEBUG: 02
> Feb 11 09:24:17 MAX kernel: [ 2868.667759] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.667760] EtherCAT DEBUG: 00 20 2F 00 16
> 00 02 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.707743] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.707745] EtherCAT DEBUG: 00 30 60 00 16
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.707749] EtherCAT DEBUG 0-0:
> Successfully configured mapping for PDO 0x1600.
> Feb 11 09:24:17 MAX kernel: [ 2868.707751] EtherCAT DEBUG 0-0: Setting PDO
> assignment of SM2:
> Feb 11 09:24:17 MAX kernel: [ 2868.707752] EtherCAT DEBUG 0-0: Currently
> assigned PDOs: 0x1601. PDOs to assign: 0x1600
> Feb 11 09:24:17 MAX kernel: [ 2868.707756] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to zero.
> Feb 11 09:24:17 MAX kernel: [ 2868.707758] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:00.
> Feb 11 09:24:17 MAX kernel: [ 2868.707759] EtherCAT DEBUG: 00
> Feb 11 09:24:17 MAX kernel: [ 2868.707760] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.707761] EtherCAT DEBUG: 00 20 2F 12 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.747725] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.747727] EtherCAT DEBUG: 00 30 60 12 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.747733] EtherCAT DEBUG 0-0: Assigning
> PDO 0x1600 at position 1.
> Feb 11 09:24:17 MAX kernel: [ 2868.747735] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:01.
> Feb 11 09:24:17 MAX kernel: [ 2868.747736] EtherCAT DEBUG: 00 16
> Feb 11 09:24:17 MAX kernel: [ 2868.747739] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.747740] EtherCAT DEBUG: 00 20 2B 12 1C
> 01 00 16 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.787713] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.787714] EtherCAT DEBUG: 00 30 60 12 1C
> 01 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.787719] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to 1.
> Feb 11 09:24:17 MAX kernel: [ 2868.787720] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:00.
> Feb 11 09:24:17 MAX kernel: [ 2868.787721] EtherCAT DEBUG: 01
> Feb 11 09:24:17 MAX kernel: [ 2868.787723] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2868.787724] EtherCAT DEBUG: 00 20 2F 12 1C
> 00 01 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.827699] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.827701] EtherCAT DEBUG: 00 30 60 12 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.827707] EtherCAT DEBUG 0-0:
> Successfully configured PDO assignment of SM2.
> Feb 11 09:24:17 MAX kernel: [ 2868.827710] EtherCAT DEBUG 0-0: Reading
> mapping of PDO 0x1A00.
> Feb 11 09:24:17 MAX kernel: [ 2868.827713] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1A00:00.
> Feb 11 09:24:17 MAX kernel: [ 2868.827714] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:17 MAX kernel: [ 2868.827715] EtherCAT DEBUG: 00 20 40 00 1A
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.867685] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.867686] EtherCAT DEBUG: 00 30 4F 00 1A
> 00 04 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.867691] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:17 MAX kernel: [ 2868.867692] EtherCAT DEBUG: 04
> Feb 11 09:24:17 MAX kernel: [ 2868.867693] EtherCAT DEBUG 0-0: 4 PDO
> entries mapped.
> Feb 11 09:24:17 MAX kernel: [ 2868.867694] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1A00:01.
> Feb 11 09:24:17 MAX kernel: [ 2868.867696] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:17 MAX kernel: [ 2868.867696] EtherCAT DEBUG: 00 20 40 00 1A
> 01 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.907679] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.907680] EtherCAT DEBUG: 00 30 43 00 1A
> 01 10 00 41 60
> Feb 11 09:24:17 MAX kernel: [ 2868.907685] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:17 MAX kernel: [ 2868.907686] EtherCAT DEBUG: 10 00 41 60
> Feb 11 09:24:17 MAX kernel: [ 2868.907689] EtherCAT DEBUG 0-0: PDO entry
> 0x6041:00, 16 bit, "???".
> Feb 11 09:24:17 MAX kernel: [ 2868.907691] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1A00:02.
> Feb 11 09:24:17 MAX kernel: [ 2868.907692] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:17 MAX kernel: [ 2868.907693] EtherCAT DEBUG: 00 20 40 00 1A
> 02 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.947660] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.947662] EtherCAT DEBUG: 00 30 43 00 1A
> 02 20 00 64 60
> Feb 11 09:24:17 MAX kernel: [ 2868.947667] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:17 MAX kernel: [ 2868.947668] EtherCAT DEBUG: 20 00 64 60
> Feb 11 09:24:17 MAX kernel: [ 2868.947672] EtherCAT DEBUG 0-0: PDO entry
> 0x6064:00, 32 bit, "???".
> Feb 11 09:24:17 MAX kernel: [ 2868.947674] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1A00:03.
> Feb 11 09:24:17 MAX kernel: [ 2868.947675] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:17 MAX kernel: [ 2868.947676] EtherCAT DEBUG: 00 20 40 00 1A
> 03 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2868.987649] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:17 MAX kernel: [ 2868.987650] EtherCAT DEBUG: 00 30 43 00 1A
> 03 08 00 61 60
> Feb 11 09:24:17 MAX kernel: [ 2868.987654] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:17 MAX kernel: [ 2868.987655] EtherCAT DEBUG: 08 00 61 60
> Feb 11 09:24:17 MAX kernel: [ 2868.987658] EtherCAT DEBUG 0-0: PDO entry
> 0x6061:00, 8 bit, "???".
> Feb 11 09:24:17 MAX kernel: [ 2868.987659] EtherCAT DEBUG 0-0: Uploading
> SDO 0x1A00:04.
> Feb 11 09:24:17 MAX kernel: [ 2868.987660] EtherCAT DEBUG 0-0: Upload
> request:
> Feb 11 09:24:17 MAX kernel: [ 2868.987661] EtherCAT DEBUG: 00 20 40 00 1A
> 04 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.027635] EtherCAT DEBUG 0-0: Upload
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.027637] EtherCAT DEBUG: 00 30 43 00 1A
> 04 08 00 01 10
> Feb 11 09:24:17 MAX kernel: [ 2869.027642] EtherCAT DEBUG 0-0: Uploaded
> data:
> Feb 11 09:24:17 MAX kernel: [ 2869.027643] EtherCAT DEBUG: 08 00 01 10
> Feb 11 09:24:17 MAX kernel: [ 2869.027647] EtherCAT DEBUG 0-0: PDO entry
> 0x1001:00, 8 bit, "???".
> Feb 11 09:24:17 MAX kernel: [ 2869.027649] EtherCAT DEBUG 0-0: Changing
> mapping of PDO 0x1A00.
> Feb 11 09:24:17 MAX kernel: [ 2869.027650] EtherCAT DEBUG 0-0: Currently
> mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8.
> Entries to map: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8
> Feb 11 09:24:17 MAX kernel: [ 2869.027659] EtherCAT DEBUG 0-0: Setting
> entry count to zero.
> Feb 11 09:24:17 MAX kernel: [ 2869.027661] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:00.
> Feb 11 09:24:17 MAX kernel: [ 2869.027662] EtherCAT DEBUG: 00
> Feb 11 09:24:17 MAX kernel: [ 2869.027664] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.027666] EtherCAT DEBUG: 00 20 2F 00 1A
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.067622] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.067623] EtherCAT DEBUG: 00 30 60 00 1A
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.067627] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x6041:00 (16 bit) at position 1.
> Feb 11 09:24:17 MAX kernel: [ 2869.067629] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:01.
> Feb 11 09:24:17 MAX kernel: [ 2869.067630] EtherCAT DEBUG: 10 00 41 60
> Feb 11 09:24:17 MAX kernel: [ 2869.067632] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.067633] EtherCAT DEBUG: 00 20 23 00 1A
> 01 10 00 41 60
> Feb 11 09:24:17 MAX kernel: [ 2869.107614] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.107617] EtherCAT DEBUG: 00 30 60 00 1A
> 01 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.107621] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x6064:00 (32 bit) at position 2.
> Feb 11 09:24:17 MAX kernel: [ 2869.107623] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:02.
> Feb 11 09:24:17 MAX kernel: [ 2869.107624] EtherCAT DEBUG: 20 00 64 60
> Feb 11 09:24:17 MAX kernel: [ 2869.107626] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.107627] EtherCAT DEBUG: 00 20 23 00 1A
> 02 20 00 64 60
> Feb 11 09:24:17 MAX kernel: [ 2869.147593] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.147595] EtherCAT DEBUG: 00 30 60 00 1A
> 02 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.147600] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x6061:00 (8 bit) at position 3.
> Feb 11 09:24:17 MAX kernel: [ 2869.147602] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:03.
> Feb 11 09:24:17 MAX kernel: [ 2869.147603] EtherCAT DEBUG: 08 00 61 60
> Feb 11 09:24:17 MAX kernel: [ 2869.147606] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.147607] EtherCAT DEBUG: 00 20 23 00 1A
> 03 08 00 61 60
> Feb 11 09:24:17 MAX kernel: [ 2869.187585] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.187586] EtherCAT DEBUG: 00 30 60 00 1A
> 03 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.187590] EtherCAT DEBUG 0-0: Mapping PDO
> entry 0x1001:00 (8 bit) at position 4.
> Feb 11 09:24:17 MAX kernel: [ 2869.187592] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:04.
> Feb 11 09:24:17 MAX kernel: [ 2869.187593] EtherCAT DEBUG: 08 00 01 10
> Feb 11 09:24:17 MAX kernel: [ 2869.187595] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.187596] EtherCAT DEBUG: 00 20 23 00 1A
> 04 08 00 01 10
> Feb 11 09:24:17 MAX kernel: [ 2869.227574] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.227576] EtherCAT DEBUG: 00 30 60 00 1A
> 04 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.227582] EtherCAT DEBUG 0-0: Setting
> number of PDO entries to 4.
> Feb 11 09:24:17 MAX kernel: [ 2869.227584] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:00.
> Feb 11 09:24:17 MAX kernel: [ 2869.227585] EtherCAT DEBUG: 04
> Feb 11 09:24:17 MAX kernel: [ 2869.227588] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.227589] EtherCAT DEBUG: 00 20 2F 00 1A
> 00 04 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.267559] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.267560] EtherCAT DEBUG: 00 30 60 00 1A
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.267564] EtherCAT DEBUG 0-0:
> Successfully configured mapping for PDO 0x1A00.
> Feb 11 09:24:17 MAX kernel: [ 2869.267566] EtherCAT DEBUG 0-0: Setting PDO
> assignment of SM3:
> Feb 11 09:24:17 MAX kernel: [ 2869.267568] EtherCAT DEBUG 0-0: Currently
> assigned PDOs: 0x1A01. PDOs to assign: 0x1A00
> Feb 11 09:24:17 MAX kernel: [ 2869.267571] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to zero.
> Feb 11 09:24:17 MAX kernel: [ 2869.267573] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:00.
> Feb 11 09:24:17 MAX kernel: [ 2869.267574] EtherCAT DEBUG: 00
> Feb 11 09:24:17 MAX kernel: [ 2869.267575] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.267576] EtherCAT DEBUG: 00 20 2F 13 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.307546] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.307548] EtherCAT DEBUG: 00 30 60 13 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.307553] EtherCAT DEBUG 0-0: Assigning
> PDO 0x1A00 at position 1.
> Feb 11 09:24:17 MAX kernel: [ 2869.307555] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:01.
> Feb 11 09:24:17 MAX kernel: [ 2869.307556] EtherCAT DEBUG: 00 1A
> Feb 11 09:24:17 MAX kernel: [ 2869.307558] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.307559] EtherCAT DEBUG: 00 20 2B 13 1C
> 01 00 1A 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.347534] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.347536] EtherCAT DEBUG: 00 30 60 13 1C
> 01 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.347541] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to 1.
> Feb 11 09:24:17 MAX kernel: [ 2869.347544] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:00.
> Feb 11 09:24:17 MAX kernel: [ 2869.347545] EtherCAT DEBUG: 01
> Feb 11 09:24:17 MAX kernel: [ 2869.347547] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 09:24:17 MAX kernel: [ 2869.347548] EtherCAT DEBUG: 00 20 2F 13 1C
> 00 01 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.387521] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 09:24:17 MAX kernel: [ 2869.387522] EtherCAT DEBUG: 00 30 60 13 1C
> 00 00 00 00 00
> Feb 11 09:24:17 MAX kernel: [ 2869.387527] EtherCAT DEBUG 0-0:
> Successfully configured PDO assignment of SM3.
> Feb 11 09:24:17 MAX kernel: [ 2869.387532] EtherCAT DEBUG 0-0: SM2: Addr
> 0x1600, Size 8, Ctrl 0x24, En 1
> Feb 11 09:24:17 MAX kernel: [ 2869.387534] EtherCAT DEBUG 0-0: SM3: Addr
> 0x1A00, Size 8, Ctrl 0x10, En 1
> Feb 11 09:24:17 MAX kernel: [ 2869.407520] EtherCAT DEBUG 0 0:0: FMMU:
> LogAddr 0x00000008, Size 8, PhysAddr 0x1600, SM2, Dir out
> Feb 11 09:24:17 MAX kernel: [ 2869.407522] EtherCAT DEBUG 0 0:0: FMMU:
> LogAddr 0x00000000, Size 8, PhysAddr 0x1A00, SM3, Dir in
> Feb 11 09:24:17 MAX kernel: [ 2869.437507] EtherCAT 0: Domain 1: Working
> counter changed to 1/1.
> Feb 11 09:24:17 MAX kernel: [ 2869.447503] EtherCAT DEBUG 0-0: Now in
> SAFEOP.
> Feb 11 09:24:17 MAX kernel: [ 2869.477491] EtherCAT DEBUG 0-0: Now in OP.
> Finished configuration.
> Feb 11 09:24:17 MAX kernel: [ 2869.498564] EtherCAT 0: Slave states on
> main device: OP.
> Feb 11 09:24:20 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port
> 67 interval 20
>
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>
>
--
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.
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