[etherlab-users] Metronix controller's sync manager address same with PDO index
Jun Yuan
j.yuan at rtleaders.com
Wed Feb 12 10:10:59 CET 2014
Hi Zhiyong,
glad to hear that it works.
It seems your vendor has done some magic configuration thing with
twincat. You mail reminds me of those <InitCmd> in the XML which I
missed last time. I think that's how the magic works.
They use the objects 0x1400:1 and 0x1401:1 to activate/deactivate the
RxPDO mapping 0x1600 and 0x1601; 0x1800:1 and 0x1801:1 to activate/
deactivate the TxPDO mapping 0x1a00 and 0x1a01. And it seems there're
also objects for "PDO transmission type" and "T-PDOx inhibit time",
which need necessary configuration too.
I think if you do the same thing in the same order as those InitCmds
do in the XML file using SDO write command, you'll succeed next time
without any twincat. And you just need to download the value
0xC0000201 to the SDO 0x1400:1, before you change the RxPDO1 mapping
0x1600, and write it back to 0x40000201 after the change.
To your second question. Because of the little endian, you see 08 00
61 60 for 0x60610008, it's not 0x08006160.
预祝元宵节跟情人节快乐！
Jun
On Wed, Feb 12, 2014 at 4:49 AM, Zhiyong Weng <zhiyong.weng at gmail.com> wrote:
> Hi Jun Yuan,
>
> Thank you so much for sharing the knowledge about ethercat. It means a
> lot for me.
> Now I can get the PDO data as expected.
>
> Here is what happened yesterday:
> The codes your gave are correct. My vendor also did some configuration
> using twincat.
> so the whole story is,before the vendor use twincat, the code still get
> zero data of pdo.
> but after twincat config, same code return correct data.
>
> Two thing changed I notice:
> 1. now can not change PDO index (0x1600,0x1A00),I mean reset the
> number of mapped object and the PDO mapping.
> before that, I can use SDO to write data to adress,like 0x1600:0
> ,0x1600:1.
> In the log, can see the "WARNING 0-0: Failed to clear PDO
> mapping."
>
> 2. now the value in PDO index changed. for example, I check 0x1A00:1
> as below. It is 0x60610008. I notice the byte order of the value is diff.
> according to vendor's xml file, it shall be 0x08006160.
> /opt/etherlab/bin$ sudo ./ethercat upload --type=uint32 6656 1
> 0x60610008 1616969736
>
> <InitCmd>
> <Transition>PS</Transition>
> <Index>#x1A00</Index>
> <SubIndex>3</SubIndex>
> <Data>08006160</Data>
> <Comment>TxPDO1,Obj.3: mode of operation display</Comment>
> </InitCmd>
>
> I am not sure what vendor do with twincat. Anyway it works.
> Thank you again. Happy New Year.
>
> Regards,
> Max
>
> Feb 11 20:14:09 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port
> 67 interval 8
> Feb 11 20:14:09 MAX kernel: [37974.854663] EtherCAT: Requesting master 0...
> Feb 11 20:14:09 MAX kernel: [37974.854669] EtherCAT DEBUG 0: IDLE ->
> OPERATION.
> Feb 11 20:14:09 MAX kernel: [37974.854672] EtherCAT: Successfully requested
> master 0.
> Feb 11 20:14:09 MAX kernel: [37974.854677] EtherCAT DEBUG 0:
> ecrt_master_create_domain(master = 0xffff88019fbae000)
> Feb 11 20:14:09 MAX kernel: [37974.854680] EtherCAT DEBUG 0: Created domain
> 0.
> Feb 11 20:14:09 MAX kernel: [37974.854683] EtherCAT DEBUG 0:
> ecrt_master_create_domain(master = 0xffff88019fbae000)
> Feb 11 20:14:09 MAX kernel: [37974.854685] EtherCAT DEBUG 0: Created domain
> 1.
> Feb 11 20:14:09 MAX kernel: [37974.854689] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854693] EtherCAT DEBUG 0: Creating slave
> configuration for 0:0, 0x000000E4/0x00001133.
> Feb 11 20:14:09 MAX kernel: [37974.854699] EtherCAT DEBUG 0 0:0: Attached
> slave 0.
> Feb 11 20:14:09 MAX kernel: [37974.854757] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 0, dir
> = 1, watchdog_mode = 2)
> Feb 11 20:14:09 MAX kernel: [37974.854761] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 1, dir
> = 2, watchdog_mode = 2)
> Feb 11 20:14:09 MAX kernel: [37974.854764] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 2, dir
> = 1, watchdog_mode = 2)
> Feb 11 20:14:09 MAX kernel: [37974.854769] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880106d3d000, sync_index = 2)
> Feb 11 20:14:09 MAX kernel: [37974.854774] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_add(sc = 0xffff880106d3d000, sync_index = 2,
> pdo_index = 0x1600)
> Feb 11 20:14:09 MAX kernel: [37974.854777] EtherCAT DEBUG 0 0:0: Loading
> default mapping for PDO 0x1600.
> Feb 11 20:14:09 MAX kernel: [37974.854780] EtherCAT DEBUG 0 0:0: Found PDO
> name "Outputs".
> Feb 11 20:14:09 MAX kernel: [37974.854782] EtherCAT DEBUG 0 0:0: Entry
> 0x6040:00.
> Feb 11 20:14:09 MAX kernel: [37974.854784] EtherCAT DEBUG 0 0:0: Entry
> 0x6060:00.
> Feb 11 20:14:09 MAX kernel: [37974.854786] EtherCAT DEBUG 0 0:0: Entry
> 0x6098:00.
> Feb 11 20:14:09 MAX kernel: [37974.854787] EtherCAT DEBUG 0 0:0: Entry
> 0x607A:00.
> Feb 11 20:14:09 MAX kernel: [37974.854789] EtherCAT DEBUG 0 0:0: Entry
> 0x60FF:00.
> Feb 11 20:14:09 MAX kernel: [37974.854790] EtherCAT DEBUG 0 0:0: Entry
> 0x6071:00.
> Feb 11 20:14:09 MAX kernel: [37974.854794] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880106d3d000, pdo_index =
> 0x1600)
> Feb 11 20:14:09 MAX kernel: [37974.854800] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
> Feb 11 20:14:09 MAX kernel: [37974.854805] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
> Feb 11 20:14:09 MAX kernel: [37974.854809] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_sync_manager(sc = 0xffff880106d3d000, sync_index = 3, dir
> = 2, watchdog_mode = 2)
> Feb 11 20:14:09 MAX kernel: [37974.854812] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_clear(sc = 0xffff880106d3d000, sync_index = 3)
> Feb 11 20:14:09 MAX kernel: [37974.854815] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_assign_add(sc = 0xffff880106d3d000, sync_index = 3,
> pdo_index = 0x1A00)
> Feb 11 20:14:09 MAX kernel: [37974.854818] EtherCAT DEBUG 0 0:0: Loading
> default mapping for PDO 0x1A00.
> Feb 11 20:14:09 MAX kernel: [37974.854820] EtherCAT DEBUG 0 0:0: Found PDO
> name "Inputs".
> Feb 11 20:14:09 MAX kernel: [37974.854822] EtherCAT DEBUG 0 0:0: Entry
> 0x6041:00.
> Feb 11 20:14:09 MAX kernel: [37974.854824] EtherCAT DEBUG 0 0:0: Entry
> 0x6064:00.
> Feb 11 20:14:09 MAX kernel: [37974.854825] EtherCAT DEBUG 0 0:0: Entry
> 0x6061:00.
> Feb 11 20:14:09 MAX kernel: [37974.854827] EtherCAT DEBUG 0 0:0: Entry
> 0x1001:00.
> Feb 11 20:14:09 MAX kernel: [37974.854829] EtherCAT DEBUG 0 0:0: Entry
> 0x606C:00.
> Feb 11 20:14:09 MAX kernel: [37974.854831] EtherCAT DEBUG 0 0:0: Entry
> 0x6077:00.
> Feb 11 20:14:09 MAX kernel: [37974.854833] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880106d3d000, pdo_index =
> 0x1A00)
> Feb 11 20:14:09 MAX kernel: [37974.854837] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
> Feb 11 20:14:09 MAX kernel: [37974.854841] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
> Feb 11 20:14:09 MAX kernel: [37974.854845] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
> Feb 11 20:14:09 MAX kernel: [37974.854849] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_pdo_mapping_add(sc = 0xffff880106d3d000, pdo_index =
> 0x1A00, entry_index = 0x1001, entry_subindex = 0x00, entry_bit_length = 8)
> Feb 11 20:14:09 MAX kernel: [37974.854854] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854860] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6040,
> subindex = 0x00, domain = 0xffff8801597f3d00, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854865] EtherCAT DEBUG 0: Domain 1: Added
> 3 bytes, total 3.
> Feb 11 20:14:09 MAX kernel: [37974.854867] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854871] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6060,
> subindex = 0x00, domain = 0xffff8801597f3d00, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854875] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854879] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6041,
> subindex = 0x00, domain = 0xffff8801597f3900, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854883] EtherCAT DEBUG 0: Domain 0: Added
> 8 bytes, total 8.
> Feb 11 20:14:09 MAX kernel: [37974.854885] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854889] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6064,
> subindex = 0x00, domain = 0xffff8801597f3900, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854893] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854897] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x6061,
> subindex = 0x00, domain = 0xffff8801597f3900, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854901] EtherCAT DEBUG 0:
> ecrt_master_slave_config(master = 0xffff88019fbae000, alias = 0, position =
> 0, vendor_id = 0x000000e4, product_code = 0x00001133)
> Feb 11 20:14:09 MAX kernel: [37974.854904] EtherCAT DEBUG 0 0:0:
> ecrt_slave_config_reg_pdo_entry(sc = 0xffff880106d3d000, index = 0x1001,
> subindex = 0x00, domain = 0xffff8801597f3900, bit_position =
> 0xffff8801b2f4bca4)
> Feb 11 20:14:09 MAX kernel: [37974.854941] EtherCAT DEBUG 0:
> ecrt_domain_external_memory(domain = 0xffff8801597f3900, mem =
> 0xffffc90018eb4000)
> Feb 11 20:14:09 MAX kernel: [37974.854944] EtherCAT DEBUG 0:
> ecrt_domain_external_memory(domain = 0xffff8801597f3d00, mem =
> 0xffffc90018eb4008)
> Feb 11 20:14:09 MAX kernel: [37974.854947] EtherCAT DEBUG 0:
> ecrt_master_callbacks(master = 0xffff88019fbae000, send_cb =
> 0xffffffffa056c8f0, receive_cb = 0xffffffffa056d020, cb_data =
> 0xffff88019fbae000)
> Feb 11 20:14:09 MAX kernel: [37974.854951] EtherCAT DEBUG 0:
> ecrt_master_activate(master = 0xffff88019fbae000)
> Feb 11 20:14:09 MAX kernel: [37974.854955] EtherCAT DEBUG 0: Adding datagram
> pair with expected WC 1.
> Feb 11 20:14:09 MAX kernel: [37974.854958] EtherCAT 0: Domain0: Logical
> address 0x00000000, 8 byte, expected working counter 1.
> Feb 11 20:14:09 MAX kernel: [37974.854961] EtherCAT 0: Datagram
> domain0-0-main: Logical offset 0x00000000, 8 byte, type LRD.
> Feb 11 20:14:09 MAX kernel: [37974.854963] EtherCAT DEBUG 0: Adding datagram
> pair with expected WC 1.
> Feb 11 20:14:09 MAX kernel: [37974.854965] EtherCAT 0: Domain1: Logical
> address 0x00000008, 3 byte, expected working counter 1.
> Feb 11 20:14:09 MAX kernel: [37974.854968] EtherCAT 0: Datagram
> domain1-8-main: Logical offset 0x00000008, 3 byte, type LWR.
> Feb 11 20:14:09 MAX kernel: [37974.854971] EtherCAT DEBUG 0: Stopping master
> thread.
> Feb 11 20:14:09 MAX kernel: [37974.855023] EtherCAT DEBUG 0: Master IDLE
> thread exiting...
> Feb 11 20:14:09 MAX kernel: [37974.855091] EtherCAT 0: Master thread exited.
> Feb 11 20:14:09 MAX kernel: [37974.855096] EtherCAT DEBUG 0: FSM datagram is
> ffff88019fbae678.
> Feb 11 20:14:09 MAX kernel: [37974.855099] EtherCAT 0: Starting EtherCAT-OP
> thread.
> Feb 11 20:14:09 MAX kernel: [37974.855224] EtherCAT DEBUG 0: mmap()
> Feb 11 20:14:09 MAX kernel: [37974.855233] EtherCAT DEBUG 0: Vma fault,
> virtual_address = 00007f1ecc8a6000, offset = 0, page = ffffea0006c1be00
> Feb 11 20:14:09 MAX kernel: [37974.855247] EtherCAT DEBUG 0: Operation
> thread running with fsm interval = 4000 us, max data size=45000
> Feb 11 20:14:09 MAX kernel: [37974.855252] EtherCAT WARNING 0: 77 datagrams
> TIMED OUT!
> Feb 11 20:14:09 MAX kernel: [37974.856731] EtherCAT DEBUG 0: Configuration
> changed (aborting state check).
> Feb 11 20:14:09 MAX kernel: [37974.856763] EtherCAT WARNING 0: No app_time
> received up to now, but master already active.
> Feb 11 20:14:09 MAX kernel: [37974.856776] EtherCAT DEBUG 0: Requesting
> OP...
> Feb 11 20:14:09 MAX kernel: [37974.872760] EtherCAT DEBUG 0-0: Changing
> state from PREOP to OP.
> Feb 11 20:14:09 MAX kernel: [37974.872770] EtherCAT DEBUG 0-0:
> Configuring...
> Feb 11 20:14:09 MAX kernel: [37974.879615] EtherCAT DEBUG 0-0: Now in INIT.
> Feb 11 20:14:09 MAX kernel: [37974.879617] EtherCAT DEBUG 0-0: Clearing FMMU
> configurations...
> Feb 11 20:14:09 MAX kernel: [37974.886326] EtherCAT DEBUG 0-0: Clearing sync
> manager configurations...
> Feb 11 20:14:09 MAX kernel: [37974.892941] EtherCAT DEBUG 0-0: Configuring
> mailbox sync managers...
> Feb 11 20:14:09 MAX kernel: [37974.892944] EtherCAT DEBUG 0-0: SM0: Addr
> 0x1800, Size 16, Ctrl 0x26, En 1
> Feb 11 20:14:09 MAX kernel: [37974.892946] EtherCAT DEBUG 0-0: SM1: Addr
> 0x1900, Size 16, Ctrl 0x12, En 1
> Feb 11 20:14:09 MAX kernel: [37974.906270] EtherCAT DEBUG 0-0: Now in PREOP.
> Feb 11 20:14:09 MAX kernel: [37974.906277] EtherCAT DEBUG 0-0: Changing
> mapping of PDO 0x1600.
> Feb 11 20:14:09 MAX kernel: [37974.906278] EtherCAT DEBUG 0-0: Currently
> mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x6098:00/8 0x607A:00/32
> 0x60FF:00/32 0x6071:00/16. Entries to map: 0x6040:00/16 0x6060:00/8
> Feb 11 20:14:09 MAX kernel: [37974.906294] EtherCAT DEBUG 0-0: Setting entry
> count to zero.
> Feb 11 20:14:09 MAX kernel: [37974.906296] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1600:00.
> Feb 11 20:14:09 MAX kernel: [37974.906305] EtherCAT DEBUG: 00
> Feb 11 20:14:09 MAX kernel: [37974.906308] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:09 MAX kernel: [37974.906309] EtherCAT DEBUG: 00 20 2F 00 16 00
> 00 00 00 00
> Feb 11 20:14:09 MAX kernel: [37974.919597] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:09 MAX kernel: [37974.919599] EtherCAT DEBUG: 00 30 80 00 16 00
> 22 00 00 08
> Feb 11 20:14:09 MAX kernel: [37974.919603] EtherCAT DEBUG 0-0: Invalid SDO
> download response! Retrying...
> Feb 11 20:14:09 MAX kernel: [37974.919604] EtherCAT DEBUG: 00 30 80 00 16 00
> 22 00 00 08
> Feb 11 20:14:10 MAX kernel: [37975.909187] EtherCAT ERROR 0-0: Timeout after
> 1000 ms while waiting for SDO 0x1600:0 download response.
> Feb 11 20:14:10 MAX kernel: [37975.909191] EtherCAT WARNING 0-0: Failed to
> clear PDO mapping.
> Feb 11 20:14:10 MAX kernel: [37975.909192] EtherCAT WARNING 0-0: Currently
> mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x6098:00/8 0x607A:00/32
> 0x60FF:00/32 0x6071:00/16. Entries to map: 0x6040:00/16 0x6060:00/8
> Feb 11 20:14:10 MAX kernel: [37975.909202] EtherCAT WARNING 0-0: Failed to
> configure mapping of PDO 0x1600.
> Feb 11 20:14:10 MAX kernel: [37975.909212] EtherCAT DEBUG 0-0: Setting PDO
> assignment of SM2:
> Feb 11 20:14:10 MAX kernel: [37975.909214] EtherCAT DEBUG 0-0: Currently
> assigned PDOs: 0x1600. PDOs to assign: 0x1600
> Feb 11 20:14:10 MAX kernel: [37975.909217] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to zero.
> Feb 11 20:14:10 MAX kernel: [37975.909220] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:00.
> Feb 11 20:14:10 MAX kernel: [37975.909221] EtherCAT DEBUG: 00
> Feb 11 20:14:10 MAX kernel: [37975.909223] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:10 MAX kernel: [37975.909224] EtherCAT DEBUG: 00 20 2F 12 1C 00
> 00 00 00 00
> Feb 11 20:14:10 MAX kernel: [37975.922511] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:10 MAX kernel: [37975.922513] EtherCAT DEBUG: 00 30 60 12 1C 00
> 00 00 00 00
> Feb 11 20:14:10 MAX kernel: [37975.922519] EtherCAT DEBUG 0-0: Assigning PDO
> 0x1600 at position 1.
> Feb 11 20:14:10 MAX kernel: [37975.922520] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:01.
> Feb 11 20:14:10 MAX kernel: [37975.922521] EtherCAT DEBUG: 00 16
> Feb 11 20:14:10 MAX kernel: [37975.922523] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:10 MAX kernel: [37975.922524] EtherCAT DEBUG: 00 20 2B 12 1C 01
> 00 16 00 00
> Feb 11 20:14:10 MAX kernel: [37975.935852] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:10 MAX kernel: [37975.935855] EtherCAT DEBUG: 00 30 60 12 1C 01
> 00 00 00 00
> Feb 11 20:14:10 MAX kernel: [37975.935862] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to 1.
> Feb 11 20:14:10 MAX kernel: [37975.935864] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C12:00.
> Feb 11 20:14:10 MAX kernel: [37975.935865] EtherCAT DEBUG: 01
> Feb 11 20:14:10 MAX kernel: [37975.935868] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:10 MAX kernel: [37975.935869] EtherCAT DEBUG: 00 20 2F 12 1C 00
> 01 00 00 00
> Feb 11 20:14:11 MAX kernel: [37975.949171] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:11 MAX kernel: [37975.949175] EtherCAT DEBUG: 00 30 60 12 1C 00
> 00 00 00 00
> Feb 11 20:14:11 MAX kernel: [37975.949184] EtherCAT DEBUG 0-0: Successfully
> configured PDO assignment of SM2.
> Feb 11 20:14:11 MAX kernel: [37975.949191] EtherCAT DEBUG 0-0: Changing
> mapping of PDO 0x1A00.
> Feb 11 20:14:11 MAX kernel: [37975.949193] EtherCAT DEBUG 0-0: Currently
> mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8
> 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6064:00/32
> 0x6061:00/8 0x1001:00/8
> Feb 11 20:14:11 MAX kernel: [37975.949208] EtherCAT DEBUG 0-0: Setting entry
> count to zero.
> Feb 11 20:14:11 MAX kernel: [37975.949211] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1A00:00.
> Feb 11 20:14:11 MAX kernel: [37975.949212] EtherCAT DEBUG: 00
> Feb 11 20:14:11 MAX kernel: [37975.949215] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:11 MAX kernel: [37975.949217] EtherCAT DEBUG: 00 20 2F 00 1A 00
> 00 00 00 00
> Feb 11 20:14:11 MAX kernel: [37975.962495] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:11 MAX kernel: [37975.962497] EtherCAT DEBUG: 00 30 80 00 1A 00
> 22 00 00 08
> Feb 11 20:14:11 MAX kernel: [37975.962501] EtherCAT DEBUG 0-0: Invalid SDO
> download response! Retrying...
> Feb 11 20:14:11 MAX kernel: [37975.962502] EtherCAT DEBUG: 00 30 80 00 1A 00
> 22 00 00 08
> Feb 11 20:14:12 MAX kernel: [37976.952110] EtherCAT ERROR 0-0: Timeout after
> 1000 ms while waiting for SDO 0x1a00:0 download response.
> Feb 11 20:14:12 MAX kernel: [37976.952113] EtherCAT WARNING 0-0: Failed to
> clear PDO mapping.
> Feb 11 20:14:12 MAX kernel: [37976.952115] EtherCAT WARNING 0-0: Currently
> mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6061:00/8 0x1001:00/8
> 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6064:00/32
> 0x6061:00/8 0x1001:00/8
> Feb 11 20:14:12 MAX kernel: [37976.952126] EtherCAT WARNING 0-0: Failed to
> configure mapping of PDO 0x1A00.
> Feb 11 20:14:12 MAX kernel: [37976.952128] EtherCAT DEBUG 0-0: Setting PDO
> assignment of SM3:
> Feb 11 20:14:12 MAX kernel: [37976.952129] EtherCAT DEBUG 0-0: Currently
> assigned PDOs: 0x1A00. PDOs to assign: 0x1A00
> Feb 11 20:14:12 MAX kernel: [37976.952133] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to zero.
> Feb 11 20:14:12 MAX kernel: [37976.952135] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:00.
> Feb 11 20:14:12 MAX kernel: [37976.952137] EtherCAT DEBUG: 00
> Feb 11 20:14:12 MAX kernel: [37976.952139] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:12 MAX kernel: [37976.952140] EtherCAT DEBUG: 00 20 2F 13 1C 00
> 00 00 00 00
> Feb 11 20:14:12 MAX kernel: [37976.965410] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:12 MAX kernel: [37976.965413] EtherCAT DEBUG: 00 30 60 13 1C 00
> 00 00 00 00
> Feb 11 20:14:12 MAX kernel: [37976.965419] EtherCAT DEBUG 0-0: Assigning PDO
> 0x1A00 at position 1.
> Feb 11 20:14:12 MAX kernel: [37976.965422] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:01.
> Feb 11 20:14:12 MAX kernel: [37976.965423] EtherCAT DEBUG: 00 1A
> Feb 11 20:14:12 MAX kernel: [37976.965425] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:12 MAX kernel: [37976.965426] EtherCAT DEBUG: 00 20 2B 13 1C 01
> 00 1A 00 00
> Feb 11 20:14:12 MAX kernel: [37976.978737] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:12 MAX kernel: [37976.978738] EtherCAT DEBUG: 00 30 60 13 1C 01
> 00 00 00 00
> Feb 11 20:14:12 MAX kernel: [37976.978743] EtherCAT DEBUG 0-0: Setting
> number of assigned PDOs to 1.
> Feb 11 20:14:12 MAX kernel: [37976.978745] EtherCAT DEBUG 0-0: Downloading
> SDO 0x1C13:00.
> Feb 11 20:14:12 MAX kernel: [37976.978746] EtherCAT DEBUG: 01
> Feb 11 20:14:12 MAX kernel: [37976.978747] EtherCAT DEBUG 0-0: Expedited
> download request:
> Feb 11 20:14:12 MAX kernel: [37976.978748] EtherCAT DEBUG: 00 20 2F 13 1C 00
> 01 00 00 00
> Feb 11 20:14:12 MAX kernel: [37976.992064] EtherCAT DEBUG 0-0: Download
> response:
> Feb 11 20:14:12 MAX kernel: [37976.992065] EtherCAT DEBUG: 00 30 60 13 1C 00
> 00 00 00 00
> Feb 11 20:14:12 MAX kernel: [37976.992071] EtherCAT DEBUG 0-0: Successfully
> configured PDO assignment of SM3.
> Feb 11 20:14:12 MAX kernel: [37976.992075] EtherCAT DEBUG 0-0: SM2: Addr
> 0x1600, Size 3, Ctrl 0x24, En 1
> Feb 11 20:14:12 MAX kernel: [37976.992077] EtherCAT DEBUG 0-0: SM3: Addr
> 0x1A00, Size 8, Ctrl 0x10, En 1
> Feb 11 20:14:12 MAX kernel: [37976.998730] EtherCAT DEBUG 0 0:0: FMMU:
> LogAddr 0x00000008, Size 3, PhysAddr 0x1600, SM2, Dir out
> Feb 11 20:14:12 MAX kernel: [37976.998732] EtherCAT DEBUG 0 0:0: FMMU:
> LogAddr 0x00000000, Size 8, PhysAddr 0x1A00, SM3, Dir in
> Feb 11 20:14:12 MAX kernel: [37977.008725] EtherCAT 0: Domain 1: Working
> counter changed to 1/1.
> Feb 11 20:14:12 MAX kernel: [37977.012054] EtherCAT DEBUG 0-0: Now in
> SAFEOP.
> Feb 11 20:14:12 MAX kernel: [37977.018719] EtherCAT DEBUG 0-0: Now in OP.
> Finished configuration.
> Feb 11 20:14:12 MAX kernel: [37977.022173] EtherCAT 0: Domain 0: Working
> counter changed to 1/1.
> Feb 11 20:14:12 MAX kernel: [37977.028095] EtherCAT 0: Slave states on main
> device: OP.
> Feb 11 20:14:17 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port
> 67 interval 14
> Feb 11 20:14:31 MAX dhclient: DHCPDISCOVER on eth0 to 255.255.255.255 port
> 67 interval 12
>
>
>
>
> 2014-02-11 19:14 GMT+08:00 Jun Yuan <j.yuan at rtleaders.com>:
>
>> 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
>>
>>
>>
>> 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.
>
>
--
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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