[etherlab-users] Metronix controller's sync manager address same with PDO index
Zhiyong Weng
zhiyong.weng at gmail.com
Wed Feb 12 12:52:51 CET 2014
Hi Jun Yuan,
You are always right,always right. Acturely it is the transmission_type
value control the output of PDO data.
If I set transmission_type to 0xFF , controller only send data when
bit of the PDO data has changed. and unfortunately When I test my code, I
never trigger the motor to roll, so all data is zero. It is shame on me ,
shame on me. I did not read the document carefully.
I also manage to update the PDO index, if follow the sequence.
Thank you so much. 祝
身体健康！双节快乐！和家欢乐！
Regards,
Zhiyong
[image: 内嵌图片 1]
2014-02-12 17:10 GMT+08:00 Jun Yuan <j.yuan at rtleaders.com>:
> 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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