[etherlab-users] DeviceNet EL6752, "Timeout after 1000 ms while waiting for SDO 0xf800:0 download response."
Carlos Herkt
ch at lessmueller.de
Thu Sep 11 17:25:18 CEST 2014
Hello,
referring to
http://lists.etherlab.org/pipermail/etherlab-users/2014/002613.html we
managed to set up our devices properly.
We can communicate with our slaves on both devices (EL6631 && EL66731)!
Now we're trying to initialize the Beckhoff EL6752 the same way we did.
But another error arose:
/
dmesg: "Timeout after 1000 ms while waiting for SDO 0xf800:0 download
response." /
We doublechecked our configuration and everything seems alright.
What does cause this failure?
Is there a way to change that timeout?
Any help is greatly appreciated.
Best regards
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[ +16,710856] EtherCAT: Requesting master 0...
[ +0,000011] EtherCAT: Successfully requested master 0.
[ +0,000401] EtherCAT 0: Domain0: Logical address 0x00000000, 51 byte, expected working counter 3.
[ +0,000061] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 51 byte, type LRW.
[ +0,001222] EtherCAT 0: Master thread exited.
[ +0,000011] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0,001738] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ +1,339565] EtherCAT ERROR 0-3: Timeout after 1000 ms while waiting for SDO 0xf800:0 download response.
[ +0,000009] EtherCAT ERROR 0-3: SDO configuration failed.
[ +0,060415] EtherCAT 0: Slave states on main device: PREOP, OP.
[ +3,221711] EtherCAT 0: Releasing master...
[ +0,000108] EtherCAT 0: Master thread exited.
[ +0,000057] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0,000063] EtherCAT 0: Released.
[ +0,000043] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[ +0,138020] EtherCAT 0: Slave states on main device: PREOP.
[ +0,200997] EtherCAT WARNING: Datagram ffff88006ea10678 (master-fsm) was SKIPPED 1 time.
[Sep11 17:19] EtherCAT 0: Master debug level set to 1.
[ +32,024245] EtherCAT: Requesting master 0...
[ +0,000007] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ +0,000004] EtherCAT: Successfully requested master 0.
[ +0,000007] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88006ea10000)
[ +0,000002] EtherCAT DEBUG 0: Created domain 0.
[ +0,000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ea10000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[ +0,000003] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044C2C52.
[ +0,000004] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ +0,000005] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ea10000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[ +0,000002] EtherCAT DEBUG 0: Creating slave configuration for 0:3, 0x00000002/0x1A603052.
[ +0,000003] EtherCAT DEBUG 0 0:3: Attached slave 3.
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_complete_sdo(sc = 0xffff88005f5fb800, index = 0xF800, data = 0xffff88007a74a140, size = 56)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_complete_sdo(sc = 0xffff88005f5fb800, index = 0x8000, data = 0xffff88006e921280, size = 110)
[ +0,000080] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88005f5fb800, sync_index = 0, dir = 1, watchdog_mode = 2)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88005f5fb800, sync_index = 1, dir = 2, watchdog_mode = 2)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88005f5fb800, sync_index = 2, dir = 1, watchdog_mode = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88005f5fb800, sync_index = 2)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88005f5fb800, sync_index = 2, pdo_index = 0x1600)
[ +0,000005] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1600.
[ +0,000003] EtherCAT DEBUG 0 0:3: No default mapping found.
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88005f5fb800, pdo_index = 0x1600)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 8)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x05, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x06, entry_bit_length = 8)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x07, entry_bit_length = 8)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x08, entry_bit_length = 8)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x09, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0A, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0B, entry_bit_length = 8)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0C, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0D, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0E, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0F, entry_bit_length = 8)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x10, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 8)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x12, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x13, entry_bit_length = 8)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x14, entry_bit_length = 8)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88005f5fb800, sync_index = 2, pdo_index = 0x1680)
[ +0,000002] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1680.
[ +0,000002] EtherCAT DEBUG 0 0:3: No default mapping found.
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88005f5fb800, pdo_index = 0x1680)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x01, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x02, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x03, entry_bit_length = 1)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x04, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x05, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x06, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x07, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x08, entry_bit_length = 1)
[ +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x09, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0A, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0B, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0C, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0D, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0E, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0F, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x10, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x11, entry_bit_length = 1)
[ +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x12, entry_bit_length = 1)
[ +0,001001] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x13, entry_bit_length = 1)
[ +0,000055] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x14, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x15, entry_bit_length = 1)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x16, entry_bit_length = 1)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x17, entry_bit_length = 1)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x18, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x19, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1A, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1B, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1C, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1D, entry_bit_length = 1)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1E, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1F, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x20, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x21, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x22, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x23, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x24, entry_bit_length = 1)
[ +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x25, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x26, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x27, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x28, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x29, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2A, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2B, entry_bit_length = 1)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2C, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2D, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2E, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2F, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x30, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x31, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x32, entry_bit_length = 1)
[ +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x33, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x34, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x35, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x36, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x37, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x38, entry_bit_length = 1)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x39, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3A, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3B, entry_bit_length = 1)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3C, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3D, entry_bit_length = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3E, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3F, entry_bit_length = 1)
[ +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x40, entry_bit_length = 1)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88005f5fb800, sync_index = 3, dir = 2, watchdog_mode = 1)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88005f5fb800, sync_index = 3)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88005f5fb800, sync_index = 3, pdo_index = 0x1A00)
[ +0,000003] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A00.
[ +0,000003] EtherCAT DEBUG 0 0:3: No default mapping found.
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88005f5fb800, pdo_index = 0x1A00)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 8)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 8)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 8)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 8)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 8)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x13, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x14, entry_bit_length = 8)
[ +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88005f5fb800, sync_index = 3, pdo_index = 0x1A80)
[ +0,000005] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A80.
[ +0,000003] EtherCAT DEBUG 0 0:3: No default mapping found.
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88005f5fb800, pdo_index = 0x1A80)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A80, entry_index = 0xA000, entry_subindex = 0x01, entry_bit_length = 8)
[ +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A80, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = 8)
[ +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A80, entry_index = 0xF100, entry_subindex = 0x02, entry_bit_length = 1)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88005f5fb800, pdo_index = 0x1A80, entry_index = 0xA000, entry_subindex = 0x02, entry_bit_length = 1)
[ +0,000014] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ea10000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[ +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88005f5fb800, index = 0x6000, subindex = 0x01, domain = 0xffff88006e921a80, bit_position = 0xffff88005f4cfe0c)
[ +0,000008] EtherCAT DEBUG 0: Domain 0: Added 23 bytes, total 23.
[ +0,000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ea10000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[ +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88005f5fb800, index = 0x7000, subindex = 0x01, domain = 0xffff88006e921a80, bit_position = 0xffff88005f4cfe0c)
[ +0,000008] EtherCAT DEBUG 0: Domain 0: Added 28 bytes, total 51.
[ +0,000023] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff88006e921a80, mem = 0xffffc900004b9000)
[ +0,000006] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff88006ea10000, send_cb = 0xffffffffa05f0010, receive_cb = 0xffffffffa05f0710, cb_data = 0xffff88006ea10000)
[ +0,000004] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff88006ea10000)
[ +0,000006] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ +0,000004] EtherCAT 0: Domain0: Logical address 0x00000000, 51 byte, expected working counter 3.
[ +0,000006] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 51 byte, type LRW.
[ +0,000003] EtherCAT DEBUG 0: Stopping master thread.
[ +0,000223] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ +0,000711] EtherCAT 0: Master thread exited.
[ +0,000007] EtherCAT DEBUG 0: FSM datagram is ffff88006ea10678.
[ +0,000003] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0,000074] EtherCAT DEBUG 0: mmap()
[ +0,000014] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007f648d7b6000, offset = 0, page = ffffea0000dbc280
[ +0,000178] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[ +0,000006] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ +0,001552] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[ +0,000006] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ +0,000004] EtherCAT DEBUG 0: Requesting OP...
[ +0,039736] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ +0,000008] EtherCAT DEBUG 0-0: Configuring...
[ +0,029689] EtherCAT DEBUG 0-0: Now in INIT.
[ +0,000008] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ +0,012692] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ +0,007295] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ +0,010002] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ +0,019995] EtherCAT DEBUG 0-0: Now in PREOP.
[ +0,030017] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ +0,019979] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ +0,050093] EtherCAT DEBUG 0-3: Changing state from PREOP to OP.
[ +0,000009] EtherCAT DEBUG 0-3: Configuring...
[ +0,049911] EtherCAT DEBUG 0-3: Now in INIT.
[ +0,000008] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[ +0,009980] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[ +0,009998] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[ +0,000009] EtherCAT DEBUG 0-3: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000004] EtherCAT DEBUG 0-3: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[ +0,049996] EtherCAT DEBUG 0-3: Now in PREOP.
[ +0,000011] EtherCAT DEBUG 0-3: Downloading SDO 0xF800.
[ +0,000004] EtherCAT DEBUG: 0B 00 3C 00 03 00 6C 00 0C 00 60 1A 01 01 78 56
[ +0,000018] EtherCAT DEBUG: 34 12 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000019] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000042] EtherCAT DEBUG: 00 00 00 00 64 00 14 00
[ +0,000012] EtherCAT DEBUG 0-3: Normal download request:
[ +0,000004] EtherCAT DEBUG: 00 20 31 00 F8 00 38 00 00 00 0B 00 3C 00 03 00
[ +0,000016] EtherCAT DEBUG: 6C 00 0C 00 60 1A 01 01 78 56 34 12 00 00 00 00
[ +0,000017] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000016] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00
[ +0,000035] EtherCAT DEBUG: 14 00
[ +1,009800] EtherCAT ERROR 0-3: Timeout after 1000 ms while waiting for SDO 0xf800:0 download response.
[ +0,000009] EtherCAT ERROR 0-3: SDO configuration failed.
[ +0,060081] EtherCAT 0: Slave states on main device: PREOP, OP.
[ +5,502159] EtherCAT 0: Releasing master...
[ +0,000012] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff88006ea10000)
[ +0,000004] EtherCAT DEBUG 0: Stopping master thread.
[ +0,000011] EtherCAT DEBUG 0: Master OP thread exiting...
[ +0,000048] EtherCAT 0: Master thread exited.
[ +0,000043] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0,000140] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ +0,000005] EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max data size=11250
[ +0,000005] EtherCAT 0: Released.
[ +0,000003] EtherCAT DEBUG 0: UNMATCHED datagram:
[ +0,000002] EtherCAT DEBUG: 0C 23 00 00 00 00 33 00 00 00 00 00 00 00 00 00
[ +0,000019] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000020] EtherCAT DEBUG: 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000016] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ +0,000018] EtherCAT ERROR 0-2: Failed to receive AL state datagram: Datagram initialized.
[ +0,000012] EtherCAT DEBUG 0: Datagram ffff88006ea10678 already queued (skipping).
[ +0,004491] EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).
[ +0,000007] EtherCAT DEBUG 0-0: Configuring...
[ +0,000530] EtherCAT DEBUG 0-0: Now in INIT.
[ +0,000004] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ +0,000247] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ +0,000316] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ +0,000186] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ +0,000499] EtherCAT DEBUG 0-0: Now in PREOP.
[ +0,000007] EtherCAT DEBUG 0-0: Finished configuration.
[ +0,000322] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced).
[ +0,000005] EtherCAT DEBUG 0-1: Configuring...
[ +0,000445] EtherCAT DEBUG 0-1: Now in INIT.
[ +0,000005] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[ +0,000216] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[ +0,000485] EtherCAT DEBUG 0-1: Clearing DC assignment...
[ +0,000264] EtherCAT DEBUG 0-1: Slave does not support mailbox communication.
[ +0,000669] EtherCAT DEBUG 0-1: Now in PREOP.
[ +0,000005] EtherCAT DEBUG 0-1: Finished configuration.
[ +0,000984] EtherCAT DEBUG 0-2: Changing state from PREOP to PREOP (forced).
[ +0,000007] EtherCAT DEBUG 0-2: Configuring...
[ +0,000333] EtherCAT DEBUG 0-2: Now in INIT.
[ +0,000005] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[ +0,000245] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[ +0,000482] EtherCAT DEBUG 0-2: Clearing DC assignment...
[ +0,000271] EtherCAT DEBUG 0-2: Slave does not support mailbox communication.
[ +0,000665] EtherCAT DEBUG 0-2: Now in PREOP.
[ +0,000005] EtherCAT DEBUG 0-2: Finished configuration.
[ +0,000844] EtherCAT DEBUG 0-3: Changing state from PREOP to PREOP (forced).
[ +0,000007] EtherCAT DEBUG 0-3: Configuring...
[ +0,027971] EtherCAT DEBUG 0-3: Now in INIT.
[ +0,000009] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[ +0,000233] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[ +0,000249] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[ +0,000007] EtherCAT DEBUG 0-3: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000005] EtherCAT DEBUG 0-3: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[ +0,027970] EtherCAT DEBUG 0-3: Now in PREOP.
[ +0,000007] EtherCAT DEBUG 0-3: Finished configuration.
[ +0,000850] EtherCAT DEBUG 0-4: Changing state from PREOP to PREOP (forced).
[ +0,000005] EtherCAT DEBUG 0-4: Configuring...
[ +0,004133] EtherCAT DEBUG 0-4: Now in INIT.
[ +0,000004] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[ +0,000244] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[ +0,000556] EtherCAT DEBUG 0-4: Clearing DC assignment...
[ +0,000207] EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
[ +0,000008] EtherCAT DEBUG 0-4: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000004] EtherCAT DEBUG 0-4: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[Sep11 17:20] EtherCAT DEBUG 0-4: Now in PREOP.
[ +0,000004] EtherCAT DEBUG 0-4: Finished configuration.
[ +0,000752] EtherCAT DEBUG 0-5: Changing state from PREOP to PREOP (forced).
[ +0,000006] EtherCAT DEBUG 0-5: Configuring...
[ +0,062455] EtherCAT DEBUG 0-5: Now in INIT.
[ +0,000006] EtherCAT DEBUG 0-5: Clearing FMMU configurations...
[ +0,000242] EtherCAT DEBUG 0-5: Clearing sync manager configurations...
[ +0,000493] EtherCAT DEBUG 0-5: Clearing DC assignment...
[ +0,000267] EtherCAT DEBUG 0-5: Configuring mailbox sync managers...
[ +0,000009] EtherCAT DEBUG 0-5: SM0: Addr 0x1000, Size 384, Ctrl 0x26, En 1
[ +0,000006] EtherCAT DEBUG 0-5: SM1: Addr 0x1180, Size 384, Ctrl 0x22, En 1
[ +0,000798] EtherCAT DEBUG 0-5: Now in PREOP.
[ +0,000008] EtherCAT DEBUG 0-5: Finished configuration.
[ +0,001088] EtherCAT 0: Slave states on main device: PREOP.
[ +0,555358] EtherCAT WARNING: Datagram ffff88006ea10678 (master-fsm) was SKIPPED 1 time.
-------------- next part --------------
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
/****************************************************************************/
#include "ecrt.h"
#include "TerminalConf.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define SDO_ACCESS 0
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *sc = NULL;
static ec_slave_config_state_t sc_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
static uint8_t *domain1_pd = NULL;
// offsets for PDO entries
static unsigned int off_in0;
static unsigned int off_out0;
const static ec_pdo_entry_reg_t domain1_regs[] = {
{DeviceNetPos, DeviceNetTerm, 0x6000, 1, &off_in0},
{DeviceNetPos, DeviceNetTerm, 0x7000, 1, &off_out0},
{}
};
static unsigned int counter = 0;
static unsigned int blink = 0;
/*****************************************************************************/
#if SDO_ACCESS
static ec_sdo_request_t *sdo;
#endif
/*****************************************************************************/
void check_domain1_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
/*****************************************************************************/
void check_master_state(void)
{
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave_config_states(void)
{
ec_slave_config_state_t s;
ecrt_slave_config_state(sc, &s);
if (s.al_state != sc_state.al_state)
printf("DigIn: State 0x%02X.\n", s.al_state);
if (s.online != sc_state.online)
printf("DigIn: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc_state.operational)
printf("DigIn: %soperational.\n",
s.operational ? "" : "Not ");
sc_state = s;
}
/*****************************************************************************/
#if SDO_ACCESS
void read_sdo(void)
{
switch (ecrt_sdo_request_state(sdo)) {
case EC_REQUEST_UNUSED: // request was not used yet
ecrt_sdo_request_read(sdo); // trigger first read
break;
case EC_REQUEST_BUSY:
fprintf(stderr, "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
fprintf(stderr, "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
fprintf(stderr, "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
}
#endif
/****************************************************************************/
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
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
}
printf("0:%x\n1:%x\n", EC_READ_U8(domain1_pd + off_in0), EC_READ_U8(domain1_pd + off_in0 + 1));
EC_WRITE_U8(domain1_pd + off_out0, 0x06);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum)
{
switch (signum)
{
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
int cnt;
unsigned char pb_config_buf[1024];
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
return -1;
/* ELK1100 BusCoupler */
sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc) {
fprintf(stderr, "Failed to get EK1100 configuration of coupler.\n");
return -1;
}
/** Write SDOs to Terminal **/
sc = ecrt_master_slave_config(master, DeviceNetPos, DeviceNetTerm);
if (!sc) {
fprintf(stderr, "Failed to get EL6752 configuration of coupler.\n");
return -1;
}
ecrt_slave_config_complete_sdo(sc, 0xf800, sdo_config_0xf800, sizeof(sdo_config_0xf800));
ecrt_slave_config_complete_sdo(sc, 0x8000, sdo_config_0x8000, sizeof(sdo_config_0x8000));
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc, EC_END, syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
/* Active Master */
printf("Activating master... ");
if (ecrt_master_activate(master)){
fprintf(stderr, "activation failed.\n");
return -1;
}
printf("ok!\n");
if (!(domain1_pd = ecrt_domain_data(domain1))) {
fprintf(stderr, "Domain data initialization failed.\n");
return -1;
}
printf("Domain data registered ok.\n");
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
}
/****************************************************************************/
-------------- next part --------------
#ifndef TERMINALCONF_H
#define TERMINALCONF_H
// Ethercat Bus Coupler EK1100
#define BusCouplerPos 0, 0
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
// Devicenet Terminal EL6752
#define DeviceNetPos 0, 3
#define DeviceNetTerm 0x00000002, 0x1a603052
unsigned char sdo_config_0xf800[] = {0x0b, 0x00, /*maxid:*/0x3c, 0x00, /*baud*/0x03, 0x00, 0x6c, 0x00, 0x0c, 0x00, 0x60, 0x1a, 0x01, 0x01, 0x78, 0x56, 0x34, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x14, 0x00};
unsigned char sdo_config_0x8000[] = {0x36, 0x00, /*macid:*/0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x64, 0x00, 0x00, 0x00, 0x64, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
/*****************************************************************************/
/** PDO configuration **/
// DNS (DN Node)_IN
ec_pdo_entry_info_t pdo_entries_0x1a00[] = {
{0x6000, 1, 8}, // Inputs.Var 128
{0x6000, 2, 8}, // Inputs.Var 129
{0x6000, 3, 8}, // Inputs.Var 131
{0x6000, 4, 8}, // Inputs.Var 132
{0x6000, 5, 8}, // Inputs.Var 133
{0x6000, 6, 8}, // Inputs.Var 134
{0x6000, 7, 8}, // Inputs.Var 135
{0x6000, 8, 8}, // Inputs.Var 136
{0x6000, 9, 8}, // Inputs.Var 137
{0x6000, 10, 8}, // Inputs.Var 138
{0x6000, 11, 8}, // Inputs.Var 139
{0x6000, 12, 8}, // Inputs.Var 140
{0x6000, 13, 8}, // Inputs.Var 141
{0x6000, 14, 8}, // Inputs.Var 142
{0x6000, 15, 8}, // Inputs.Var 143
{0x6000, 16, 8}, // Inputs.Var 144
{0x6000, 17, 8}, // Inputs.Var 145
{0x6000, 18, 8}, // Inputs.Var 146
{0x6000, 19, 8}, // Inputs.Var 147
{0x6000, 20, 8}, // Inputs.Var 148
{}
};
// DNS (DN Node)_OUT
ec_pdo_entry_info_t pdo_entries_0x1600[] = {
{0x7000, 1, 8}, // Outputs.Var 169
{0x7000, 2, 8}, // Outputs.Var 170
{0x7000, 3, 8}, // Outputs.Var 171
{0x7000, 4, 8}, // Outputs.Var 172
{0x7000, 5, 8}, // Outputs.Var 173
{0x7000, 6, 8}, // Outputs.Var 174
{0x7000, 7, 8}, // Outputs.Var 175
{0x7000, 8, 8}, // Outputs.Var 176
{0x7000, 9, 8}, // Outputs.Var 177
{0x7000, 10, 8}, // Outputs.Var 178
{0x7000, 11, 8}, // Outputs.Var 179
{0x7000, 12, 8}, // Outputs.Var 180
{0x7000, 13, 8}, // Outputs.Var 181
{0x7000, 14, 8}, // Outputs.Var 182
{0x7000, 15, 8}, // Outputs.Var 183
{0x7000, 16, 8}, // Outputs.Var 184
{0x7000, 17, 8}, // Outputs.Var 185
{0x7000, 18, 8}, // Outputs.Var 186
{0x7000, 19, 8}, // Outputs.Var 187
{0x7000, 20, 8}, // Outputs.Var 188
{}
};
// Device 1 (EL6752)_IN
ec_pdo_entry_info_t pdo_entries_0x1a80[] = {
{0xa000, 1, 8}, // DNS (DN Node)_MacState
{0xf100, 1, 8}, // Device 1 (EL6752)_Error
{0xf100, 2, 1}, // Device 1 (EL6752)_DiagFlag
{0xa000, 2, 1}, // DNS (DN Node)_DiagFlag
{}
};
// Device 1 (EL6752)_OUT
ec_pdo_entry_info_t pdo_entries_0x1680[] = {
{0xf200, 1, 1}, // BitStrobe_MacId_0
{0xf200, 2, 1}, // BitStrobe_MacId_1
{0xf200, 3, 1}, // BitStrobe_MacId_2
{0xf200, 4, 1}, // BitStrobe_MacId_3
{0xf200, 5, 1}, // BitStrobe_MacId_4
{0xf200, 6, 1}, // BitStrobe_MacId_5
{0xf200, 7, 1}, // BitStrobe_MacId_6
{0xf200, 8, 1}, // BitStrobe_MacId_7
{0xf200, 9, 1}, // BitStrobe_MacId_8
{0xf200, 10, 1}, // BitStrobe_MacId_9
{0xf200, 11, 1}, // BitStrobe_MacId_10
{0xf200, 12, 1}, // BitStrobe_MacId_11
{0xf200, 13, 1}, // BitStrobe_MacId_12
{0xf200, 14, 1}, // BitStrobe_MacId_13
{0xf200, 15, 1}, // BitStrobe_MacId_14
{0xf200, 16, 1}, // BitStrobe_MacId_15
{0xf200, 17, 1}, // BitStrobe_MacId_16
{0xf200, 18, 1}, // BitStrobe_MacId_17
{0xf200, 19, 1}, // BitStrobe_MacId_18
{0xf200, 20, 1}, // BitStrobe_MacId_19
{0xf200, 21, 1}, // BitStrobe_MacId_20
{0xf200, 22, 1}, // BitStrobe_MacId_21
{0xf200, 23, 1}, // BitStrobe_MacId_22
{0xf200, 24, 1}, // BitStrobe_MacId_23
{0xf200, 25, 1}, // BitStrobe_MacId_24
{0xf200, 26, 1}, // BitStrobe_MacId_25
{0xf200, 27, 1}, // BitStrobe_MacId_26
{0xf200, 28, 1}, // BitStrobe_MacId_27
{0xf200, 29, 1}, // BitStrobe_MacId_28
{0xf200, 30, 1}, // BitStrobe_MacId_29
{0xf200, 31, 1}, // BitStrobe_MacId_30
{0xf200, 32, 1}, // BitStrobe_MacId_31
{0xf200, 33, 1}, // BitStrobe_MacId_32
{0xf200, 34, 1}, // BitStrobe_MacId_33
{0xf200, 35, 1}, // BitStrobe_MacId_34
{0xf200, 36, 1}, // BitStrobe_MacId_35
{0xf200, 37, 1}, // BitStrobe_MacId_36
{0xf200, 38, 1}, // BitStrobe_MacId_37
{0xf200, 39, 1}, // BitStrobe_MacId_38
{0xf200, 40, 1}, // BitStrobe_MacId_39
{0xf200, 41, 1}, // BitStrobe_MacId_40
{0xf200, 42, 1}, // BitStrobe_MacId_41
{0xf200, 43, 1}, // BitStrobe_MacId_42
{0xf200, 44, 1}, // BitStrobe_MacId_43
{0xf200, 45, 1}, // BitStrobe_MacId_44
{0xf200, 46, 1}, // BitStrobe_MacId_45
{0xf200, 47, 1}, // BitStrobe_MacId_46
{0xf200, 48, 1}, // BitStrobe_MacId_47
{0xf200, 49, 1}, // BitStrobe_MacId_48
{0xf200, 50, 1}, // BitStrobe_MacId_49
{0xf200, 51, 1}, // BitStrobe_MacId_50
{0xf200, 52, 1}, // BitStrobe_MacId_51
{0xf200, 53, 1}, // BitStrobe_MacId_52
{0xf200, 54, 1}, // BitStrobe_MacId_53
{0xf200, 55, 1}, // BitStrobe_MacId_54
{0xf200, 56, 1}, // BitStrobe_MacId_55
{0xf200, 57, 1}, // BitStrobe_MacId_56
{0xf200, 58, 1}, // BitStrobe_MacId_57
{0xf200, 59, 1}, // BitStrobe_MacId_58
{0xf200, 60, 1}, // BitStrobe_MacId_59
{0xf200, 61, 1}, // BitStrobe_MacId_60
{0xf200, 62, 1}, // BitStrobe_MacId_61
{0xf200, 63, 1}, // BitStrobe_MacId_62
{0xf200, 64, 1}, // BitStrobe_MacId_63
{}
};
ec_pdo_info_t pdos_sm_2[] = {
{0x1600, 20, pdo_entries_0x1600}, //DNS (DN Node)_OUT
{0x1680, 64, pdo_entries_0x1680}, //Device 1 (EL6752)_OUT
};
ec_pdo_info_t pdos_sm_3[] = {
{0x1a00, 20, pdo_entries_0x1a00}, //DNS (DN Node)_IN
{0x1a80, 4, pdo_entries_0x1a80}, //Device 1 (EL6752)_IN
};
/*****************************************************************************/
/** Syncmanager configuration **/
ec_sync_info_t syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 2, pdos_sm_2, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 2, pdos_sm_3, EC_WD_ENABLE},
{0xff}
};
#endif
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