[etherlab-users] DeviceNet EL6752, "Timeout after 1000 ms while waiting for SDO 0xf800:0 download response."

Fri Sep 12 13:23:26 CEST 2014

Ok, we set the SDO's with the ecrt_slave_config_sdo8/16/32() functions...:

//**************************************************************************
//ecrt_slave_config_sdo16(sc, 0xf800,  1, 0x003c);//
//ecrt_slave_config_sdo16(sc, 0xf800,  2, 0x0003);//
//ecrt_slave_config_sdo16(sc, 0xf800,  3, 0x006c);//
//ecrt_slave_config_sdo16(sc, 0xf800,  4, 0x000c);//
//ecrt_slave_config_sdo16(sc, 0xf800,  5, 0x0060);//
//ecrt_slave_config_sdo16(sc, 0xf800,  6, 0x1a01);//
//ecrt_slave_config_sdo32(sc, 0xf800,  7, 0x01785634);//
////ecrt_slave_config_sdo8(sc, 0xf800,  8, 0x0b); //octet_string
BECKHOFF EL6752-0000//
//ecrt_slave_config_sdo16(sc, 0xf800,  9, 0x0000);//
//ecrt_slave_config_sdo8(sc, 0xf800,  10, 0x00);//
//ecrt_slave_config_sdo8(sc, 0xf800,  11, 0x00);
///ecrt_slave_config_sdo8(sc, 0xf800,  0, 0x0b);//
/***************************************************************************/
/
...but still get the timeout error.

> Try to set SDO's explicitly using Index:SubIndex by using the
> ecrt_slave_config_sdo8/16/32() family of functions instead of complete
> access. In fact this the preferred method of setting SDO's.
>
> On 09/11/2014 05:25 PM, Carlos Herkt wrote:
>> 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
>>
>>
>>
>>
>> _______________________________________________
>> etherlab-users mailing list
>> etherlab-users at etherlab.org
>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
>
> Mit freundlichem Gruß
>
> Richard Hacker
>

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[Sep12 11:01] EtherCAT: Requesting master 0...
[  +0,000007] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  +0,000004] EtherCAT: Successfully requested master 0.
[  +0,000006] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff88007a6be000)
[  +0,000003] EtherCAT DEBUG 0: Created domain 0.
[  +0,000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88007a6be000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[  +0,000003] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044C2C52.
[  +0,000005] EtherCAT DEBUG 0 0:0: Attached slave 0.
[  +0,000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88007a6be000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[  +0,000003] 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_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x00, data = 0xffff88007a6aa788, size = 1)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x01, data = 0xffff88007a6aa788, size = 2)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x02, data = 0xffff88007a6aa788, size = 2)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x03, data = 0xffff88007a6aa788, size = 2)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x04, data = 0xffff88007a6aa788, size = 2)
[  +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x05, data = 0xffff88007a6aa788, size = 2)
[  +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x06, data = 0xffff88007a6aa788, size = 2)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x07, data = 0xffff88007a6aa788, size = 4)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x09, data = 0xffff88007a6aa788, size = 2)
[  +0,000004] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x0A, data = 0xffff88007a6aa788, size = 1)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sdo(sc = 0xffff88007aaa7000, index = 0xF800, subindex = 0x0B, data = 0xffff88007a6aa788, size = 1)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_complete_sdo(sc = 0xffff88007aaa7000, index = 0x8000, data = 0xffff88007935f780, size = 110)
[  +0,000078] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88007aaa7000, sync_index = 0, dir = 1, watchdog_mode = 2)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88007aaa7000, sync_index = 1, dir = 2, watchdog_mode = 2)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88007aaa7000, sync_index = 2, dir = 1, watchdog_mode = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88007aaa7000, sync_index = 2)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88007aaa7000, sync_index = 2, pdo_index = 0x1600)
[  +0,000004] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1600.
[  +0,000004] EtherCAT DEBUG 0 0:3: No default mapping found.
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88007aaa7000, pdo_index = 0x1600)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 8)
[  +0,000052] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 8)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 8)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x06, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x07, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x08, entry_bit_length = 8)
[  +0,000015] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x09, entry_bit_length = 8)
[  +0,000015] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0A, entry_bit_length = 8)
[  +0,000036] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0B, entry_bit_length = 8)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0C, entry_bit_length = 8)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0D, entry_bit_length = 8)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0E, entry_bit_length = 8)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x0F, entry_bit_length = 8)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x10, entry_bit_length = 8)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length = 8)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x12, entry_bit_length = 8)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x13, entry_bit_length = 8)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x14, entry_bit_length = 8)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88007aaa7000, sync_index = 2, pdo_index = 0x1680)
[  +0,000004] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1680.
[  +0,000002] EtherCAT DEBUG 0 0:3: No default mapping found.
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88007aaa7000, pdo_index = 0x1680)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x01, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x02, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x03, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x04, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x05, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x06, entry_bit_length = 1)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x07, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x08, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x09, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0A, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0B, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0C, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0D, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0E, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x0F, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x10, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x11, entry_bit_length = 1)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x12, entry_bit_length = 1)
[  +0,000014] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x13, entry_bit_length = 1)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x14, entry_bit_length = 1)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x15, entry_bit_length = 1)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x16, entry_bit_length = 1)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x17, entry_bit_length = 1)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x19, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1A, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1B, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1C, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1D, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1E, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x1F, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x20, entry_bit_length = 1)
[  +0,000015] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x21, entry_bit_length = 1)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x22, entry_bit_length = 1)
[  +0,000013] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x23, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x24, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x25, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x26, entry_bit_length = 1)
[  +0,000015] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x27, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x28, entry_bit_length = 1)
[  +0,000014] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x29, entry_bit_length = 1)
[  +0,000014] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2A, entry_bit_length = 1)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2B, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2C, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2D, entry_bit_length = 1)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x2F, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x30, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x31, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x32, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x33, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x34, entry_bit_length = 1)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x35, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x36, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x37, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x38, entry_bit_length = 1)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x39, entry_bit_length = 1)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3C, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3D, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3E, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x3F, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1680, entry_index = 0xF200, entry_subindex = 0x40, entry_bit_length = 1)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_sync_manager(sc = 0xffff88007aaa7000, sync_index = 3, dir = 2, watchdog_mode = 1)
[  +0,000005] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88007aaa7000, sync_index = 3)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88007aaa7000, sync_index = 3, pdo_index = 0x1A00)
[  +0,000004] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A00.
[  +0,000002] EtherCAT DEBUG 0 0:3: No default mapping found.
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88007aaa7000, pdo_index = 0x1A00)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 8)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 8)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 8)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 8)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 8)
[  +0,000006] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 8)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 8)
[  +0,000031] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, 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 = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 8)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length = 8)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length = 8)
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x13, entry_bit_length = 8)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x14, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_assign_add(sc = 0xffff88007aaa7000, sync_index = 3, pdo_index = 0x1A80)
[  +0,000004] EtherCAT DEBUG 0 0:3: Loading default mapping for PDO 0x1A80.
[  +0,000003] EtherCAT DEBUG 0 0:3: No default mapping found.
[  +0,000007] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88007aaa7000, pdo_index = 0x1A80)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A80, entry_index = 0xA000, entry_subindex = 0x01, entry_bit_length = 8)
[  +0,000009] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A80, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = 8)
[  +0,000008] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A80, entry_index = 0xF100, entry_subindex = 0x02, entry_bit_length = 1)
[  +0,000011] EtherCAT DEBUG 0 0:3: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88007aaa7000, pdo_index = 0x1A80, entry_index = 0xA000, entry_subindex = 0x02, entry_bit_length = 1)
[  +0,000012] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88007a6be000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[  +0,000010] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88007aaa7000, index = 0x6000, subindex = 0x01, domain = 0xffff88007935fd80, bit_position = 0xffff880055c7be0c)
[  +0,000007] EtherCAT DEBUG 0: Domain 0: Added 23 bytes, total 23.
[  +0,000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88007a6be000, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x1a603052)
[  +0,000012] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88007aaa7000, index = 0x7000, subindex = 0x01, domain = 0xffff88007935fd80, bit_position = 0xffff880055c7be0c)
[  +0,000006] EtherCAT DEBUG 0: Domain 0: Added 28 bytes, total 51.
[  +0,000023] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff88007935fd80, mem = 0xffffc90000560000)
[  +0,000007] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff88007a6be000, send_cb = 0xffffffffa05ae010, receive_cb = 0xffffffffa05ae710, cb_data = 0xffff88007a6be000)
[  +0,000004] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff88007a6be000)
[  +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.
[  +0,000004] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 51 byte, type LRW.
[  +0,000004] EtherCAT DEBUG 0: Stopping master thread.
[  +0,005786] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  +0,004925] EtherCAT 0: Master thread exited.
[  +0,000122] EtherCAT DEBUG 0: FSM datagram is ffff88007a6be678.
[  +0,000006] EtherCAT 0: Starting EtherCAT-OP thread.
[  +0,001370] EtherCAT DEBUG 0: mmap()
[  +0,000013] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007fb0122aa000, offset = 0, page = ffffea000173c780
[  +0,000333] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[  +0,000008] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  +0,001086] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[  +0,000006] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[  +0,000003] EtherCAT DEBUG 0: Requesting OP...
[  +0,040120] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  +0,000007] EtherCAT DEBUG 0-0: Configuring...
[  +0,039779] EtherCAT DEBUG 0-0: Now in INIT.
[  +0,000008] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  +0,009993] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  +0,009985] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  +0,009998] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[  +0,020013] EtherCAT DEBUG 0-0: Now in PREOP.
[  +0,029993] EtherCAT DEBUG 0-0: Now in SAFEOP.
[  +0,020007] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[  +0,050216] EtherCAT DEBUG 0-3: Changing state from PREOP to OP.
[  +0,000006] EtherCAT DEBUG 0-3: Configuring...
[  +0,049764] EtherCAT DEBUG 0-3: Now in INIT.
[  +0,000008] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[  +0,009993] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[  +0,010022] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[  +0,000011] 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
[  +0,049962] EtherCAT DEBUG 0-3: Now in PREOP.
[  +0,000011] EtherCAT DEBUG 0-3: Downloading SDO 0xF800:00.
[  +0,000004] EtherCAT DEBUG: 0B 
[  +0,000007] EtherCAT DEBUG 0-3: Expedited download request:
[  +0,000002] EtherCAT DEBUG: 00 20 2F 00 F8 00 0B 00 00 00 
[  +0,561959] EtherCAT DEBUG 0: Datagram ffff880067ba7558 already queued (skipping).
[  +0,008047] EtherCAT DEBUG 0: UNMATCHED datagram:
[  +0,000009] EtherCAT DEBUG: 0C AF 00 00 00 00 33 80 00 00 00 00 00 00 00 00 
[  +0,000018] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,000018] EtherCAT DEBUG: 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,000017] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,078130] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  +0,011800] EtherCAT WARNING: Datagram ffff880067ba7558 (domain0-0-main) was SKIPPED 1 time.
[  +0,349983] EtherCAT ERROR 0-3: Timeout after 1000 ms while waiting for SDO 0xf800:0 download response.
[  +0,000008] EtherCAT ERROR 0-3: SDO configuration failed.
[  +0,050219] EtherCAT 0: Slave states on main device: PREOP, OP.
[  +9,666282] EtherCAT 0: Releasing master...
[  +0,000012] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff88007a6be000)
[  +0,000003] EtherCAT DEBUG 0: Stopping master thread.
[  +0,000013] EtherCAT DEBUG 0: Master OP thread exiting...
[  +0,000045] EtherCAT 0: Master thread exited.
[  +0,000043] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  +0,000074] 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:
[  +0,000004] EtherCAT DEBUG: 0C BB 00 00 00 00 33 00 00 00 00 00 00 00 00 00 
[  +0,000021] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,000015] EtherCAT DEBUG: 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,000015] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
[  +0,000021] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[  +0,000011] EtherCAT DEBUG 0: Datagram ffff88007a6be678 already queued (skipping).
[  +0,005111] EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).
[  +0,000007] EtherCAT DEBUG 0-0: Configuring...
[  +0,000554] EtherCAT DEBUG 0-0: Now in INIT.
[  +0,000005] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  +0,000166] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  +0,000247] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  +0,000254] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[  +0,000499] EtherCAT DEBUG 0-0: Now in PREOP.
[  +0,000005] EtherCAT DEBUG 0-0: Finished configuration.
[  +0,000883] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced).
[  +0,000005] EtherCAT DEBUG 0-1: Configuring...
[  +0,000354] EtherCAT DEBUG 0-1: Now in INIT.
[  +0,000005] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[  +0,000243] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[  +0,000391] EtherCAT DEBUG 0-1: Clearing DC assignment...
[  +0,000112] EtherCAT DEBUG 0-1: Slave does not support mailbox communication.
[  +0,000500] EtherCAT DEBUG 0-1: Now in PREOP.
[  +0,000004] EtherCAT DEBUG 0-1: Finished configuration.
[  +0,000406] EtherCAT DEBUG 0-2: Changing state from PREOP to PREOP (forced).
[  +0,000005] EtherCAT DEBUG 0-2: Configuring...
[  +0,000332] EtherCAT DEBUG 0-2: Now in INIT.
[  +0,000004] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[  +0,000247] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[  +0,000428] EtherCAT DEBUG 0-2: Clearing DC assignment...
[  +0,000072] EtherCAT DEBUG 0-2: Slave does not support mailbox communication.
[  +0,000501] EtherCAT DEBUG 0-2: Now in PREOP.
[  +0,000004] EtherCAT DEBUG 0-2: Finished configuration.
[  +0,000398] EtherCAT DEBUG 0-3: Changing state from PREOP to PREOP (forced).
[  +0,000005] EtherCAT DEBUG 0-3: Configuring...
[  +0,027834] EtherCAT DEBUG 0-3: Now in INIT.
[  +0,000008] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[  +0,000240] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[  +0,000253] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[  +0,000006] 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
[  +0,027967] EtherCAT DEBUG 0-3: Now in PREOP.
[  +0,000006] EtherCAT DEBUG 0-3: Finished configuration.
[  +0,000778] EtherCAT DEBUG 0-4: Changing state from PREOP to PREOP (forced).
[  +0,000005] EtherCAT DEBUG 0-4: Configuring...
[  +0,001954] EtherCAT DEBUG 0-4: Now in INIT.
[  +0,000003] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[  +0,000245] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[  +0,000251] EtherCAT DEBUG 0-4: Clearing DC assignment...
[  +0,000586] EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
[  +0,000008] EtherCAT DEBUG 0-4: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[  +0,000007] EtherCAT DEBUG 0-4: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[  +0,002900] EtherCAT DEBUG 0-4: Now in PREOP.
[  +0,000006] EtherCAT DEBUG 0-4: Finished configuration.
[  +0,000983] EtherCAT DEBUG 0-5: Changing state from PREOP to PREOP (forced).
[  +0,000005] EtherCAT DEBUG 0-5: Configuring...
[  +0,062470] EtherCAT DEBUG 0-5: Now in INIT.
[  +0,000005] EtherCAT DEBUG 0-5: Clearing FMMU configurations...
[  +0,000519] EtherCAT DEBUG 0-5: Clearing sync manager configurations...
[  +0,000230] EtherCAT DEBUG 0-5: Clearing DC assignment...
[  +0,000247] EtherCAT DEBUG 0-5: Configuring mailbox sync managers...
[  +0,000006] EtherCAT DEBUG 0-5: SM0: Addr 0x1000, Size 384, Ctrl 0x26, En 1
[  +0,000004] EtherCAT DEBUG 0-5: SM1: Addr 0x1180, Size 384, Ctrl 0x22, En 1
[  +0,001241] EtherCAT DEBUG 0-5: Now in PREOP.
[  +0,000004] EtherCAT DEBUG 0-5: Finished configuration.
[  +0,000989] EtherCAT 0: Slave states on main device: PREOP.
[  +0,566910] EtherCAT WARNING: Datagram ffff88007a6be678 (master-fsm) was SKIPPED 1 time.