[etherlab-users] Ethercat/ProfiNet - add correct slave configuration to program
Carlos Herkt
ch at lessmueller.de
Wed Sep 10 16:04:42 CEST 2014
We extracted the CoE config and PDO's from a TwinCat XML export,
analogically to this mail:
http://lists.etherlab.org/pipermail/etherlab-users/2012/001862.html.
The CoE config can be found in the last emails XML file
(Klemme_6631f.xml, line:309-354).
Also we took every RxPDO and TxPDO including their entries from the XML
and put them in main.c manually.
Attached you'll find the dmesg.lo output with debug lvl 1.
Best regards
Carlos Herkt
Am 10.09.2014 15:25, schrieb Richard Hacker:
> I am not sure where the problem is. Where did you get this CoE
> configuration from? Where did you get the PDO's from?
>
> Increase the debugging:
> # ethercat debug 1
>
> or even
> # ethercat debug 2
> if you're brave in another step.
>
> Am 2014-09-10 14:15, schrieb Carlos Herkt:
>> Hello Richard,
>>
>> thank you for your quick repsonse and your advice.
>>
>> We modified our program to fit your remarks, but the
>> ecrt_slave_config_complete_sdo(...) function fails with the error
>> "Failed to configure SDO: Invalid argument" and a return code smaller
>> than zero.
>> Also some errors appear in dmesq log:
>> [ +0,359596] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
>> [ +0,000010] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This
>> object does not exist in the object directory".
>> [ +0,000005] EtherCAT ERROR 0-4: Failed to read number of mapped PDO
>> entries.
>> [ +0,000005] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO
>> 0x1600.
>>
>> After starting the program, the "Run" led of the EL6631 stays green, the
>> "Pn Run/Err" keeps blinking green and the "Pn Err" is off.
>>
>> What am I missing?
>> Attached you find the whole C program source code, dmesg log, output of
>> the program and the XML definitions exported from TwinCAT.
>>
>> Best regards,
>> Carlos Herkt
>>
>> Am 10.09.2014 09:16, schrieb Richard Hacker:
>>> I don't see you using pn_config_master_0xf800 et al. anywhere in your
>>> proggie! Besides you're missing CoE 0x8002.
>>>
>>> Mit freundlichem Gruß
>>>
>>> Richard Hacker
>>>
>>
>>
>>
>> _______________________________________________
>> etherlab-users mailing list
>> etherlab-users at etherlab.org
>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
-------------- next part --------------
[Sep10 15:47] 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 = 0xffff88006ac70000)
[ +0,000003] EtherCAT DEBUG 0: Created domain 0.
[ +0,000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ac70000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044c2c52)
[ +0,000004] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044C2C52.
[ +0,000004] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ +0,000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ac70000, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x19e73052)
[ +0,000003] EtherCAT DEBUG 0: Creating slave configuration for 0:4, 0x00000002/0x19E73052.
[ +0,000002] EtherCAT DEBUG 0 0:4: Attached slave 4.
[ +0,000776] EtherCAT DEBUG 0-4: Changing state from INIT to PREOP (forced).
[ +0,000007] EtherCAT DEBUG 0-4: Configuring...
[ +0,000376] EtherCAT DEBUG 0-4: Now in INIT.
[ +0,000007] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[ +0,000239] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[ +0,000252] EtherCAT DEBUG 0-4: Clearing DC assignment...
[ +0,000250] EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
[ +0,000007] EtherCAT DEBUG 0-4: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000005] EtherCAT DEBUG 0-4: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[ +0,003485] EtherCAT DEBUG 0-4: Now in PREOP.
[ +0,000006] EtherCAT DEBUG 0-4: Finished configuration.
[ +0,001365] EtherCAT 0: Slave states on main device: PREOP.
[ +2,993533] EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xffff88004e069800, sync_index = 0, dir = 1, watchdog_mode = 2)
[ +0,000009] EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xffff88004e069800, sync_index = 1, dir = 2, watchdog_mode = 2)
[ +0,000007] EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xffff88004e069800, sync_index = 2, dir = 1, watchdog_mode = 1)
[ +0,000008] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88004e069800, sync_index = 2)
[ +0,000006] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 2, pdo_index = 0x1600)
[ +0,000004] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1600.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x1600)
[ +0,000006] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1600, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1600, entry_index = 0x7001, entry_subindex = 0x01, entry_bit_length = 160)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1600, entry_index = 0x7001, entry_subindex = 0x02, entry_bit_length = 160)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 2, pdo_index = 0x17FE)
[ +0,000002] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x17FE.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000003] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x17FE)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x17FE, entry_index = 0xF200, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 2, pdo_index = 0x17FF)
[ +0,000002] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x17FF.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x17FF)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x17FF, entry_index = 0xF201, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_sync_manager(sc = 0xffff88004e069800, sync_index = 3, dir = 2, watchdog_mode = 2)
[ +0,000006] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88004e069800, sync_index = 3)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 3, pdo_index = 0x1A00)
[ +0,000002] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1A00.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000003] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x1A00)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 16)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1A00, entry_index = 0x6001, entry_subindex = 0x01, entry_bit_length = 160)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1A00, entry_index = 0x6001, entry_subindex = 0x02, entry_bit_length = 160)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 3, pdo_index = 0x1BFE)
[ +0,000002] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1BFE.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000003] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x1BFE)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1BFE, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1BFE, entry_index = 0xF100, entry_subindex = 0x02, entry_bit_length = 16)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1BFE, entry_index = 0xF100, entry_subindex = 0x03, entry_bit_length = 16)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_assign_add(sc = 0xffff88004e069800, sync_index = 3, pdo_index = 0x1BFF)
[ +0,000002] EtherCAT DEBUG 0 0:4: Loading default mapping for PDO 0x1BFF.
[ +0,000002] EtherCAT DEBUG 0 0:4: No default mapping found.
[ +0,000003] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88004e069800, pdo_index = 0x1BFF)
[ +0,000004] EtherCAT DEBUG 0 0:4: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88004e069800, pdo_index = 0x1BFF, entry_index = 0xF101, entry_subindex = 0x01, entry_bit_length = 16)
[ +0,000009] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ac70000, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x19e73052)
[ +0,000007] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88004e069800, index = 0x6001, subindex = 0x01, domain = 0xffff88007a945280, bit_position = 0xffff8800630a3e0c)
[ +0,000005] EtherCAT DEBUG 0: Domain 0: Added 52 bytes, total 52.
[ +0,000004] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff88006ac70000, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x19e73052)
[ +0,000005] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88004e069800, index = 0x7001, subindex = 0x01, domain = 0xffff88007a945280, bit_position = 0xffff8800630a3e0c)
[ +0,000003] EtherCAT DEBUG 0: Domain 0: Added 46 bytes, total 98.
[ +0,000020] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff88007a945280, mem = 0xffffc900003fd000)
[ +0,000005] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff88006ac70000, send_cb = 0xffffffffa059c010, receive_cb = 0xffffffffa059c710, cb_data = 0xffff88006ac70000)
[ +0,000003] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff88006ac70000)
[ +0,000004] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ +0,000003] EtherCAT 0: Domain0: Logical address 0x00000000, 98 byte, expected working counter 3.
[ +0,000002] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 98 byte, type LRW.
[ +0,000003] EtherCAT DEBUG 0: Stopping master thread.
[ +0,000011] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ +0,000106] EtherCAT 0: Master thread exited.
[ +0,000006] EtherCAT DEBUG 0: FSM datagram is ffff88006ac70678.
[ +0,000003] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0,000063] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[ +0,000007] EtherCAT DEBUG 0: mmap()
[ +0,000049] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007fb6056f8000, offset = 0, page = ffffea00019efd80
[ +0,007981] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[ +0,000009] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ +0,000004] EtherCAT DEBUG 0: Requesting OP...
[ +0,039980] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ +0,000007] EtherCAT DEBUG 0-0: Configuring...
[ +0,029047] EtherCAT DEBUG 0-0: Now in INIT.
[ +0,000008] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ +0,010009] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ +0,010000] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ +0,009991] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ +0,020024] EtherCAT DEBUG 0-0: Now in PREOP.
[ +0,029974] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ +0,019999] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ +0,070948] EtherCAT DEBUG 0-4: Changing state from PREOP to OP.
[ +0,000007] EtherCAT DEBUG 0-4: Configuring...
[ +0,031031] EtherCAT DEBUG 0-4: Now in INIT.
[ +0,000006] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[ +0,008006] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[ +0,010024] EtherCAT DEBUG 0-4: Clearing DC assignment...
[ +0,009976] EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
[ +0,000009] EtherCAT DEBUG 0-4: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000005] EtherCAT DEBUG 0-4: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[ +0,029980] EtherCAT DEBUG 0-4: Now in PREOP.
[ +0,000017] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x1600.
[ +0,000007] EtherCAT DEBUG 0-4: Uploading SDO 0x1600:00.
[ +0,000003] EtherCAT DEBUG 0-4: Upload request:
[ +0,000005] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[ +0,039983] EtherCAT DEBUG 0-4: Upload response:
[ +0,000009] EtherCAT DEBUG: 00 20 80 00 16 00 00 00 02 06
[ +0,000015] EtherCAT ERROR 0-4: SDO upload 0x1600:00 aborted.
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0,000004] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[ +0,000005] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1600.
[ +0,000003] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x1600.
[ +0,000003] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0x7000:01/16 0x7001:01/160 0x7001:02/160
[ +0,000017] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000005] EtherCAT DEBUG 0-4: Downloading SDO 0x1600:00.
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ +0,039917] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0x7000:01 (16 bit) at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1600:01.
[ +0,000003] EtherCAT DEBUG: 10 01 00 70
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 16 01 10 01 00 70
[ +0,039937] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 00 16 01 10 01 00 70
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0x7001:01 (160 bit) at position 2.
[ +0,000008] EtherCAT DEBUG 0-4: Downloading SDO 0x1600:02.
[ +0,000004] EtherCAT DEBUG: A0 01 01 70
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 16 02 A0 01 01 70
[ +0,039965] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 00 16 02 A0 01 01 70
[ +0,000016] EtherCAT DEBUG 0-4: Mapping PDO entry 0x7001:02 (160 bit) at position 3.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1600:03.
[ +0,000002] EtherCAT DEBUG: A0 02 01 70
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 16 03 A0 02 01 70
[ +0,039952] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 00 16 03 A0 02 01 70
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1600:00.
[ +0,000003] EtherCAT DEBUG: 03
[ +0,000008] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000004] EtherCAT DEBUG: 00 20 2F 00 16 00 03 00 00 00
[ +0,039943] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 00 16 00 03 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x1600.
[ +0,000009] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x17FE.
[ +0,000005] EtherCAT DEBUG 0-4: Uploading SDO 0x17FE:00.
[ +0,000004] EtherCAT DEBUG 0-4: Upload request:
[ +0,000002] EtherCAT DEBUG: 00 20 40 FE 17 00 00 00 00 00
[ +0,039972] EtherCAT DEBUG 0-4: Upload response:
[ +0,000008] EtherCAT DEBUG: 00 30 4F FE 17 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Uploaded data:
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: 0 PDO entries mapped.
[ +0,000005] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x17FE.
[ +0,000002] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0xF200:01/16
[ +0,000011] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x17FE:00.
[ +0,000002] EtherCAT DEBUG: 00
[ +0,000005] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F FE 17 00 00 00 00 00
[ +0,039927] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FE 17 00 00 00 00 00
[ +0,000018] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF200:01 (16 bit) at position 1.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x17FE:01.
[ +0,000003] EtherCAT DEBUG: 10 01 00 F2
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000004] EtherCAT DEBUG: 00 20 23 FE 17 01 10 01 00 F2
[ +0,039936] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 FE 17 01 10 01 00 F2
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 1.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x17FE:00.
[ +0,000006] EtherCAT DEBUG: 01
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F FE 17 00 01 00 00 00
[ +0,039972] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FE 17 00 01 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x17FE.
[ +0,000006] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x17FF.
[ +0,000005] EtherCAT DEBUG 0-4: Uploading SDO 0x17FF:00.
[ +0,000004] EtherCAT DEBUG 0-4: Upload request:
[ +0,000002] EtherCAT DEBUG: 00 20 40 FF 17 00 00 00 00 00
[ +0,039972] EtherCAT DEBUG 0-4: Upload response:
[ +0,000009] EtherCAT DEBUG: 00 30 4F FF 17 00 00 00 00 00
[ +0,000015] EtherCAT DEBUG 0-4: Uploaded data:
[ +0,000004] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: 0 PDO entries mapped.
[ +0,000006] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x17FF.
[ +0,000004] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0xF201:01/16
[ +0,000010] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000005] EtherCAT DEBUG 0-4: Downloading SDO 0x17FF:00.
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F FF 17 00 00 00 00 00
[ +0,039906] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FF 17 00 00 00 00 00
[ +0,000018] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF201:01 (16 bit) at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x17FF:01.
[ +0,000003] EtherCAT DEBUG: 10 01 01 F2
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 FF 17 01 10 01 01 F2
[ +0,039961] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 FF 17 01 10 01 01 F2
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 1.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x17FF:00.
[ +0,000003] EtherCAT DEBUG: 01
[ +0,000007] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F FF 17 00 01 00 00 00
[ +0,039952] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 FF 17 00 01 00 00 00
[ +0,000015] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x17FF.
[ +0,000005] EtherCAT DEBUG 0-4: Setting PDO assignment of SM2:
[ +0,000003] EtherCAT DEBUG 0-4: Currently assigned PDOs: (none). PDOs to assign: 0x1600 0x17FE 0x17FF
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of assigned PDOs to zero.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:00.
[ +0,000002] EtherCAT DEBUG: 00
[ +0,000005] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[ +0,039931] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Assigning PDO 0x1600 at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:01.
[ +0,000003] EtherCAT DEBUG: 00 16
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
[ +0,040011] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Assigning PDO 0x17FE at position 2.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:02.
[ +0,000003] EtherCAT DEBUG: FE 17
[ +0,000007] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2B 12 1C 02 FE 17 00 00
[ +0,039902] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 12 1C 02 FE 17 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Assigning PDO 0x17FF at position 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:03.
[ +0,000002] EtherCAT DEBUG: FF 17
[ +0,000007] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2B 12 1C 03 FF 17 00 00
[ +0,039956] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 12 1C 03 FF 17 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of assigned PDOs to 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1C12:00.
[ +0,000003] EtherCAT DEBUG: 03
[ +0,000005] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F 12 1C 00 03 00 00 00
[ +0,039951] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 12 1C 00 03 00 00 00
[ +0,000021] EtherCAT DEBUG 0-4: Successfully configured PDO assignment of SM2.
[ +0,000012] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x1A00.
[ +0,000006] EtherCAT DEBUG 0-4: Uploading SDO 0x1A00:00.
[ +0,000004] EtherCAT DEBUG 0-4: Upload request:
[ +0,000002] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[ +0,039962] EtherCAT DEBUG 0-4: Upload response:
[ +0,000010] EtherCAT DEBUG: 00 20 80 00 1A 00 00 00 02 06
[ +0,000016] EtherCAT ERROR 0-4: SDO upload 0x1A00:00 aborted.
[ +0,000009] EtherCAT ERROR 0-4: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ +0,000004] EtherCAT ERROR 0-4: Failed to read number of mapped PDO entries.
[ +0,000004] EtherCAT WARNING 0-4: Failed to read PDO entries for PDO 0x1A00.
[ +0,000004] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x1A00.
[ +0,000003] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0x6000:01/16 0x6000:02/16 0x6001:01/160 0x6001:02/160
[ +0,000019] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:00.
[ +0,000002] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ +0,039901] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0x6000:01 (16 bit) at position 1.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:01.
[ +0,000003] EtherCAT DEBUG: 10 01 00 60
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 1A 01 10 01 00 60
[ +0,039957] EtherCAT DEBUG 0-4: Download response:
[ +0,000007] EtherCAT DEBUG: 00 30 60 00 1A 01 10 01 00 60
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0x6000:02 (16 bit) at position 2.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:02.
[ +0,000002] EtherCAT DEBUG: 10 02 00 60
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 1A 02 10 02 00 60
[ +0,039962] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 00 1A 02 10 02 00 60
[ +0,000018] EtherCAT DEBUG 0-4: Mapping PDO entry 0x6001:01 (160 bit) at position 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:03.
[ +0,000003] EtherCAT DEBUG: A0 01 01 60
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 00 1A 03 A0 01 01 60
[ +0,039947] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 00 1A 03 A0 01 01 60
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0x6001:02 (160 bit) at position 4.
[ +0,000005] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:04.
[ +0,000003] EtherCAT DEBUG: A0 02 01 60
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 23 00 1A 04 A0 02 01 60
[ +0,039949] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 00 1A 04 A0 02 01 60
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 4.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1A00:00.
[ +0,000003] EtherCAT DEBUG: 04
[ +0,000008] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000004] EtherCAT DEBUG: 00 20 2F 00 1A 00 04 00 00 00
[ +0,041019] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 00 1A 00 04 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x1A00.
[ +0,000006] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x1BFE.
[ +0,000005] EtherCAT DEBUG 0-4: Uploading SDO 0x1BFE:00.
[ +0,000004] EtherCAT DEBUG 0-4: Upload request:
[ +0,000002] EtherCAT DEBUG: 00 20 40 FE 1B 00 00 00 00 00
[ +0,038904] EtherCAT DEBUG 0-4: Upload response:
[ +0,000007] EtherCAT DEBUG: 00 30 4F FE 1B 00 00 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Uploaded data:
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000005] EtherCAT DEBUG 0-4: 0 PDO entries mapped.
[ +0,000005] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x1BFE.
[ +0,000003] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0xF100:01/16 0xF100:02/16 0xF100:03/16
[ +0,000018] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000030] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFE:00.
[ +0,000004] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F FE 1B 00 00 00 00 00
[ +0,039896] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FE 1B 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF100:01 (16 bit) at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFE:01.
[ +0,000002] EtherCAT DEBUG: 10 01 00 F1
[ +0,000011] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 FE 1B 01 10 01 00 F1
[ +0,039938] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 FE 1B 01 10 01 00 F1
[ +0,000017] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF100:02 (16 bit) at position 2.
[ +0,000009] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFE:02.
[ +0,000003] EtherCAT DEBUG: 10 02 00 F1
[ +0,000008] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 FE 1B 02 10 02 00 F1
[ +0,039969] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FE 1B 02 10 02 00 F1
[ +0,000016] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF100:03 (16 bit) at position 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFE:03.
[ +0,000003] EtherCAT DEBUG: 10 03 00 F1
[ +0,000008] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 FE 1B 03 10 03 00 F1
[ +0,039950] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FE 1B 03 10 03 00 F1
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 3.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFE:00.
[ +0,000003] EtherCAT DEBUG: 03
[ +0,000005] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000005] EtherCAT DEBUG: 00 20 2F FE 1B 00 03 00 00 00
[ +0,039943] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 FE 1B 00 03 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x1BFE.
[ +0,000008] EtherCAT DEBUG 0-4: Reading mapping of PDO 0x1BFF.
[ +0,000005] EtherCAT DEBUG 0-4: Uploading SDO 0x1BFF:00.
[ +0,000004] EtherCAT DEBUG 0-4: Upload request:
[ +0,000002] EtherCAT DEBUG: 00 20 40 FF 1B 00 00 00 00 00
[ +0,039977] EtherCAT DEBUG 0-4: Upload response:
[ +0,000010] EtherCAT DEBUG: 00 30 4F FF 1B 00 00 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Uploaded data:
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000005] EtherCAT DEBUG 0-4: 0 PDO entries mapped.
[ +0,000004] EtherCAT DEBUG 0-4: Changing mapping of PDO 0x1BFF.
[ +0,000003] EtherCAT DEBUG 0-4: Currently mapped PDO entries: (none). Entries to map: 0xF101:01/16
[ +0,000010] EtherCAT DEBUG 0-4: Setting entry count to zero.
[ +0,000008] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFF:00.
[ +0,000002] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F FF 1B 00 00 00 00 00
[ +0,039921] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 FF 1B 00 00 00 00 00
[ +0,000035] EtherCAT DEBUG 0-4: Mapping PDO entry 0xF101:01 (16 bit) at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFF:01.
[ +0,000002] EtherCAT DEBUG: 10 01 01 F1
[ +0,000009] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 23 FF 1B 01 10 01 01 F1
[ +0,039923] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FF 1B 01 10 01 01 F1
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of PDO entries to 1.
[ +0,000008] EtherCAT DEBUG 0-4: Downloading SDO 0x1BFF:00.
[ +0,000004] EtherCAT DEBUG: 01
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000002] EtherCAT DEBUG: 00 20 2F FF 1B 00 01 00 00 00
[ +0,039969] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 FF 1B 00 01 00 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Successfully configured mapping for PDO 0x1BFF.
[ +0,000004] EtherCAT DEBUG 0-4: Setting PDO assignment of SM3:
[ +0,000004] EtherCAT DEBUG 0-4: Currently assigned PDOs: (none). PDOs to assign: 0x1A00 0x1BFE 0x1BFF
[ +0,000012] EtherCAT DEBUG 0-4: Setting number of assigned PDOs to zero.
[ +0,000008] EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:00.
[ +0,000003] EtherCAT DEBUG: 00
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[ +0,039937] EtherCAT DEBUG 0-4: Download response:
[ +0,000010] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[ +0,000017] EtherCAT DEBUG 0-4: Assigning PDO 0x1A00 at position 1.
[ +0,000007] EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:01.
[ +0,000003] EtherCAT DEBUG: 00 1A
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
[ +0,039938] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Assigning PDO 0x1BFE at position 2.
[ +0,000008] EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:02.
[ +0,000004] EtherCAT DEBUG: FE 1B
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2B 13 1C 02 FE 1B 00 00
[ +0,039972] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 13 1C 02 FE 1B 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Assigning PDO 0x1BFF at position 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:03.
[ +0,000002] EtherCAT DEBUG: FF 1B
[ +0,000007] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2B 13 1C 03 FF 1B 00 00
[ +0,039952] EtherCAT DEBUG 0-4: Download response:
[ +0,000008] EtherCAT DEBUG: 00 30 60 13 1C 03 FF 1B 00 00
[ +0,000016] EtherCAT DEBUG 0-4: Setting number of assigned PDOs to 3.
[ +0,000006] EtherCAT DEBUG 0-4: Downloading SDO 0x1C13:00.
[ +0,000002] EtherCAT DEBUG: 03
[ +0,000006] EtherCAT DEBUG 0-4: Expedited download request:
[ +0,000003] EtherCAT DEBUG: 00 20 2F 13 1C 00 03 00 00 00
[ +0,039954] EtherCAT DEBUG 0-4: Download response:
[ +0,000009] EtherCAT DEBUG: 00 30 60 13 1C 00 03 00 00 00
[ +0,000020] EtherCAT DEBUG 0-4: Successfully configured PDO assignment of SM3.
[ +0,000014] EtherCAT DEBUG 0-4: SM2: Addr 0x1800, Size 46, Ctrl 0x64, En 1
[ +0,000008] EtherCAT DEBUG 0-4: SM3: Addr 0x2400, Size 52, Ctrl 0x20, En 1
[ +0,019954] EtherCAT DEBUG 0 0:4: FMMU: LogAddr 0x00000000, Size 52, PhysAddr 0x2400, SM3, Dir in
[ +0,000009] EtherCAT DEBUG 0 0:4: FMMU: LogAddr 0x00000034, Size 46, PhysAddr 0x1800, SM2, Dir out
[ +0,029991] EtherCAT DEBUG 0-4: Now in SAFEOP.
[ +0,000010] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ +0,019982] EtherCAT DEBUG 0-4: Now in OP. Finished configuration.
[ +0,030956] EtherCAT 0: Slave states on main device: PREOP, OP.
[ +1,039897] EtherCAT 0: Releasing master...
[ +0,000013] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff88006ac70000)
[ +0,000004] EtherCAT DEBUG 0: Stopping master thread.
[ +0,000017] EtherCAT DEBUG 0: Master OP thread exiting...
[ +0,000019] EtherCAT 0: Master thread exited.
[ +0,000020] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0,001051] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ +0,000007] EtherCAT 0: Released.
[ +0,000033] EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max data size=11250
[ +0,000011] EtherCAT DEBUG 0: UNMATCHED datagram:
[ +0,000003] EtherCAT DEBUG: 0C 92 00 00 00 00 62 00 00 00 00 C1 1F 49 C7 E0
[ +0,000018] EtherCAT DEBUG: 99 A9 C3 74 30 A7 D7 BD 45 C8 00 1F B2 BC 87 8B
[ +0,000016] EtherCAT DEBUG: 57 26 99 63 83 2D 78 B2 4A EC 12 C1 72 15 DF B3
[ +0,000017] EtherCAT DEBUG: 7E D5 95 7C 5A 9A FE 7E 29 06 E8 E7 00 00 00 00
[ +0,000016] EtherCAT DEBUG: 06 00 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 00
[ +0,000017] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 03 00
[ +0,000020] EtherCAT DEBUG 0-2: Changing state from PREOP to PREOP (forced).
[ +0,000004] EtherCAT DEBUG 0-2: Configuring...
[ +0,000475] EtherCAT DEBUG 0-2: Now in INIT.
[ +0,000005] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[ +0,000243] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[ +0,000285] EtherCAT DEBUG 0-2: Clearing DC assignment...
[ +0,000215] EtherCAT DEBUG 0-2: Slave does not support mailbox communication.
[ +0,000496] EtherCAT DEBUG 0-2: Now in PREOP.
[ +0,000004] EtherCAT DEBUG 0-2: Finished configuration.
[ +0,000359] EtherCAT DEBUG 0-3: Changing state from PREOP to PREOP (forced).
[ +0,000005] EtherCAT DEBUG 0-3: Configuring...
[ +0,027626] EtherCAT DEBUG 0-3: Now in INIT.
[ +0,000010] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[ +0,000245] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[ +0,000238] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[ +0,000007] 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
[ +0,027973] EtherCAT DEBUG 0-3: Now in PREOP.
[ +0,000008] EtherCAT DEBUG 0-3: Finished configuration.
[ +0,001459] EtherCAT DEBUG 0-4: Changing state from OP to PREOP (forced).
[ +0,000006] EtherCAT DEBUG 0-4: Configuring...
[ +0,002272] EtherCAT DEBUG 0-4: Now in INIT.
[ +0,000006] EtherCAT DEBUG 0-4: Clearing FMMU configurations...
[ +0,000242] EtherCAT DEBUG 0-4: Clearing sync manager configurations...
[ +0,000249] EtherCAT DEBUG 0-4: Clearing DC assignment...
[ +0,000252] EtherCAT DEBUG 0-4: Configuring mailbox sync managers...
[ +0,000007] EtherCAT DEBUG 0-4: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[ +0,000005] EtherCAT DEBUG 0-4: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[ +0,003235] EtherCAT DEBUG 0-4: Now in PREOP.
[ +0,000006] EtherCAT DEBUG 0-4: Finished configuration.
[ +0,001471] EtherCAT DEBUG 0-5: Changing state from PREOP to PREOP (forced).
[ +0,000006] EtherCAT DEBUG 0-5: Configuring...
[ +0,062483] EtherCAT DEBUG 0-5: Now in INIT.
[ +0,000006] EtherCAT DEBUG 0-5: Clearing FMMU configurations...
[ +0,000240] EtherCAT DEBUG 0-5: Clearing sync manager configurations...
[ +0,000249] EtherCAT DEBUG 0-5: Clearing DC assignment...
[ +0,000252] EtherCAT DEBUG 0-5: Configuring mailbox sync managers...
[ +0,000005] EtherCAT DEBUG 0-5: SM0: Addr 0x1000, Size 384, Ctrl 0x26, En 1
[ +0,000002] EtherCAT DEBUG 0-5: SM1: Addr 0x1180, Size 384, Ctrl 0x22, En 1
[ +0,001494] EtherCAT DEBUG 0-5: Now in PREOP.
[ +0,000004] EtherCAT DEBUG 0-5: Finished configuration.
[ +0,001645] EtherCAT DEBUG 0-0: Changing state from OP to PREOP (forced).
[ +0,000005] EtherCAT DEBUG 0-0: Configuring...
[ +0,000342] EtherCAT DEBUG 0-0: Now in INIT.
[ +0,000003] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ +0,000247] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ +0,000249] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ +0,000257] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ +0,000496] EtherCAT DEBUG 0-0: Now in PREOP.
[ +0,000005] EtherCAT DEBUG 0-0: Finished configuration.
[ +0,000914] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced).
[ +0,000004] EtherCAT DEBUG 0-1: Configuring...
[ +0,000325] EtherCAT DEBUG 0-1: Now in INIT.
[ +0,000003] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[ +0,000252] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[ +0,000250] EtherCAT DEBUG 0-1: Clearing DC assignment...
[ +0,000247] EtherCAT DEBUG 0-1: Slave does not support mailbox communication.
[ +0,000502] EtherCAT DEBUG 0-1: Now in PREOP.
[ +0,000005] EtherCAT DEBUG 0-1: Finished configuration.
[ +0,004905] EtherCAT 0: Slave states on main device: PREOP.
[ +2,924979] EtherCAT DEBUG 0-4: Fetching SDO dictionary.
[ +0,214832] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:0A!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,015985] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:0E!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,024230] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:14!
[ +0,000010] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003741] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:15!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,004231] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:16!
[ +0,000006] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003992] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:17!
[ +0,000005] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003993] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:18!
[ +0,000004] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003995] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:19!
[ +0,000004] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,004000] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1A!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003991] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1B!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003987] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1C!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003995] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1D!
[ +0,000009] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003990] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1E!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003987] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C32:1F!
[ +0,000009] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,051962] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:0A!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,015984] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:0E!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,023977] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:14!
[ +0,000039] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003957] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:15!
[ +0,000033] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003966] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:16!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003996] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:17!
[ +0,000037] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003951] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:18!
[ +0,000004] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003991] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:19!
[ +0,000005] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003998] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1A!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003994] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1B!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003992] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1C!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003988] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1D!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003988] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1E!
[ +0,000008] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,003991] EtherCAT WARNING 0-4: SDO information error response while fetching SDO entry 0x1C33:1F!
[ +0,000007] EtherCAT ERROR 0-4: SDO abort message 0x06090011: "Subindex does not exist".
[ +0,099941] EtherCAT DEBUG 0-4: Fetched 21 SDOs and 84 entries.
More information about the Etherlab-users
mailing list