[etherlab-users] Ethercat 1.5.2 AX5101's DC can't sync
李宇翔
18680377502 at 163.com
Mon Jun 29 11:07:28 CEST 2015
Hi All!
I use ecrt_slave_config_dc(sc, 0x0730, 250000, 50000, 1750000, 50000) config dc(para from Twincat). Then I use ecrt_master_activate() and use ecrt_domain_data(). In the cyclic task, I use ecrt_master_recieve(), ecrt_domain_process(), ecrt_master_application_time(), ecrt_master_sync_reference_clocks(), and ecrt_master_sync_slave_clocks().
Finally, I can't get into OP state, sometimes it get back to PREOP(almost 95%), sometimes it get into SAFEOP+ERROR(almost 5%), part of dmesg information is as following:
========================dmesg information(result in PREOP)===========================
[23518.963130] EtherCAT DEBUG: 04 40 71 00
[23518.963141] EtherCAT DEBUG 0-0: Writing IDN 0x8033 of drive 0 (2 byte).
[23518.963146] EtherCAT DEBUG 0-0: SCC write request:
[23518.963149] EtherCAT DEBUG: 03 40 33 80 03 00
[23518.964133] EtherCAT DEBUG 0-0: SCC write response:
[23518.964137] EtherCAT DEBUG: 04 40 33 80
[23518.964147] EtherCAT DEBUG 0-0: Writing IDN 0x8037 of drive 0 (2 byte).
[23518.964153] EtherCAT DEBUG 0-0: SCC write request:
[23518.964156] EtherCAT DEBUG: 03 40 37 80 06 02
[23518.965130] EtherCAT DEBUG 0-0: SCC write response:
[23518.965134] EtherCAT DEBUG: 04 40 37 80
[23518.965145] EtherCAT DEBUG 0-0: Writing IDN 0x8046 of drive 0 (2 byte).
[23518.965150] EtherCAT DEBUG 0-0: SCC write request:
[23518.965154] EtherCAT DEBUG: 03 40 46 80 71 00
[23518.966128] EtherCAT DEBUG 0-0: SCC write response:
[23518.966132] EtherCAT DEBUG: 04 40 46 80
[23518.966143] EtherCAT DEBUG 0-0: Writing IDN 0x8039 of drive 0 (2 byte).
[23518.966148] EtherCAT DEBUG 0-0: SCC write request:
[23518.966151] EtherCAT DEBUG: 03 40 39 80 78 69
[23518.967126] EtherCAT DEBUG 0-0: SCC write response:
[23518.967130] EtherCAT DEBUG: 04 40 39 80
[23518.967141] EtherCAT DEBUG 0-0: Writing IDN 0x8042 of drive 0 (12 byte).
[23518.967146] EtherCAT DEBUG 0-0: SCC write request:
[23518.967150] EtherCAT DEBUG: 03 40 42 80 08 00 08 00 EE 07 00 00 E6 0F 00 00
[23518.968133] EtherCAT DEBUG 0-0: SCC write response:
[23518.968137] EtherCAT DEBUG: 04 40 42 80
[23518.968148] EtherCAT DEBUG 0-0: Writing IDN 0x803E of drive 0 (12 byte).
[23518.968153] EtherCAT DEBUG 0-0: SCC write request:
[23518.968156] EtherCAT DEBUG: 03 40 3E 80 08 00 08 00 58 02 50 00 64 00 01 00
[23518.969130] EtherCAT DEBUG 0-0: SCC write response:
[23518.969134] EtherCAT DEBUG: 04 40 3E 80
[23518.969145] EtherCAT DEBUG 0-0: Writing IDN 0x0088 of drive 0 (4 byte).
[23518.969150] EtherCAT DEBUG 0-0: SCC write request:
[23518.969154] EtherCAT DEBUG: 03 40 88 00 5E 96 09 00
[23518.970128] EtherCAT DEBUG 0-0: SCC write response:
[23518.970132] EtherCAT DEBUG: 04 40 88 00
[23518.970143] EtherCAT DEBUG 0-0: Writing IDN 0x0089 of drive 0 (4 byte).
[23518.970148] EtherCAT DEBUG 0-0: SCC write request:
[23518.970151] EtherCAT DEBUG: 03 40 89 00 5E 96 09 00
[23518.971126] EtherCAT DEBUG 0-0: SCC write response:
[23518.971130] EtherCAT DEBUG: 04 40 89 00
[23518.971141] EtherCAT DEBUG 0-0: Writing IDN 0x8032 of drive 0 (2 byte).
[23518.971146] EtherCAT DEBUG 0-0: SCC write request:
[23518.971150] EtherCAT DEBUG: 03 40 32 80 00 00
[23518.972133] EtherCAT DEBUG 0-0: SCC write response:
[23518.972137] EtherCAT DEBUG: 04 40 32 80
[23518.972148] EtherCAT DEBUG 0-0: Writing IDN 0x8044 of drive 0 (8 byte).
[23518.972153] EtherCAT DEBUG 0-0: SCC write request:
[23518.972156] EtherCAT DEBUG: 03 40 44 80 04 00 04 00 64 00 00 00
[23518.973131] EtherCAT DEBUG 0-0: SCC write response:
[23518.973135] EtherCAT DEBUG: 04 40 44 80
[23518.973146] EtherCAT DEBUG 0-0: Writing IDN 0x00C9 of drive 0 (2 byte).
[23518.973151] EtherCAT DEBUG 0-0: SCC write request:
[23518.973154] EtherCAT DEBUG: 03 40 C9 00 20 03
[23518.974128] EtherCAT DEBUG 0-0: SCC write response:
[23518.974132] EtherCAT DEBUG: 04 40 C9 00
[23518.974143] EtherCAT DEBUG 0-0: Writing IDN 0x00CC of drive 0 (2 byte).
[23518.974148] EtherCAT DEBUG 0-0: SCC write request:
[23518.974151] EtherCAT DEBUG: 03 40 CC 00 78 05
[23518.975127] EtherCAT DEBUG 0-0: SCC write response:
[23518.975131] EtherCAT DEBUG: 04 40 CC 00
[23518.975141] EtherCAT DEBUG 0-0: Writing IDN 0x8047 of drive 0 (8 byte).
[23518.975146] EtherCAT DEBUG 0-0: SCC write request:
[23518.975150] EtherCAT DEBUG: 03 40 47 80 04 00 04 00 16 00 00 00
[23518.976136] EtherCAT DEBUG 0-0: SCC write response:
[23518.976140] EtherCAT DEBUG: 04 40 47 80
[23518.976151] EtherCAT DEBUG 0-0: Writing IDN 0x8059 of drive 0 (40 byte).
[23518.976156] EtherCAT DEBUG 0-0: SCC write request:
[23518.976160] EtherCAT DEBUG: 03 40 59 80 24 00 24 00 02 80 00 00 3E 00 00 00
[23518.976182] EtherCAT DEBUG: 3E 00 00 00 C9 80 00 00 84 03 00 00 FC 08 00 00
[23518.976204] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
[23518.977130] EtherCAT DEBUG 0-0: SCC write response:
[23518.977135] EtherCAT DEBUG: 04 40 59 80
[23518.977146] EtherCAT DEBUG 0-0: Writing IDN 0x006A of drive 0 (2 byte).
[23518.977151] EtherCAT DEBUG 0-0: SCC write request:
[23518.977154] EtherCAT DEBUG: 03 40 6A 00 DE 03
[23518.978128] EtherCAT DEBUG 0-0: SCC write response:
[23518.978132] EtherCAT DEBUG: 04 40 6A 00
[23518.978143] EtherCAT DEBUG 0-0: Writing IDN 0x006B of drive 0 (2 byte).
[23518.978148] EtherCAT DEBUG 0-0: SCC write request:
[23518.978152] EtherCAT DEBUG: 03 40 6B 00 04 00
[23518.979128] EtherCAT DEBUG 0-0: SCC write response:
[23518.979132] EtherCAT DEBUG: 04 40 6B 00
[23518.979142] EtherCAT DEBUG 0-0: Writing IDN 0x8034 of drive 0 (2 byte).
[23518.979147] EtherCAT DEBUG 0-0: SCC write request:
[23518.979151] EtherCAT DEBUG: 03 40 34 80 B8 0B
[23518.980133] EtherCAT DEBUG 0-0: SCC write response:
[23518.980137] EtherCAT DEBUG: 04 40 34 80
[23518.980147] EtherCAT DEBUG 0-0: Writing IDN 0x8038 of drive 0 (4 byte).
[23518.980152] EtherCAT DEBUG 0-0: SCC write request:
[23518.980156] EtherCAT DEBUG: 03 40 38 80 94 08 00 00
[23518.981130] EtherCAT DEBUG 0-0: SCC write response:
[23518.981134] EtherCAT DEBUG: 04 40 38 80
[23518.981145] EtherCAT DEBUG 0-0: Writing IDN 0x805C of drive 0 (4 byte).
[23518.981150] EtherCAT DEBUG 0-0: SCC write request:
[23518.981154] EtherCAT DEBUG: 03 40 5C 80 04 0B 00 00
[23518.982128] EtherCAT DEBUG 0-0: SCC write response:
[23518.982132] EtherCAT DEBUG: 04 40 5C 80
[23518.982143] EtherCAT DEBUG 0-0: Writing IDN 0x805D of drive 0 (4 byte).
[23518.982148] EtherCAT DEBUG 0-0: SCC write request:
[23518.982152] EtherCAT DEBUG: 03 40 5D 80 82 05 00 00
[23518.983126] EtherCAT DEBUG 0-0: SCC write response:
[23518.983130] EtherCAT DEBUG: 04 40 5D 80
[23518.983141] EtherCAT DEBUG 0-0: Writing IDN 0x005B of drive 0 (4 byte).
[23518.983146] EtherCAT DEBUG 0-0: SCC write request:
[23518.983149] EtherCAT DEBUG: 03 40 5B 00 86 CE 22 03
[23518.984132] EtherCAT DEBUG 0-0: SCC write response:
[23518.984136] EtherCAT DEBUG: 04 40 5B 00
[23518.984147] EtherCAT DEBUG 0-0: Writing IDN 0x8002 of drive 0 (2 byte).
[23518.984152] EtherCAT DEBUG 0-0: SCC write request:
[23518.984155] EtherCAT DEBUG: 03 40 02 80 3E 00
[23518.985130] EtherCAT DEBUG 0-0: SCC write response:
[23518.985134] EtherCAT DEBUG: 04 40 02 80
[23518.985145] EtherCAT DEBUG 0-0: Writing IDN 0x81C3 of drive 0 (2 byte).
[23518.985150] EtherCAT DEBUG 0-0: SCC write request:
[23518.985154] EtherCAT DEBUG: 03 40 C3 81 00 00
[23518.986128] EtherCAT DEBUG 0-0: SCC write response:
[23518.986132] EtherCAT DEBUG: 04 40 C3 81
[23518.986143] EtherCAT DEBUG 0-0: Writing IDN 0x8003 of drive 0 (2 byte).
[23518.986148] EtherCAT DEBUG 0-0: SCC write request:
[23518.986151] EtherCAT DEBUG: 03 40 03 80 7D 00
[23518.987127] EtherCAT DEBUG 0-0: SCC write response:
[23518.987130] EtherCAT DEBUG: 04 40 03 80
[23518.987141] EtherCAT DEBUG 0-0: Writing IDN 0x81FF of drive 0 (2 byte).
[23518.987146] EtherCAT DEBUG 0-0: SCC write request:
[23518.987150] EtherCAT DEBUG: 03 40 FF 81 96 00
[23518.988132] EtherCAT DEBUG 0-0: SCC write response:
[23518.988136] EtherCAT DEBUG: 04 40 FF 81
[23518.988147] EtherCAT DEBUG 0-0: Writing IDN 0x8004 of drive 0 (2 byte).
[23518.988152] EtherCAT DEBUG 0-0: SCC write request:
[23518.988156] EtherCAT DEBUG: 03 40 04 80 FA 00
[23518.989131] EtherCAT DEBUG 0-0: SCC write response:
[23518.989136] EtherCAT DEBUG: 04 40 04 80
[23518.989150] EtherCAT DEBUG 0-0: Writing IDN 0x8096 of drive 0 (228 byte).
[23518.989157] EtherCAT DEBUG 0-0: SCC write request:
[23518.989161] EtherCAT DEBUG: 0B 40 01 00 E0 00 E0 00 07 00 00 00 48 61 72 6F
[23518.989190] EtherCAT DEBUG: 77 65 23 31 35 42 52 58 37 30 30 44 31 30 41 00
[23518.989219] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.989247] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 04 00 00 00 00 00 00 00
[23518.989275] EtherCAT DEBUG: 03 00 04 00 00 00 00 00 03 00 02 08 32 00 00 00
[23518.989304] EtherCAT DEBUG: 10 27 00 00 7E 04 EE 02 F4 01 E8 03 00 00 00 00
[23518.989333] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.989361] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[23518.989884] EtherCAT DEBUG 0-0: SCC write request:
[23518.989888] EtherCAT DEBUG: 03 40 96 80 00 00 00 00 00 00 00 00 02 00 00 00
[23518.989917] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.989945] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.989973] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.990001] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.990030] EtherCAT DEBUG: 00 00 00 00 00 00 A6 00 4A 01 9B 00 00 00 00 00
[23518.990058] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[23518.990086] EtherCAT DEBUG: 00 00
[23518.990879] EtherCAT DEBUG 0-0: SCC write response:
[23518.990883] EtherCAT DEBUG: 04 40 96 80
[23518.990894] EtherCAT DEBUG 0-0: Writing IDN 0x8098 of drive 0 (4 byte).
[23518.990899] EtherCAT DEBUG 0-0: SCC write request:
[23518.990903] EtherCAT DEBUG: 03 40 98 80 01 00 00 00
[23518.991876] EtherCAT DEBUG 0-0: SCC write response:
[23518.991879] EtherCAT DEBUG: 04 40 98 80
[23518.991890] EtherCAT DEBUG 0-0: Writing IDN 0x8099 of drive 0 (4 byte).
[23518.991895] EtherCAT DEBUG 0-0: SCC write request:
[23518.991899] EtherCAT DEBUG: 03 40 99 80 01 00 00 00
[23518.992881] EtherCAT DEBUG 0-0: SCC write response:
[23518.992886] EtherCAT DEBUG: 04 40 99 80
[23518.992896] EtherCAT DEBUG 0-0: Writing IDN 0x803D of drive 0 (2 byte).
[23518.992902] EtherCAT DEBUG 0-0: SCC write request:
[23518.992905] EtherCAT DEBUG: 03 40 3D 80 02 00
[23518.993879] EtherCAT DEBUG 0-0: SCC write response:
[23518.993883] EtherCAT DEBUG: 04 40 3D 80
[23518.993894] EtherCAT DEBUG 0-0: Writing IDN 0x0064 of drive 0 (4 byte).
[23518.993899] EtherCAT DEBUG 0-0: SCC write request:
[23518.993902] EtherCAT DEBUG: 03 40 64 00 C0 00 00 00
[23518.994877] EtherCAT DEBUG 0-0: SCC write response:
[23518.994881] EtherCAT DEBUG: 04 40 64 00
[23518.994892] EtherCAT DEBUG 0-0: Writing IDN 0x0065 of drive 0 (2 byte).
[23518.994897] EtherCAT DEBUG 0-0: SCC write request:
[23518.994900] EtherCAT DEBUG: 03 40 65 00 14 00
[23518.995876] EtherCAT DEBUG 0-0: SCC write response:
[23518.995880] EtherCAT DEBUG: 04 40 65 00
[23518.995891] EtherCAT DEBUG 0-0: Writing IDN 0x8043 of drive 0 (2 byte).
[23518.995896] EtherCAT DEBUG 0-0: SCC write request:
[23518.995899] EtherCAT DEBUG: 03 40 43 80 C4 22
[23518.996881] EtherCAT DEBUG 0-0: SCC write response:
[23518.996885] EtherCAT DEBUG: 04 40 43 80
[23518.996914] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 6, Ctrl 0x24, En 1
[23518.996921] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 6, Ctrl 0x22, En 1
[23518.997382] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 6, PhysAddr 0x1000, SM2, Dir out
[23518.997390] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000006, Size 6, PhysAddr 0x1100, SM3, Dir in
[23518.997880] EtherCAT DEBUG 0-0: Setting DC cycle times to 250000 / 1750000.
[23518.998128] EtherCAT DEBUG 0-0: Checking for synchrony.
[23518.998379] EtherCAT DEBUG 0-0: Sync after 0 ms: 611163 ns
[23518.998628] EtherCAT DEBUG 0-0: Sync after 0 ms: 631765 ns
[23518.998877] EtherCAT DEBUG 0-0: Sync after 0 ms: 631765 ns
[23518.999127] EtherCAT DEBUG 0-0: Sync after 0 ms: 651118 ns
[23518.999377] EtherCAT DEBUG 0-0: Sync after 0 ms: 651118 ns
[23518.999876] EtherCAT DEBUG 0-0: Sync after 0 ms: 669255 ns
[23519.000133] EtherCAT DEBUG 0-0: Sync after 4 ms: 686245 ns
[23519.000632] EtherCAT DEBUG 0-0: Sync after 4 ms: 702210 ns
[23519.001130] EtherCAT DEBUG 0-0: Sync after 4 ms: 717192 ns
[23519.001380] EtherCAT DEBUG 0-0: Sync after 4 ms: 717192 ns
[23519.001631] EtherCAT DEBUG 0-0: Sync after 4 ms: 731198 ns
[23519.001879] EtherCAT DEBUG 0-0: Sync after 4 ms: 731198 ns
[23519.002129] EtherCAT DEBUG 0-0: Sync after 4 ms: 744295 ns
[23519.002379] EtherCAT DEBUG 0-0: Sync after 4 ms: 744295 ns
[23519.002878] EtherCAT DEBUG 0-0: Sync after 4 ms: 756574 ns
[23519.003127] EtherCAT DEBUG 0-0: Sync after 4 ms: 768106 ns
[23519.003378] EtherCAT DEBUG 0-0: Sync after 4 ms: 768106 ns
[23519.003876] EtherCAT DEBUG 0-0: Sync after 4 ms: 778878 ns
...
[23520.941880] EtherCAT DEBUG 0-0: Sync after 1944 ms: 1484551832 ns
[23520.942129] EtherCAT DEBUG 0-0: Sync after 1944 ms: 1485466431 ns
[23520.942395] EtherCAT DEBUG 0-0: Sync after 1944 ms: 1485466431 ns
[23520.946555] EtherCAT 0: Releasing master...
[23520.946567] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xf5618000)
[23520.946575] EtherCAT DEBUG 0: Stopping master thread.
[23520.946584] EtherCAT DEBUG 0: Master OP thread exiting...
[23520.946618] EtherCAT 0: Master thread exited.
[23520.946669] EtherCAT 0: Starting EtherCAT-IDLE thread.
[23520.946760] EtherCAT DEBUG 0: OPERATION -> IDLE.
[23520.946772] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[23520.946791] EtherCAT 0: Released.
[23520.946799] EtherCAT DEBUG 0: UNMATCHED datagram:
[23520.946803] EtherCAT DEBUG: 0C 12 00 00 00 00 0C 80 00 00 00 00 00 00 00 00
[23520.946826] EtherCAT DEBUG: 00 00 00 00 00 00 00 00
[23520.946841] EtherCAT DEBUG 0: Debug ring 5:
[23520.946848] EtherCAT DEBUG 0: Frame 4294967287, dt=0.005396 s, TX:
[23520.946852] EtherCAT DEBUG: 38 10 0E 03 01 00 10 09 04 80 00 00 00 00 00 00
[23520.946875] EtherCAT DEBUG: 00 00 0C 04 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.946897] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 05 01 00 2C 09
[23520.946919] EtherCAT DEBUG: 04 00 00 00 B0 93 6D D8 00 00
[23520.946937] EtherCAT DEBUG 0: Frame 4294967288, dt=0.005160 s, RX:
[23520.946941] EtherCAT DEBUG: 38 10 0E 03 01 00 10 09 04 80 00 00 42 D7 F1 30
[23520.946963] EtherCAT DEBUG: 01 00 0C 04 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.946985] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 05 01 00 2C 09
[23520.947007] EtherCAT DEBUG: 04 00 00 00 98 76 7C D8 01 00
[23520.947025] EtherCAT DEBUG 0: Frame 4294967289, dt=0.005145 s, TX:
[23520.947029] EtherCAT DEBUG: 48 10 05 06 01 00 10 09 04 80 00 00 01 EB 99 D7
[23520.947051] EtherCAT DEBUG: 00 00 0E 07 01 00 10 09 04 80 00 00 00 00 00 00
[23520.947073] EtherCAT DEBUG: 00 00 0C 08 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947095] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 09 01 00 2C 09
[23520.947117] EtherCAT DEBUG: 04 00 00 00 98 76 7C D8 00 00
[23520.947134] EtherCAT DEBUG 0: Frame 4294967290, dt=0.004910 s, RX:
[23520.947138] EtherCAT DEBUG: 48 10 05 06 01 00 10 09 04 80 00 00 01 EB 99 D7
[23520.947161] EtherCAT DEBUG: 01 00 0E 07 01 00 10 09 04 80 00 00 09 AC F5 30
[23520.947183] EtherCAT DEBUG: 01 00 0C 08 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947205] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 09 01 00 2C 09
[23520.947227] EtherCAT DEBUG: 04 00 00 00 98 76 7C D8 01 00
[23520.947244] EtherCAT DEBUG 0: Frame 4294967291, dt=0.004896 s, TX:
[23520.947248] EtherCAT DEBUG: 38 10 0E 0A 01 00 10 09 04 80 00 00 00 00 00 00
[23520.947270] EtherCAT DEBUG: 00 00 0C 0B 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947292] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 0C 01 00 2C 09
[23520.947314] EtherCAT DEBUG: 04 00 00 00 98 76 7C D8 00 00
[23520.947331] EtherCAT DEBUG 0: Frame 4294967292, dt=0.004661 s, RX:
[23520.947335] EtherCAT DEBUG: 38 10 0E 0A 01 00 10 09 04 80 00 00 09 76 F9 30
[23520.947357] EtherCAT DEBUG: 01 00 0C 0B 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947379] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 0C 01 00 2C 09
[23520.947400] EtherCAT DEBUG: 04 00 00 00 3F 6B 8A D8 01 00
[23520.947417] EtherCAT DEBUG 0: Frame 4294967293, dt=0.004645 s, TX:
[23520.947422] EtherCAT DEBUG: 48 10 05 0D 01 00 10 09 04 80 00 00 C5 89 A1 D7
[23520.947444] EtherCAT DEBUG: 00 00 0E 0E 01 00 10 09 04 80 00 00 00 00 00 00
[23520.947466] EtherCAT DEBUG: 00 00 0C 0F 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947487] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 10 01 00 2C 09
[23520.947509] EtherCAT DEBUG: 04 00 00 00 3F 6B 8A D8 00 00
[23520.947526] EtherCAT DEBUG 0: Frame 4294967294, dt=0.004397 s, RX:
[23520.947530] EtherCAT DEBUG: 48 10 05 0D 01 00 10 09 04 80 00 00 C5 89 A1 D7
[23520.947553] EtherCAT DEBUG: 01 00 0E 0E 01 00 10 09 04 80 00 00 FF 4C FD 30
[23520.947575] EtherCAT DEBUG: 01 00 0C 0F 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947597] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 10 01 00 2C 09
[23520.947619] EtherCAT DEBUG: 04 00 00 00 3F 6B 8A D8 01 00
[23520.947636] EtherCAT DEBUG 0: Frame 4294967295, dt=0.004373 s, TX:
[23520.947640] EtherCAT DEBUG: 38 10 0E 11 01 00 10 09 04 80 00 00 00 00 00 00
[23520.947662] EtherCAT DEBUG: 00 00 0C 12 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947683] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 13 01 00 2C 09
[23520.947705] EtherCAT DEBUG: 04 00 00 00 3F 6B 8A D8 00 00
[23520.947722] EtherCAT DEBUG 0: Frame 0, dt=0.000000 s, RX:
[23520.947726] EtherCAT DEBUG: 38 10 0E 11 01 00 10 09 04 80 00 00 0F 70 01 31
[23520.947748] EtherCAT DEBUG: 01 00 0C 12 00 00 00 00 0C 80 00 00 00 00 00 00
[23520.947770] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 13 01 00 2C 09
[23520.947791] EtherCAT DEBUG: 04 00 00 00 BF 80 97 D8 01 00
[23520.947812] EtherCAT DEBUG 0-0: Slave configuration detached during configuration. Reconfiguring.
[23520.948274] EtherCAT DEBUG 0-0: Now in INIT.
[23520.948279] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[23520.948320] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[23520.948359] EtherCAT DEBUG 0-0: Clearing DC assignment...
[23520.948403] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[23520.948410] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 128, Ctrl 0x26, En 1
[23520.948417] EtherCAT DEBUG 0-0: SM1: Addr 0x1A00, Size 128, Ctrl 0x22, En 1
[23520.949782] EtherCAT DEBUG 0-0: Now in PREOP.
[23520.949787] EtherCAT DEBUG 0-0: Finished configuration.
========================dmesg information(result in SAFEOP+E)===========================
[ 160.079076] EtherCAT DEBUG 0-0: Writing IDN 0x8096 of drive 0 (228 byte).
[ 160.079081] EtherCAT DEBUG 0-0: SCC write request:
[ 160.079085] EtherCAT DEBUG: 0B 40 01 00 E0 00 E0 00 07 00 00 00 48 61 72 6F
[ 160.079107] EtherCAT DEBUG: 77 65 23 31 35 42 52 58 37 30 30 44 31 30 41 00
[ 160.079129] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079151] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 04 00 00 00 00 00 00 00
[ 160.079172] EtherCAT DEBUG: 03 00 04 00 00 00 00 00 03 00 02 08 32 00 00 00
[ 160.079194] EtherCAT DEBUG: 10 27 00 00 7E 04 EE 02 F4 01 E8 03 00 00 00 00
[ 160.079216] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079238] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[ 160.079812] EtherCAT DEBUG 0-0: SCC write request:
[ 160.079815] EtherCAT DEBUG: 03 40 96 80 00 00 00 00 00 00 00 00 02 00 00 00
[ 160.079837] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079859] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079881] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079902] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079924] EtherCAT DEBUG: 00 00 00 00 00 00 A6 00 4A 01 9B 00 00 00 00 00
[ 160.079946] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 160.079967] EtherCAT DEBUG: 00 00
[ 160.080810] EtherCAT DEBUG 0-0: SCC write response:
[ 160.080813] EtherCAT DEBUG: 04 40 96 80
[ 160.080824] EtherCAT DEBUG 0-0: Writing IDN 0x8098 of drive 0 (4 byte).
[ 160.080829] EtherCAT DEBUG 0-0: SCC write request:
[ 160.080832] EtherCAT DEBUG: 03 40 98 80 01 00 00 00
[ 160.081814] EtherCAT DEBUG 0-0: SCC write response:
[ 160.081817] EtherCAT DEBUG: 04 40 98 80
[ 160.081828] EtherCAT DEBUG 0-0: Writing IDN 0x8099 of drive 0 (4 byte).
[ 160.081833] EtherCAT DEBUG 0-0: SCC write request:
[ 160.081837] EtherCAT DEBUG: 03 40 99 80 01 00 00 00
[ 160.082812] EtherCAT DEBUG 0-0: SCC write response:
[ 160.082816] EtherCAT DEBUG: 04 40 99 80
[ 160.082826] EtherCAT DEBUG 0-0: Writing IDN 0x803D of drive 0 (2 byte).
[ 160.082831] EtherCAT DEBUG 0-0: SCC write request:
[ 160.082835] EtherCAT DEBUG: 03 40 3D 80 02 00
[ 160.083811] EtherCAT DEBUG 0-0: SCC write response:
[ 160.083815] EtherCAT DEBUG: 04 40 3D 80
[ 160.083825] EtherCAT DEBUG 0-0: Writing IDN 0x0064 of drive 0 (4 byte).
[ 160.083830] EtherCAT DEBUG 0-0: SCC write request:
[ 160.083834] EtherCAT DEBUG: 03 40 64 00 C0 00 00 00
[ 160.084809] EtherCAT DEBUG 0-0: SCC write response:
[ 160.084813] EtherCAT DEBUG: 04 40 64 00
[ 160.084824] EtherCAT DEBUG 0-0: Writing IDN 0x0065 of drive 0 (2 byte).
[ 160.084829] EtherCAT DEBUG 0-0: SCC write request:
[ 160.084832] EtherCAT DEBUG: 03 40 65 00 14 00
[ 160.085814] EtherCAT DEBUG 0-0: SCC write response:
[ 160.085818] EtherCAT DEBUG: 04 40 65 00
[ 160.085828] EtherCAT DEBUG 0-0: Writing IDN 0x8043 of drive 0 (2 byte).
[ 160.085833] EtherCAT DEBUG 0-0: SCC write request:
[ 160.085837] EtherCAT DEBUG: 03 40 43 80 C4 22
[ 160.086811] EtherCAT DEBUG 0-0: SCC write response:
[ 160.086815] EtherCAT DEBUG: 04 40 43 80
[ 160.086845] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 6, Ctrl 0x24, En 1
[ 160.086852] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 6, Ctrl 0x22, En 1
[ 160.087314] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 6, PhysAddr 0x1000, SM2, Dir out
[ 160.087322] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000006, Size 6, PhysAddr 0x1100, SM3, Dir in
[ 160.087812] EtherCAT DEBUG 0-0: Setting DC cycle times to 250000 / 1750000.
[ 160.088310] EtherCAT DEBUG 0-0: Checking for synchrony.
[ 160.088560] EtherCAT DEBUG 0-0: Sync after 0 ms: 82693 ns
[ 160.088810] EtherCAT DEBUG 0-0: Sync after 0 ms: 82693 ns
[ 160.089058] EtherCAT DEBUG 0-0: Sync after 0 ms: 76851 ns
[ 160.089309] EtherCAT DEBUG 0-0: Sync after 0 ms: 76851 ns
[ 160.089565] EtherCAT DEBUG 0-0: Sync after 0 ms: 71381 ns
[ 160.089814] EtherCAT DEBUG 0-0: Sync after 0 ms: 71381 ns
[ 160.090314] EtherCAT DEBUG 0-0: Sync after 0 ms: 66232 ns
[ 160.090812] EtherCAT DEBUG 0-0: Sync after 0 ms: 61425 ns
[ 160.091062] EtherCAT DEBUG 0-0: Sync after 0 ms: 56936 ns
[ 160.091312] EtherCAT DEBUG 0-0: Sync after 0 ms: 56936 ns
[ 160.091561] EtherCAT DEBUG 0-0: Sync after 0 ms: 52723 ns
[ 160.091812] EtherCAT DEBUG 0-0: Sync after 0 ms: 52723 ns
[ 160.092311] EtherCAT DEBUG 0-0: Sync after 4 ms: 48777 ns
[ 160.092560] EtherCAT DEBUG 0-0: Sync after 4 ms: 45094 ns
[ 160.092810] EtherCAT DEBUG 0-0: Sync after 4 ms: 45094 ns
[ 160.093060] EtherCAT DEBUG 0-0: Sync after 4 ms: 41626 ns
[ 160.093309] EtherCAT DEBUG 0-0: Sync after 4 ms: 41626 ns
[ 160.093815] EtherCAT DEBUG 0-0: Sync after 4 ms: 38413 ns
[ 160.094314] EtherCAT DEBUG 0-0: Sync after 4 ms: 35383 ns
[ 160.094813] EtherCAT DEBUG 0-0: Sync after 4 ms: 32532 ns
[ 160.095062] EtherCAT DEBUG 0-0: Sync after 4 ms: 29879 ns
[ 160.095312] EtherCAT DEBUG 0-0: Sync after 4 ms: 29879 ns
[ 160.095561] EtherCAT DEBUG 0-0: Sync after 4 ms: 27364 ns
[ 160.095810] EtherCAT DEBUG 0-0: Sync after 4 ms: 27364 ns
[ 160.096063] EtherCAT DEBUG 0-0: Sync after 8 ms: 25028 ns
[ 160.096311] EtherCAT DEBUG 0-0: Sync after 8 ms: 25028 ns
[ 160.096560] EtherCAT DEBUG 0-0: Sync after 8 ms: 22870 ns
[ 160.096810] EtherCAT DEBUG 0-0: Sync after 8 ms: 22870 ns
[ 160.097059] EtherCAT DEBUG 0-0: Sync after 8 ms: 20815 ns
[ 160.097308] EtherCAT DEBUG 0-0: Sync after 8 ms: 20815 ns
[ 160.097565] EtherCAT DEBUG 0-0: Sync after 8 ms: 18884 ns
[ 160.097814] EtherCAT DEBUG 0-0: Sync after 8 ms: 18884 ns
[ 160.098313] EtherCAT DEBUG 0-0: Sync after 8 ms: 17118 ns
[ 160.098562] EtherCAT DEBUG 0-0: Sync after 8 ms: 15427 ns
[ 160.098812] EtherCAT DEBUG 0-0: Sync after 8 ms: 15427 ns
[ 160.099062] EtherCAT DEBUG 0-0: Sync after 8 ms: 13878 ns
[ 160.099312] EtherCAT DEBUG 0-0: Sync after 8 ms: 13878 ns
[ 160.099561] EtherCAT DEBUG 0-0: Sync after 8 ms: 12393 ns
[ 160.099811] EtherCAT DEBUG 0-0: Sync after 8 ms: 12393 ns
[ 160.100309] EtherCAT DEBUG 0-0: Sync after 12 ms: 11019 ns
[ 160.100523] EtherCAT DEBUG 0-0: 9749 ns difference after 12 ms.
[ 160.100528] EtherCAT DEBUG 0-0: app_start_time=358824362865944141
[ 160.100534] EtherCAT DEBUG 0-0: app_time=358824362949337910
[ 160.100539] EtherCAT DEBUG 0-0: start_time=358824363049337910
[ 160.100544] EtherCAT DEBUG 0-0: cycle_time=250000
[ 160.100548] EtherCAT DEBUG 0-0: shift_time=50000
[ 160.100553] EtherCAT DEBUG 0-0: remainder=143769
[ 160.100558] EtherCAT DEBUG 0-0: start=358824363049494141
[ 160.100563] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 358824363049494141.
[ 160.101057] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0730.
[ 161.901567] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 161.901581] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 162.032756] EtherCAT 0: Releasing master...
[ 162.032767] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xf4ce0000)
[ 162.032774] EtherCAT DEBUG 0: Stopping master thread.
[ 162.032783] EtherCAT DEBUG 0: Master OP thread exiting...
[ 162.032820] EtherCAT 0: Master thread exited.
[ 162.032860] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 162.032949] EtherCAT DEBUG 0: OPERATION -> IDLE.
[ 162.032957] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000
[ 162.032975] EtherCAT 0: Released.
[ 162.032983] EtherCAT DEBUG 0: UNMATCHED datagram:
[ 162.032988] EtherCAT DEBUG: 0C E7 00 00 00 00 0C 80 00 00 00 00 00 00 00 00
[ 162.033016] EtherCAT DEBUG: 00 00 00 00 00 00 02 00
[ 162.033032] EtherCAT DEBUG 0: Debug ring 5:
[ 162.033038] EtherCAT DEBUG 0: Frame 4294967287, dt=0.004414 s, TX:
[ 162.033042] EtherCAT DEBUG: 36 10 0E D8 01 00 10 09 04 80 00 00 00 00 00 00
[ 162.033065] EtherCAT DEBUG: 00 00 0C D9 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033088] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 DA 01 00 30 01
[ 162.033110] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[ 162.033125] EtherCAT DEBUG 0: Frame 4294967288, dt=0.004384 s, RX:
[ 162.033129] EtherCAT DEBUG: 36 10 0E D8 01 00 10 09 04 80 00 00 04 42 48 D5
[ 162.033151] EtherCAT DEBUG: 01 00 0C D9 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033173] EtherCAT DEBUG: 00 00 00 40 77 21 09 00 03 00 04 DA 01 00 30 01
[ 162.033196] EtherCAT DEBUG: 02 00 00 00 04 00 01 00
[ 162.033210] EtherCAT DEBUG 0: Frame 4294967289, dt=0.004331 s, TX:
[ 162.033214] EtherCAT DEBUG: 46 10 05 DB 01 00 10 09 04 80 00 00 ED 32 DE 7B
[ 162.033237] EtherCAT DEBUG: 00 00 0E DC 01 00 10 09 04 80 00 00 00 00 00 00
[ 162.033259] EtherCAT DEBUG: 00 00 0C DD 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033281] EtherCAT DEBUG: 00 00 00 40 77 21 09 00 00 00 04 DE 01 00 30 01
[ 162.033303] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[ 162.033318] EtherCAT DEBUG 0: Frame 4294967290, dt=0.004304 s, RX:
[ 162.033322] EtherCAT DEBUG: 46 10 05 DB 01 00 10 09 04 80 00 00 ED 32 DE 7B
[ 162.033344] EtherCAT DEBUG: 01 00 0E DC 01 00 10 09 04 80 00 00 BC 83 49 D5
[ 162.033367] EtherCAT DEBUG: 01 00 0C DD 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033389] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 02 00 04 DE 01 00 30 01
[ 162.033411] EtherCAT DEBUG: 02 00 00 00 04 00 01 00
[ 162.033425] EtherCAT DEBUG 0: Frame 4294967291, dt=0.004260 s, TX:
[ 162.033429] EtherCAT DEBUG: 36 10 0E DF 01 00 10 09 04 80 00 00 00 00 00 00
[ 162.033452] EtherCAT DEBUG: 00 00 0C E0 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033474] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 E1 01 00 30 01
[ 162.033496] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[ 162.033521] EtherCAT DEBUG 0: Frame 4294967292, dt=0.004232 s, RX:
[ 162.033525] EtherCAT DEBUG: 36 10 0E DF 01 00 10 09 04 80 00 00 CB 9A 4A D5
[ 162.033548] EtherCAT DEBUG: 01 00 0C E0 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033570] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 02 00 04 E1 01 00 30 01
[ 162.033592] EtherCAT DEBUG: 02 00 00 00 04 00 01 00
[ 162.033606] EtherCAT DEBUG 0: Frame 4294967293, dt=0.004212 s, TX:
[ 162.033610] EtherCAT DEBUG: 46 10 05 E2 01 00 10 09 04 80 00 00 C6 0D E0 7B
[ 162.033633] EtherCAT DEBUG: 00 00 0E E3 01 00 10 09 04 80 00 00 00 00 00 00
[ 162.033655] EtherCAT DEBUG: 00 00 0C E4 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033677] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 E5 01 00 30 01
[ 162.033699] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[ 162.033713] EtherCAT DEBUG 0: Frame 4294967294, dt=0.004158 s, RX:
[ 162.033717] EtherCAT DEBUG: 46 10 05 E2 01 00 10 09 04 80 00 00 C6 0D E0 7B
[ 162.033740] EtherCAT DEBUG: 01 00 0E E3 01 00 10 09 04 80 00 00 BC 54 4B D5
[ 162.033762] EtherCAT DEBUG: 01 00 0C E4 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033784] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 02 00 04 E5 01 00 30 01
[ 162.033806] EtherCAT DEBUG: 02 00 00 00 04 00 01 00
[ 162.033821] EtherCAT DEBUG 0: Frame 4294967295, dt=0.004139 s, TX:
[ 162.033825] EtherCAT DEBUG: 36 10 0E E6 01 00 10 09 04 80 00 00 00 00 00 00
[ 162.033847] EtherCAT DEBUG: 00 00 0C E7 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033869] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 04 E8 01 00 30 01
[ 162.033891] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[ 162.033905] EtherCAT DEBUG 0: Frame 0, dt=0.000000 s, RX:
[ 162.033909] EtherCAT DEBUG: 36 10 0E E6 01 00 10 09 04 80 00 00 4D 73 4C D5
[ 162.033931] EtherCAT DEBUG: 01 00 0C E7 00 00 00 00 0C 80 00 00 00 00 00 00
[ 162.033953] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 02 00 04 E8 01 00 30 01
[ 162.033975] EtherCAT DEBUG: 02 00 00 00 04 00 01 00
[ 162.121175] EtherCAT ERROR 0-0: Failed to set OP state, slave refused state change (SAFEOP + ERROR).
[ 162.121209] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ 162.121736] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 162.125524] EtherCAT 0: Slave states on main device: SAFEOP.
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