[etherlab-users] Fwd: Problems configuring EL6692 on secondary side
DMM
dmmanmeldung at googlemail.com
Wed May 20 15:08:23 CEST 2015
Hello all,
I have problems configuring an EL6692 bridge module "sides" (primary &
secondary) - when Etherlab is on the primary side, this side configures
seemingly without problems. On secondary side, the aboslutely same
configuration produces "invalid input configuration", and slave never goes
to OP, stays at PREOP+ERROR.
Aside from error 0x001e, "invlaid input configuration". In some other tests
with the same module, I also recall occasionally getting the error code
0x00f0 "Application Controller available" - anyone knows what this actually
means?
This slave has about 0.5kB of programmable memory on both "sides"
(primary/secondary), and it is possible to define various in/out PDO
entries on both sides (SM2/SM3), which are then copied from one side to the
other, depending on the direction. I have tested the module with the
TwinCAT 3, and the configuration on both sides produces no error.
With Etherlab master, Test1 runs ok, on primary side. Test2, on the
secondary side, does not appear to set any of the 2 new PDO entries, and
slave finishes with ERROR flag. Test 3 also runs on secondary side, however
it appears to manage to set the new PDO entries, but the slave also refuses
to switch to OP, reports ERROR, just like Test2.
The problem is, I need to use this module with the Etherlab master
connected to the secondary side, with a TwinCAT on the primary side, both
having the same PDO entry config for SM2/SM3.
Below are some outputs, as well as the test program source. attached are 3
x debug 1 output logs for Tests 1, 2 and 3, and sdos.txt with the SDO list
for EL6692.
What am I doing wrong?
Thanks in advance,
DMM
P.S. I have just realized that I have sent this same post to the dev list
instead of here, sorry about that...
Test 1: Primary side
#define POS_6692 1
#define SM0SM1 0 // it also works with SM0SM1=1
Etherlab --> EK1100 --> EL6692 (as Slave 1, connected to primary side via
EK1100, secondary side connected directly to TwinCAT)
Test 2: Secondary side
#define POS_6692 0
#define SM0SM1 0
Etherlab --> EL6692 (as Slave 0, connected directly to secondary side,
primary side has EK1100 connected to TwinCAT, and EL6692 connected to
EK1100)
Test 3: Secondary side
#define POS_6692 0
#define SM0SM1 1
Etherlab --> EL6692 (as Slave 0, connected the same way as in Test2)
-------------------------------------------
EL6692 PDOs before test programs, and after Test2:
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "IO Outputs"
SM3: PhysAddr 0x1e00, DefaultSize 2, ControlRegister 0x20, Enable 1
TxPDO 0x1a01 "SYNC Inputs"
PDO entry 0x10f4:01, 2 bit, "Sync Mode"
PDO entry 0x0000:00, 6 bit, ""
PDO entry 0x0000:00, 3 bit, ""
PDO entry 0x1800:09, 1 bit, "TxPDO toggle"
PDO entry 0x1800:07, 1 bit, "TxPDO state"
PDO entry 0x10f4:0e, 1 bit, "Control value update toggle"
PDO entry 0x10f4:0f, 1 bit, "Timestamp update toggle"
PDO entry 0x10f4:10, 1 bit, "External device not connected"
TxPDO 0x1a00 "IO Inputs"
-------------------------------------------
EL6692 PDOs after Test1 and Test3 programs:
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "RxPDO-Map"
PDO entry 0x6000:00, 8 bit, ""
SM3: PhysAddr 0x1e00, DefaultSize 2, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 "TxPDO-Map"
PDO entry 0x7000:00, 8 bit, ""
-----------------------------------------------------------------------------------------------------------------------
Debug 1 log with Test1 results (primary side), when there is NO error,
slave goes to OP (test1log.txt attached). Here are the last few lines:
[91071.665432] EtherCAT DEBUG 0-1: SM2: Addr 0x1800, Size 1, Ctrl 0x24,
En 1
[91071.665438] EtherCAT DEBUG 0-1: SM3: Addr 0x1E00, Size 1, Ctrl 0x20,
En 1
[91071.685866] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000000, Size 1,
PhysAddr 0x1E00, SM3, Dir in
[91071.685875] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000001, Size 1,
PhysAddr 0x1800, SM2, Dir out
[91071.745132] EtherCAT DEBUG 0-1: Now in SAFEOP.
[91071.784871] EtherCAT DEBUG 0-1: Now in OP. Finished configuration.
[91071.805248] EtherCAT 0: Slave states on main device: OP.
-----------------------------------------------------------------------------------------------------------------------
Debug 2 log with Test2 results (secondary side, only SM2 and SM3
configured), when there is error, slave goes to PREOP+ERROR (test2log.txt
attached). Here are the last few lines:
[91662.071028] EtherCAT DEBUG 0: Requesting OP...
[91662.111186] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[91662.111194] EtherCAT DEBUG 0-0: Configuring...
[91662.150327] EtherCAT DEBUG 0-0: Now in INIT.
[91662.150335] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[91662.170947] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[91662.190766] EtherCAT DEBUG 0-0: Clearing DC assignment...
[91662.211228] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[91662.211238] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 256, Ctrl 0x26,
En 1
[91662.211244] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 256, Ctrl 0x22,
En 1
[91662.270654] EtherCAT DEBUG 0-0: Now in PREOP.
[91662.270665] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 0, Ctrl 0x24,
En 0
[91662.270671] EtherCAT DEBUG 0-0: SM3: Addr 0x1E00, Size 2, Ctrl 0x20,
En 1
[91662.330686] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).
[91662.351024] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input
configuration".
[91662.390698] EtherCAT 0-0: Acknowledged state PREOP.
-----------------------------------------------------------------------------------------------------------------------
Debug 3 log with Test3 results (secondary side, all SMs configured)), when
there is error, slave goes to PREOP+ERROR (test3log.txt attached). Here are
the last few lines:
[91858.030437] EtherCAT DEBUG 0-0: Successfully configured PDO assignment
of SM3.
[91858.030451] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 1, Ctrl 0x24,
En 1
[91858.030457] EtherCAT DEBUG 0-0: SM3: Addr 0x1E00, Size 1, Ctrl 0x20,
En 1
[91858.050861] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 1,
PhysAddr 0x1E00, SM3, Dir in
[91858.050869] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000001, Size 1,
PhysAddr 0x1800, SM2, Dir out
[91858.110847] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).
[91858.131264] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input
configuration".
[91858.171002] EtherCAT 0-0: Acknowledged state PREOP.
*******
Test program is a simple, bare-bones version of the "user" example. Here is
the important part the test program:
#define Beckhoff_EL6692 0x00000002, 0x1a243052
#define POS_6692 1 // for Test1, POS_6692=1; for Test2, POS_6692=0
#define DEFAULT_ENTRIES 0
#define SM0SM1 0 // for Test2, SM0SM1=0; for Test3, SM0SM1=1
#if DEFAULT_ENTRIES
// Two seamingly invalid entries with Index/Subindex 0x0000:00
// were manually removed
ec_pdo_entry_info_t el6692_pdo_default_entries[] = {
{0x10f4, 0x01, 2}, /* Sync Mode */
{0x1800, 0x09, 1}, /* TxPDO-Toggle */
{0x1800, 0x07, 1}, /* TxPDO-State */
{0x10f4, 0x0e, 1}, /* Control value update toggle */
{0x10f4, 0x0f, 1}, /* Time stamp update toggle */
{0x10f4, 0x10, 1}, /* External device not connected */
};
#endif
static unsigned int offs, bitpos, offs2, bitpos2;
ec_pdo_entry_reg_t regs[] = {
{ 0, POS_6692, Beckhoff_EL6692, 0x7000, 0, &offs, &bitpos },
{ 0, POS_6692, Beckhoff_EL6692, 0x6000, 0, &offs2, &bitpos2 },
{ 0 },
};
ec_pdo_entry_info_t el6692_pdo_entries_Rx[] = {
{0x6000, 0x00, 8}, // to x1600, RxPDO
};
ec_pdo_entry_info_t el6692_pdo_entries_Tx[] = {
{0x7000, 0x00, 8}, // to x1a00, TxPDO
};
ec_pdo_info_t el6692_pdos[] = {
{ 0x1600, 1, el6692_pdo_entries_Rx }, // RxPDO-Map
{ 0x1a00, 1, el6692_pdo_entries_Tx }, // TxPDO-Map
#if DEFAULT_ENTRIES
{ 0x1a01, 6, el6692_pdo_default_entries + 0 }, /* TxPDO-Map External
Sync Compact */
#endif
};
ec_sync_info_t el6692_syncs[] = {
#if SM0SM1
{ 0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE },
{ 1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE },
#endif
{ 2, EC_DIR_OUTPUT, 1, el6692_pdos + 0, EC_WD_DISABLE }, // --> RxPDO
{ 3, EC_DIR_INPUT, 1, el6692_pdos + 1, EC_WD_DISABLE }, // --> TxPDO
{ 0xff }
};
void cyclic_task()
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
counter++;
sleep(0);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
/****************************************************************************/
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
{
printf( "Could not create domain\n" );
return -1;
}
if (!(sc = ecrt_master_slave_config( master, 0, POS_6692,
Beckhoff_EL6692)))
{
printf( "Failed to get slave configuration.\n" );
return -1;
}
if( ecrt_slave_config_pdos(sc, EC_END, el6692_syncs) )
{
printf( "Failed to configure PDOs for EL6692\n" );
return -1;
}
if (ecrt_domain_reg_pdo_entry_list(domain1, regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
if (!(domain1_pd = ecrt_domain_data(domain1))) {
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
int ix = 0;
while (1) {
pause();
while (sig_alarms != user_alarms)
{
cyclic_task();
sleep( 0 );
user_alarms++;
}
}
return 0;
}
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SDO 0x1000, "Device type"
0x1000:00, r-r-r-, uint32, 32 bit, "Device type"
SDO 0x1008, "Device name"
0x1008:00, r-r-r-, string, 88 bit, "Device name"
SDO 0x1009, "Hardware version"
0x1009:00, r-r-r-, string, 16 bit, "Hardware version"
SDO 0x100a, "Software version"
0x100a:00, r-r-r-, string, 16 bit, "Software version"
SDO 0x1018, "Identity"
0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID"
0x1018:02, r-r-r-, uint32, 32 bit, "Product code"
0x1018:03, r-r-r-, uint32, 32 bit, "Revision"
0x1018:04, r-r-r-, uint32, 32 bit, "Serial number"
SDO 0x10f4, "External synchronization status"
0x10f4:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x10f4:01, r-r-r-, type 0031, 2 bit, "Sync Mode"
0x10f4:02, r-r-r-, type 0000, 0 bit, "SubIndex 002"
0x10f4:03, r-r-r-, type 0000, 6 bit, "SubIndex 003"
0x10f4:04, r-r-r-, type 0000, 0 bit, "SubIndex 004"
0x10f4:05, r-r-r-, type 0000, 0 bit, "SubIndex 005"
0x10f4:06, r-r-r-, type 0000, 0 bit, "SubIndex 006"
0x10f4:07, r-r-r-, type 0000, 0 bit, "SubIndex 007"
0x10f4:08, r-r-r-, type 0000, 0 bit, "SubIndex 008"
0x10f4:09, r-r-r-, type 0000, 5 bit, "SubIndex 009"
0x10f4:0a, r-r-r-, type 0000, 0 bit, "SubIndex 010"
0x10f4:0b, r-r-r-, type 0000, 0 bit, "SubIndex 011"
0x10f4:0c, r-r-r-, type 0000, 0 bit, "SubIndex 012"
0x10f4:0d, r-r-r-, type 0000, 0 bit, "SubIndex 013"
0x10f4:0e, r-r-r-, bool, 1 bit, "Control value update toggle"
0x10f4:0f, r-r-r-, bool, 1 bit, "Time stamp update toggle"
0x10f4:10, r-r-r-, bool, 1 bit, "External device not connected"
0x10f4:11, r-r-r-, uint64, 64 bit, "Internal time stamp"
0x10f4:12, r-r-r-, uint64, 64 bit, "External time stamp"
0x10f4:13, r-r-r-, int32, 32 bit, "Control Value for DC Master Clock"
SDO 0x10f5, "External synchronization settings"
0x10f5:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x10f5:01, r-r-r-, bool, 1 bit, "Sync master"
0x10f5:02, r-r-r-, bool, 1 bit, "32 Bit time stamps"
0x10f5:03, r-r-r-, type 0000, 6 bit, "SubIndex 003"
0x10f5:04, r-r-r-, type 0000, 0 bit, "SubIndex 004"
0x10f5:05, r-r-r-, type 0000, 0 bit, "SubIndex 005"
0x10f5:06, r-r-r-, type 0000, 0 bit, "SubIndex 006"
0x10f5:07, r-r-r-, type 0000, 0 bit, "SubIndex 007"
0x10f5:08, r-r-r-, type 0000, 0 bit, "SubIndex 008"
0x10f5:09, r-r-r-, type 0000, 8 bit, "SubIndex 009"
0x10f5:0a, r-r-r-, type 0000, 0 bit, "SubIndex 010"
0x10f5:0b, r-r-r-, type 0000, 0 bit, "SubIndex 011"
0x10f5:0c, r-r-r-, type 0000, 0 bit, "SubIndex 012"
0x10f5:0d, r-r-r-, type 0000, 0 bit, "SubIndex 013"
0x10f5:0e, r-r-r-, type 0000, 0 bit, "SubIndex 014"
0x10f5:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
0x10f5:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
0x10f5:11, r-r-r-, uint16, 16 bit, "Control Interval (ms)"
0x10f5:12, rwrwrw, uint64, 64 bit, "Additional System Time"
SDO 0x10ff, "Downloaded Description"
0x10ff:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
SDO 0x1600, "RxPDO-Map"
0x1600:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
SDO 0x1800, "TxPDO-Par"
0x1800:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1800:01, ------, type 0000, 0 bit, "SubIndex 001"
0x1800:02, ------, type 0000, 0 bit, "SubIndex 002"
0x1800:03, ------, type 0000, 0 bit, "SubIndex 003"
0x1800:04, ------, type 0000, 0 bit, "SubIndex 004"
0x1800:05, ------, type 0000, 0 bit, "SubIndex 005"
0x1800:06, r-r-r-, octet_string, 32 bit, "Exclude TxPDOs"
0x1800:07, r-r-r-, bool, 1 bit, "TxPDO-State"
0x1800:08, ------, type 0000, 0 bit, "SubIndex 008"
0x1800:09, r-r-r-, bool, 1 bit, "TxPDO-Toggle"
SDO 0x1801, "TxPDO-Par External Sync Compact"
0x1801:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1801:01, ------, type 0000, 0 bit, "SubIndex 001"
0x1801:02, ------, type 0000, 0 bit, "SubIndex 002"
0x1801:03, ------, type 0000, 0 bit, "SubIndex 003"
0x1801:04, ------, type 0000, 0 bit, "SubIndex 004"
0x1801:05, ------, type 0000, 0 bit, "SubIndex 005"
0x1801:06, r-r-r-, octet_string, 32 bit, "Exclude TxPDOs"
0x1801:07, r-r-r-, type 0000, 0 bit, "TxPDO-State"
0x1801:08, ------, type 0000, 0 bit, "SubIndex 008"
0x1801:09, r-r-r-, type 0000, 0 bit, "TxPDO-Toggle"
SDO 0x1802, "TxPDO-Par External Sync"
0x1802:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1802:01, ------, type 0000, 0 bit, "SubIndex 001"
0x1802:02, ------, type 0000, 0 bit, "SubIndex 002"
0x1802:03, ------, type 0000, 0 bit, "SubIndex 003"
0x1802:04, ------, type 0000, 0 bit, "SubIndex 004"
0x1802:05, ------, type 0000, 0 bit, "SubIndex 005"
0x1802:06, r-r-r-, octet_string, 32 bit, "Exclude TxPDOs"
0x1802:07, r-r-r-, type 0000, 0 bit, "TxPDO-State"
0x1802:08, ------, type 0000, 0 bit, "SubIndex 008"
0x1802:09, r-r-r-, type 0000, 0 bit, "TxPDO-Toggle"
SDO 0x1803, "TxPDO-Par External Sync (32 Bit)"
0x1803:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1803:01, ------, type 0000, 0 bit, "SubIndex 001"
0x1803:02, ------, type 0000, 0 bit, "SubIndex 002"
0x1803:03, ------, type 0000, 0 bit, "SubIndex 003"
0x1803:04, ------, type 0000, 0 bit, "SubIndex 004"
0x1803:05, ------, type 0000, 0 bit, "SubIndex 005"
0x1803:06, r-r-r-, octet_string, 32 bit, "Exclude TxPDOs"
0x1803:07, r-r-r-, type 0000, 0 bit, "TxPDO-State"
0x1803:08, ------, type 0000, 0 bit, "SubIndex 008"
0x1803:09, r-r-r-, type 0000, 0 bit, "TxPDO-Toggle"
SDO 0x1a00, "TxPDO-Map"
0x1a00:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
SDO 0x1a01, "TxPDO-Map External Sync Compact"
0x1a01:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1a01:01, rwr-r-, uint32, 32 bit, "SubIndex 001"
0x1a01:02, rwr-r-, uint32, 32 bit, "SubIndex 002"
0x1a01:03, rwr-r-, uint32, 32 bit, "SubIndex 003"
0x1a01:04, rwr-r-, uint32, 32 bit, "SubIndex 004"
0x1a01:05, rwr-r-, uint32, 32 bit, "SubIndex 005"
0x1a01:06, rwr-r-, uint32, 32 bit, "SubIndex 006"
0x1a01:07, rwr-r-, uint32, 32 bit, "SubIndex 007"
0x1a01:08, rwr-r-, uint32, 32 bit, "SubIndex 008"
SDO 0x1a02, "TxPDO-Map External Sync"
0x1a02:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1a02:01, rwr-r-, uint32, 32 bit, "SubIndex 001"
0x1a02:02, rwr-r-, uint32, 32 bit, "SubIndex 002"
0x1a02:03, rwr-r-, uint32, 32 bit, "SubIndex 003"
0x1a02:04, rwr-r-, uint32, 32 bit, "SubIndex 004"
0x1a02:05, rwr-r-, uint32, 32 bit, "SubIndex 005"
0x1a02:06, rwr-r-, uint32, 32 bit, "SubIndex 006"
0x1a02:07, rwr-r-, uint32, 32 bit, "SubIndex 007"
0x1a02:08, rwr-r-, uint32, 32 bit, "SubIndex 008"
0x1a02:09, rwr-r-, uint32, 32 bit, "SubIndex 009"
0x1a02:0a, rwr-r-, uint32, 32 bit, "SubIndex 010"
0x1a02:0b, rwr-r-, uint32, 32 bit, "SubIndex 011"
SDO 0x1a03, "TxPDO-Map External Sync (32 Bit)"
0x1a03:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1a03:01, rwr-r-, uint32, 32 bit, "SubIndex 001"
0x1a03:02, rwr-r-, uint32, 32 bit, "SubIndex 002"
0x1a03:03, rwr-r-, uint32, 32 bit, "SubIndex 003"
0x1a03:04, rwr-r-, uint32, 32 bit, "SubIndex 004"
0x1a03:05, rwr-r-, uint32, 32 bit, "SubIndex 005"
0x1a03:06, rwr-r-, uint32, 32 bit, "SubIndex 006"
0x1a03:07, rwr-r-, uint32, 32 bit, "SubIndex 007"
0x1a03:08, rwr-r-, uint32, 32 bit, "SubIndex 008"
0x1a03:09, rwr-r-, uint32, 32 bit, "SubIndex 009"
0x1a03:0a, rwr-r-, uint32, 32 bit, "SubIndex 010"
0x1a03:0b, rwr-r-, uint32, 32 bit, "SubIndex 011"
SDO 0x1c00, "Sync manager type"
0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001"
0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002"
0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003"
0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004"
SDO 0x1c12, "RxPDO assign"
0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
SDO 0x1c13, "TxPDO assign"
0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
0x1c13:02, rwr-r-, uint16, 16 bit, "SubIndex 002"
SDO 0x1c32, "SM output parameter"
0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c32:01, rwrwrw, uint16, 16 bit, "Sync mode"
0x1c32:02, rwrwrw, uint32, 32 bit, "Cycle time"
0x1c32:03, rwrwrw, uint32, 32 bit, "Shift time"
0x1c32:04, r-r-r-, uint16, 16 bit, "Sync modes supported"
0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum cycle time"
0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and copy time"
0x1c32:07, r-r-r-, type 0000, 32 bit, "Minimum fast cycle time"
0x1c32:08, rwrwrw, uint16, 16 bit, "Command"
0x1c32:09, r-r-r-, uint32, 32 bit, "Delay time"
0x1c32:0a, r-r-r-, type 0000, 32 bit, "SubIndex 010"
0x1c32:0b, r-r-r-, uint16, 16 bit, "SM event missed counter"
0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle exceeded counter"
0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift too short counter"
0x1c32:0e, r-r-r-, type 0000, 16 bit, "SubIndex 014"
0x1c32:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
0x1c32:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
0x1c32:11, r-r-r-, type 0000, 0 bit, "SubIndex 017"
0x1c32:12, r-r-r-, type 0000, 0 bit, "SubIndex 018"
0x1c32:13, r-r-r-, type 0000, 0 bit, "SubIndex 019"
0x1c32:14, r-r-r-, type 0000, 0 bit, "SubIndex 020"
0x1c32:15, r-r-r-, type 0000, 0 bit, "SubIndex 021"
0x1c32:16, r-r-r-, type 0000, 0 bit, "SubIndex 022"
0x1c32:17, r-r-r-, type 0000, 0 bit, "SubIndex 023"
0x1c32:18, r-r-r-, type 0000, 0 bit, "SubIndex 024"
0x1c32:19, r-r-r-, type 0000, 0 bit, "SubIndex 025"
0x1c32:1a, r-r-r-, type 0000, 0 bit, "SubIndex 026"
0x1c32:1b, r-r-r-, type 0000, 0 bit, "SubIndex 027"
0x1c32:1c, r-r-r-, type 0000, 0 bit, "SubIndex 028"
0x1c32:1d, r-r-r-, type 0000, 0 bit, "SubIndex 029"
0x1c32:1e, r-r-r-, type 0000, 0 bit, "SubIndex 030"
0x1c32:1f, r-r-r-, type 0000, 0 bit, "SubIndex 031"
0x1c32:20, r-r-r-, bool, 1 bit, "Sync error"
SDO 0x1c33, "SM input parameter"
0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0x1c33:01, rwrwrw, uint16, 16 bit, "Sync mode"
0x1c33:02, rwrwrw, uint32, 32 bit, "Cycle time"
0x1c33:03, rwrwrw, uint32, 32 bit, "Shift time"
0x1c33:04, r-r-r-, uint16, 16 bit, "Sync modes supported"
0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum cycle time"
0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and copy time"
0x1c33:07, r-r-r-, type 0000, 32 bit, "Minimum fast cycle time"
0x1c33:08, rwrwrw, uint16, 16 bit, "Command"
0x1c33:09, r-r-r-, uint32, 32 bit, "Delay time"
0x1c33:0a, r-r-r-, type 0000, 32 bit, "SubIndex 010"
0x1c33:0b, r-r-r-, uint16, 16 bit, "SM event missed counter"
0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle exceeded counter"
0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift too short counter"
0x1c33:0e, r-r-r-, type 0000, 16 bit, "SubIndex 014"
0x1c33:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
0x1c33:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
0x1c33:11, r-r-r-, type 0000, 0 bit, "SubIndex 017"
0x1c33:12, r-r-r-, type 0000, 0 bit, "SubIndex 018"
0x1c33:13, r-r-r-, type 0000, 0 bit, "SubIndex 019"
0x1c33:14, r-r-r-, type 0000, 0 bit, "SubIndex 020"
0x1c33:15, r-r-r-, type 0000, 0 bit, "SubIndex 021"
0x1c33:16, r-r-r-, type 0000, 0 bit, "SubIndex 022"
0x1c33:17, r-r-r-, type 0000, 0 bit, "SubIndex 023"
0x1c33:18, r-r-r-, type 0000, 0 bit, "SubIndex 024"
0x1c33:19, r-r-r-, type 0000, 0 bit, "SubIndex 025"
0x1c33:1a, r-r-r-, type 0000, 0 bit, "SubIndex 026"
0x1c33:1b, r-r-r-, type 0000, 0 bit, "SubIndex 027"
0x1c33:1c, r-r-r-, type 0000, 0 bit, "SubIndex 028"
0x1c33:1d, r-r-r-, type 0000, 0 bit, "SubIndex 029"
0x1c33:1e, r-r-r-, type 0000, 0 bit, "SubIndex 030"
0x1c33:1f, r-r-r-, type 0000, 0 bit, "SubIndex 031"
0x1c33:20, r-r-r-, bool, 1 bit, "Sync error"
SDO 0x6000, "SubIndex 000"
0x6000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
SDO 0x7000, "SubIndex 000"
0x7000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
SDO 0xf000, "Modular device profile"
0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0xf000:01, r-r-r-, uint16, 16 bit, "Module index distance"
0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules"
SDO 0xf008, "Code word"
0xf008:00, rwrwrw, uint32, 32 bit, "Code word"
SDO 0xf010, "Module list"
0xf010:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
0xf010:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
-------------- next part --------------
[91070.377580] EtherCAT: Requesting master 0...
[91070.377592] EtherCAT DEBUG 0: IDLE -> OPERATION.
[91070.377598] EtherCAT: Successfully requested master 0.
[91070.377606] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xee488000)
[91070.377611] EtherCAT DEBUG 0: Created domain 0.
[91070.377625] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91070.377632] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000002/0x1A243052.
[91070.377641] EtherCAT DEBUG 0 0:1: Attached slave 1.
[91070.377681] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xee4a0c00, sync_index = 2, dir = 1, watchdog_mode = 2)
[91070.377690] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xee4a0c00, sync_index = 2)
[91070.377702] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xee4a0c00, sync_index = 2, pdo_index = 0x1600)
[91070.377708] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600.
[91070.377713] EtherCAT DEBUG 0 0:1: Found PDO name "RxPDO-Map".
[91070.377723] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xee4a0c00, pdo_index = 0x1600)
[91070.377733] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xee4a0c00, pdo_index = 0x1600, entry_index = 0x6000, entry_subindex = 0x00, entry_bit_length = 8)
[91070.377743] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xee4a0c00, sync_index = 3, dir = 2, watchdog_mode = 2)
[91070.377750] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xee4a0c00, sync_index = 3)
[91070.377771] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xee4a0c00, sync_index = 3, pdo_index = 0x1A00)
[91070.377777] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00.
[91070.377782] EtherCAT DEBUG 0 0:1: Found PDO name "TxPDO-Map".
[91070.377790] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xee4a0c00, pdo_index = 0x1A00)
[91070.377798] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xee4a0c00, pdo_index = 0x1A00, entry_index = 0x7000, entry_subindex = 0x00, entry_bit_length = 8)
[91070.378422] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91070.378524] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xee4a0c00, index = 0x7000, subindex = 0x00, domain = 0xee465f60, bit_position = 0xee527e04)
[91070.378584] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 1.
[91070.378595] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91070.378604] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xee4a0c00, index = 0x6000, subindex = 0x00, domain = 0xee465f60, bit_position = 0xee527e04)
[91070.378610] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 2.
[91070.378663] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xee465f60, mem = 0xf1730000)
[91070.378672] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xee488000, send_cb = 0xf16f12a4, receive_cb = 0xf16f1ef4, cb_data = 0xee488000)
[91070.378677] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xee488000)
[91070.380842] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[91070.380850] EtherCAT 0: Domain0: Logical address 0x00000000, 2 byte, expected working counter 3.
[91070.380856] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LRW.
[91070.380866] EtherCAT DEBUG 0: Stopping master thread.
[91070.381911] EtherCAT DEBUG 0: Master IDLE thread exiting...
[91070.381940] EtherCAT 0: Master thread exited.
[91070.381949] EtherCAT 0: Stopping EoE thread.
[91070.381967] EtherCAT DEBUG 0: EoE thread exiting...
[91070.381984] EtherCAT 0: EoE thread exited.
[91070.381990] EtherCAT DEBUG 0: FSM datagram is ee48bf64.
[91070.381995] EtherCAT 0: Starting EoE thread.
[91070.382079] EtherCAT 0: Starting EtherCAT-OP thread.
[91070.382092] EtherCAT DEBUG 0: EoE thread running.
[91070.382151] EtherCAT DEBUG 0: mmap()
[91070.382165] EtherCAT DEBUG 0: Vma fault, virtual_address = 4800b000, offset = 0, page = c0c3e600
[91070.382588] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[91070.382597] EtherCAT WARNING 0: 355 datagrams TIMED OUT!
[91070.385369] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[91070.385379] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[91070.385383] EtherCAT DEBUG 0: Requesting OP...
[91070.425403] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[91070.425421] EtherCAT DEBUG 0-0: Configuring...
[91070.465573] EtherCAT DEBUG 0-0: Now in INIT.
[91070.465581] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[91070.485544] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[91070.505343] EtherCAT DEBUG 0-0: Clearing DC assignment...
[91070.525793] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[91070.565152] EtherCAT DEBUG 0-0: Now in PREOP.
[91070.605887] EtherCAT DEBUG 0-0: Now in SAFEOP.
[91070.645617] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[91070.664968] EtherCAT DEBUG 0-1: Changing state from PREOP to OP.
[91070.664977] EtherCAT DEBUG 0-1: Configuring...
[91070.705680] EtherCAT DEBUG 0-1: Now in INIT.
[91070.705689] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[91070.724999] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[91070.745419] EtherCAT DEBUG 0-1: Clearing DC assignment...
[91070.764940] EtherCAT DEBUG 0-1: Configuring mailbox sync managers...
[91070.764953] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1
[91070.764959] EtherCAT DEBUG 0-1: SM1: Addr 0x1400, Size 256, Ctrl 0x22, En 1
[91070.825115] EtherCAT DEBUG 0-1: Now in PREOP.
[91070.825133] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1600.
[91070.825139] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:00.
[91070.825145] EtherCAT DEBUG 0-1: Upload request:
[91070.825148] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[91070.885290] EtherCAT DEBUG 0-1: Upload response:
[91070.885306] EtherCAT DEBUG: 00 30 4F 00 16 00 00 00 00 00
[91070.885332] EtherCAT DEBUG 0-1: Uploaded data:
[91070.885335] EtherCAT DEBUG: 00
[91070.885343] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[91070.885350] EtherCAT DEBUG 0-1: Changing mapping of PDO 0x1600.
[91070.885354] EtherCAT DEBUG 0-1: Currently mapped PDO entries: (none). Entries to map: 0x6000:00/8
[91070.885368] EtherCAT DEBUG 0-1: Setting entry count to zero.
[91070.885382] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:00.
[91070.885386] EtherCAT DEBUG: 00
[91070.885395] EtherCAT DEBUG 0-1: Expedited download request:
[91070.885399] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[91070.945312] EtherCAT DEBUG 0-1: Download response:
[91070.945321] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[91070.945354] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6000:00 (8 bit) at position 1.
[91070.945362] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:01.
[91070.945365] EtherCAT DEBUG: 08 00 00 60
[91070.945380] EtherCAT DEBUG 0-1: Expedited download request:
[91070.945383] EtherCAT DEBUG: 00 20 23 00 16 01 08 00 00 60
[91071.005634] EtherCAT DEBUG 0-1: Download response:
[91071.005673] EtherCAT DEBUG: 00 30 60 00 16 01 08 00 00 60
[91071.005698] EtherCAT DEBUG 0-1: Setting number of PDO entries to 1.
[91071.005704] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:00.
[91071.005708] EtherCAT DEBUG: 01
[91071.005716] EtherCAT DEBUG 0-1: Expedited download request:
[91071.005719] EtherCAT DEBUG: 00 20 2F 00 16 00 01 00 00 00
[91071.064952] EtherCAT DEBUG 0-1: Download response:
[91071.064960] EtherCAT DEBUG: 00 30 60 00 16 00 01 00 00 00
[91071.064984] EtherCAT DEBUG 0-1: Successfully configured mapping for PDO 0x1600.
[91071.064990] EtherCAT DEBUG 0-1: Setting PDO assignment of SM2:
[91071.064993] EtherCAT DEBUG 0-1: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[91071.065007] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to zero.
[91071.065014] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:00.
[91071.065017] EtherCAT DEBUG: 00
[91071.065025] EtherCAT DEBUG 0-1: Expedited download request:
[91071.065028] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[91071.125299] EtherCAT DEBUG 0-1: Download response:
[91071.125307] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[91071.125334] EtherCAT DEBUG 0-1: Assigning PDO 0x1600 at position 1.
[91071.125341] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:01.
[91071.125344] EtherCAT DEBUG: 00 16
[91071.125354] EtherCAT DEBUG 0-1: Expedited download request:
[91071.125357] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
[91071.185640] EtherCAT DEBUG 0-1: Download response:
[91071.185647] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
[91071.185670] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to 1.
[91071.185677] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:00.
[91071.185680] EtherCAT DEBUG: 01
[91071.185688] EtherCAT DEBUG 0-1: Expedited download request:
[91071.185691] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[91071.244932] EtherCAT DEBUG 0-1: Download response:
[91071.244939] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[91071.244968] EtherCAT DEBUG 0-1: Successfully configured PDO assignment of SM2.
[91071.244981] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1A00.
[91071.244987] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:00.
[91071.244992] EtherCAT DEBUG 0-1: Upload request:
[91071.244995] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[91071.305246] EtherCAT DEBUG 0-1: Upload response:
[91071.305255] EtherCAT DEBUG: 00 30 4F 00 1A 00 00 00 00 00
[91071.305278] EtherCAT DEBUG 0-1: Uploaded data:
[91071.305281] EtherCAT DEBUG: 00
[91071.305289] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[91071.305294] EtherCAT DEBUG 0-1: Changing mapping of PDO 0x1A00.
[91071.305298] EtherCAT DEBUG 0-1: Currently mapped PDO entries: (none). Entries to map: 0x7000:00/8
[91071.305312] EtherCAT DEBUG 0-1: Setting entry count to zero.
[91071.305318] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:00.
[91071.305321] EtherCAT DEBUG: 00
[91071.305329] EtherCAT DEBUG 0-1: Expedited download request:
[91071.305332] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[91071.365360] EtherCAT DEBUG 0-1: Download response:
[91071.365370] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[91071.365395] EtherCAT DEBUG 0-1: Mapping PDO entry 0x7000:00 (8 bit) at position 1.
[91071.365401] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:01.
[91071.365404] EtherCAT DEBUG: 08 00 00 70
[91071.365417] EtherCAT DEBUG 0-1: Expedited download request:
[91071.365421] EtherCAT DEBUG: 00 20 23 00 1A 01 08 00 00 70
[91071.425563] EtherCAT DEBUG 0-1: Download response:
[91071.425570] EtherCAT DEBUG: 00 30 60 00 1A 01 08 00 00 70
[91071.425594] EtherCAT DEBUG 0-1: Setting number of PDO entries to 1.
[91071.425600] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:00.
[91071.425603] EtherCAT DEBUG: 01
[91071.425611] EtherCAT DEBUG 0-1: Expedited download request:
[91071.425615] EtherCAT DEBUG: 00 20 2F 00 1A 00 01 00 00 00
[91071.485006] EtherCAT DEBUG 0-1: Download response:
[91071.485014] EtherCAT DEBUG: 00 30 60 00 1A 00 01 00 00 00
[91071.485038] EtherCAT DEBUG 0-1: Successfully configured mapping for PDO 0x1A00.
[91071.485043] EtherCAT DEBUG 0-1: Setting PDO assignment of SM3:
[91071.485047] EtherCAT DEBUG 0-1: Currently assigned PDOs: 0x1A01 0x1A00. PDOs to assign: 0x1A00
[91071.485064] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to zero.
[91071.485070] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:00.
[91071.485074] EtherCAT DEBUG: 00
[91071.485082] EtherCAT DEBUG 0-1: Expedited download request:
[91071.485085] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[91071.545338] EtherCAT DEBUG 0-1: Download response:
[91071.545348] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[91071.545397] EtherCAT DEBUG 0-1: Assigning PDO 0x1A00 at position 1.
[91071.545404] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:01.
[91071.545408] EtherCAT DEBUG: 00 1A
[91071.545419] EtherCAT DEBUG 0-1: Expedited download request:
[91071.545422] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
[91071.605691] EtherCAT DEBUG 0-1: Download response:
[91071.605697] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00
[91071.605721] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to 1.
[91071.605727] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:00.
[91071.605730] EtherCAT DEBUG: 01
[91071.605738] EtherCAT DEBUG 0-1: Expedited download request:
[91071.605741] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[91071.665369] EtherCAT DEBUG 0-1: Download response:
[91071.665376] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[91071.665416] EtherCAT DEBUG 0-1: Successfully configured PDO assignment of SM3.
[91071.665432] EtherCAT DEBUG 0-1: SM2: Addr 0x1800, Size 1, Ctrl 0x24, En 1
[91071.665438] EtherCAT DEBUG 0-1: SM3: Addr 0x1E00, Size 1, Ctrl 0x20, En 1
[91071.685866] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000000, Size 1, PhysAddr 0x1E00, SM3, Dir in
[91071.685875] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000001, Size 1, PhysAddr 0x1800, SM2, Dir out
[91071.745132] EtherCAT DEBUG 0-1: Now in SAFEOP.
[91071.784871] EtherCAT DEBUG 0-1: Now in OP. Finished configuration.
[91071.805248] EtherCAT 0: Slave states on main device: OP.
-------------- next part --------------
[91650.475003] EtherCAT DEBUG 0-0: Ready for requests.
[91653.476439] EtherCAT DEBUG 0-0: Fetching SDO dictionary.
[91653.571182] EtherCAT DEBUG 0-0: Fetched 27 SDOs and 208 entries.
[91662.062922] EtherCAT: Requesting master 0...
[91662.062933] EtherCAT DEBUG 0: IDLE -> OPERATION.
[91662.062939] EtherCAT: Successfully requested master 0.
[91662.062947] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xee488000)
[91662.062953] EtherCAT DEBUG 0: Created domain 0.
[91662.062966] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91662.062972] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000002/0x1A243052.
[91662.062980] EtherCAT DEBUG 0 0:1: Failed to find slave for configuration.
[91662.062999] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xeeccdc00, sync_index = 2, dir = 1, watchdog_mode = 2)
[91662.063008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xeeccdc00, sync_index = 2)
[91662.063017] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xeeccdc00, sync_index = 2, pdo_index = 0x1600)
[91662.063032] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xeeccdc00, pdo_index = 0x1600)
[91662.063042] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xeeccdc00, pdo_index = 0x1600, entry_index = 0x6000, entry_subindex = 0x00, entry_bit_length = 8)
[91662.063052] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xeeccdc00, sync_index = 3, dir = 2, watchdog_mode = 2)
[91662.063059] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xeeccdc00, sync_index = 3)
[91662.063066] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xeeccdc00, sync_index = 3, pdo_index = 0x1A00)
[91662.063074] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xeeccdc00, pdo_index = 0x1A00)
[91662.063083] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xeeccdc00, pdo_index = 0x1A00, entry_index = 0x7000, entry_subindex = 0x00, entry_bit_length = 8)
[91662.065687] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91662.065704] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xeeccdc00, index = 0x7000, subindex = 0x00, domain = 0xeee7bae0, bit_position = 0xee4c9e04)
[91662.065777] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 1.
[91662.065789] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a243052)
[91662.065807] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xeeccdc00, index = 0x6000, subindex = 0x00, domain = 0xeee7bae0, bit_position = 0xee4c9e04)
[91662.065813] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 2.
[91662.065919] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xeee7bae0, mem = 0xf173a000)
[91662.065936] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xee488000, send_cb = 0xf16f12a4, receive_cb = 0xf16f1ef4, cb_data = 0xee488000)
[91662.065942] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xee488000)
[91662.065953] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[91662.065959] EtherCAT 0: Domain0: Logical address 0x00000000, 2 byte, expected working counter 3.
[91662.065964] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LRW.
[91662.065969] EtherCAT DEBUG 0: Stopping master thread.
[91662.067755] EtherCAT DEBUG 0: Master IDLE thread exiting...
[91662.067795] EtherCAT 0: Master thread exited.
[91662.067803] EtherCAT 0: Stopping EoE thread.
[91662.067819] EtherCAT DEBUG 0: EoE thread exiting...
[91662.067840] EtherCAT 0: EoE thread exited.
[91662.067846] EtherCAT DEBUG 0: FSM datagram is ee48bf64.
[91662.067851] EtherCAT 0: Starting EoE thread.
[91662.067941] EtherCAT 0: Starting EtherCAT-OP thread.
[91662.067953] EtherCAT DEBUG 0: EoE thread running.
[91662.068017] EtherCAT DEBUG 0: mmap()
[91662.068030] EtherCAT DEBUG 0: Vma fault, virtual_address = 4800b000, offset = 0, page = c0c3dda0
[91662.069527] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[91662.069535] EtherCAT WARNING 0: 487 datagrams TIMED OUT!
[91662.071017] EtherCAT DEBUG 0: Configuration changed.
[91662.071024] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[91662.071028] EtherCAT DEBUG 0: Requesting OP...
[91662.111186] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[91662.111194] EtherCAT DEBUG 0-0: Configuring...
[91662.150327] EtherCAT DEBUG 0-0: Now in INIT.
[91662.150335] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[91662.170947] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[91662.190766] EtherCAT DEBUG 0-0: Clearing DC assignment...
[91662.211228] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[91662.211238] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1
[91662.211244] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 256, Ctrl 0x22, En 1
[91662.270654] EtherCAT DEBUG 0-0: Now in PREOP.
[91662.270665] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 0, Ctrl 0x24, En 0
[91662.270671] EtherCAT DEBUG 0-0: SM3: Addr 0x1E00, Size 2, Ctrl 0x20, En 1
[91662.330686] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[91662.351024] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[91662.390698] EtherCAT 0-0: Acknowledged state PREOP.
-------------- next part --------------
[91856.983204] EtherCAT: Requesting master 0...
[91856.983216] EtherCAT DEBUG 0: IDLE -> OPERATION.
[91856.983221] EtherCAT: Successfully requested master 0.
[91856.983229] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xee488000)
[91856.983235] EtherCAT DEBUG 0: Created domain 0.
[91856.983251] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x1a243052)
[91856.983257] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x1A243052.
[91856.983265] EtherCAT DEBUG 0 0:0: Attached slave 0.
[91856.983312] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xeeecb400, sync_index = 0, dir = 1, watchdog_mode = 2)
[91856.983321] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xeeecb400, sync_index = 1, dir = 2, watchdog_mode = 2)
[91856.983329] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xeeecb400, sync_index = 2, dir = 1, watchdog_mode = 2)
[91856.983337] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xeeecb400, sync_index = 2)
[91856.983348] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xeeecb400, sync_index = 2, pdo_index = 0x1600)
[91856.983355] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.
[91856.983360] EtherCAT DEBUG 0 0:0: Found PDO name "RxPDO-Map".
[91856.983369] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xeeecb400, pdo_index = 0x1600)
[91856.983380] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xeeecb400, pdo_index = 0x1600, entry_index = 0x6000, entry_subindex = 0x00, entry_bit_length = 8)
[91856.983390] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xeeecb400, sync_index = 3, dir = 2, watchdog_mode = 2)
[91856.983397] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xeeecb400, sync_index = 3)
[91856.983418] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xeeecb400, sync_index = 3, pdo_index = 0x1A00)
[91856.983425] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[91856.983429] EtherCAT DEBUG 0 0:0: Found PDO name "TxPDO-Map".
[91856.983437] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xeeecb400, pdo_index = 0x1A00)
[91856.983446] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xeeecb400, pdo_index = 0x1A00, entry_index = 0x7000, entry_subindex = 0x00, entry_bit_length = 8)
[91856.986789] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x1a243052)
[91856.986816] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xeeecb400, index = 0x7000, subindex = 0x00, domain = 0xef801120, bit_position = 0xeee77e04)
[91856.986824] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 1.
[91856.986833] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xee488000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x1a243052)
[91856.986842] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xeeecb400, index = 0x6000, subindex = 0x00, domain = 0xef801120, bit_position = 0xeee77e04)
[91856.986848] EtherCAT DEBUG 0: Domain 0: Added 1 bytes, total 2.
[91856.986925] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xef801120, mem = 0xf173c000)
[91856.986934] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xee488000, send_cb = 0xf16f12a4, receive_cb = 0xf16f1ef4, cb_data = 0xee488000)
[91856.986990] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xee488000)
[91856.987000] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[91856.987006] EtherCAT 0: Domain0: Logical address 0x00000000, 2 byte, expected working counter 3.
[91856.987012] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LRW.
[91856.987017] EtherCAT DEBUG 0: Stopping master thread.
[91856.987035] EtherCAT DEBUG 0: Master IDLE thread exiting...
[91856.987057] EtherCAT 0: Master thread exited.
[91856.987065] EtherCAT 0: Stopping EoE thread.
[91856.987082] EtherCAT DEBUG 0: EoE thread exiting...
[91856.987126] EtherCAT 0: EoE thread exited.
[91856.987132] EtherCAT DEBUG 0: FSM datagram is ee48bf64.
[91856.987136] EtherCAT 0: Starting EoE thread.
[91856.987230] EtherCAT 0: Starting EtherCAT-OP thread.
[91856.987242] EtherCAT DEBUG 0: EoE thread running.
[91856.987299] EtherCAT DEBUG 0: mmap()
[91856.987311] EtherCAT DEBUG 0: Vma fault, virtual_address = 4800b000, offset = 0, page = c0c4ea00
[91856.991527] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[91856.991537] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[91856.991543] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[91856.991578] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[91856.991583] EtherCAT DEBUG 0: Requesting OP...
[91857.031223] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[91857.031231] EtherCAT DEBUG 0-0: Configuring...
[91857.071245] EtherCAT DEBUG 0-0: Now in INIT.
[91857.071252] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[91857.090946] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[91857.111281] EtherCAT DEBUG 0-0: Clearing DC assignment...
[91857.130597] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[91857.130609] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1
[91857.130616] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 256, Ctrl 0x22, En 1
[91857.190580] EtherCAT DEBUG 0-0: Now in PREOP.
[91857.190602] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1600.
[91857.190608] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[91857.190613] EtherCAT DEBUG 0-0: Upload request:
[91857.190618] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[91857.250618] EtherCAT DEBUG 0-0: Upload response:
[91857.250627] EtherCAT DEBUG: 00 30 4F 00 16 00 00 00 00 00
[91857.250659] EtherCAT DEBUG 0-0: Uploaded data:
[91857.250663] EtherCAT DEBUG: 00
[91857.250671] EtherCAT DEBUG 0-0: 0 PDO entries mapped.
[91857.250677] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[91857.250681] EtherCAT DEBUG 0-0: Currently mapped PDO entries: (none). Entries to map: 0x6000:00/8
[91857.251003] EtherCAT DEBUG 0-0: Setting entry count to zero.
[91857.251013] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[91857.251016] EtherCAT DEBUG: 00
[91857.251025] EtherCAT DEBUG 0-0: Expedited download request:
[91857.251029] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[91857.310355] EtherCAT DEBUG 0-0: Download response:
[91857.310377] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[91857.310405] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6000:00 (8 bit) at position 1.
[91857.310412] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[91857.310415] EtherCAT DEBUG: 08 00 00 60
[91857.310429] EtherCAT DEBUG 0-0: Expedited download request:
[91857.310433] EtherCAT DEBUG: 00 20 23 00 16 01 08 00 00 60
[91857.370532] EtherCAT DEBUG 0-0: Download response:
[91857.370540] EtherCAT DEBUG: 00 30 60 00 16 01 08 00 00 60
[91857.370565] EtherCAT DEBUG 0-0: Setting number of PDO entries to 1.
[91857.370571] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[91857.370574] EtherCAT DEBUG: 01
[91857.370582] EtherCAT DEBUG 0-0: Expedited download request:
[91857.370585] EtherCAT DEBUG: 00 20 2F 00 16 00 01 00 00 00
[91857.430803] EtherCAT DEBUG 0-0: Download response:
[91857.430810] EtherCAT DEBUG: 00 30 60 00 16 00 01 00 00 00
[91857.430834] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.
[91857.430839] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[91857.430843] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[91857.430857] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[91857.430863] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[91857.430866] EtherCAT DEBUG: 00
[91857.430874] EtherCAT DEBUG 0-0: Expedited download request:
[91857.430877] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[91857.490925] EtherCAT DEBUG 0-0: Download response:
[91857.490934] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[91857.490962] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
[91857.490968] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[91857.490971] EtherCAT DEBUG: 00 16
[91857.490981] EtherCAT DEBUG 0-0: Expedited download request:
[91857.490984] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
[91857.551068] EtherCAT DEBUG 0-0: Download response:
[91857.551074] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
[91857.551098] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[91857.551104] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[91857.551107] EtherCAT DEBUG: 01
[91857.551116] EtherCAT DEBUG 0-0: Expedited download request:
[91857.551119] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[91857.610323] EtherCAT DEBUG 0-0: Download response:
[91857.610331] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
[91857.610403] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[91857.610417] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A00.
[91857.610424] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[91857.610429] EtherCAT DEBUG 0-0: Upload request:
[91857.610433] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[91857.670472] EtherCAT DEBUG 0-0: Upload response:
[91857.670480] EtherCAT DEBUG: 00 30 4F 00 1A 00 00 00 00 00
[91857.670503] EtherCAT DEBUG 0-0: Uploaded data:
[91857.670507] EtherCAT DEBUG: 00
[91857.670514] EtherCAT DEBUG 0-0: 0 PDO entries mapped.
[91857.670520] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[91857.670524] EtherCAT DEBUG 0-0: Currently mapped PDO entries: (none). Entries to map: 0x7000:00/8
[91857.670538] EtherCAT DEBUG 0-0: Setting entry count to zero.
[91857.670544] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[91857.670547] EtherCAT DEBUG: 00
[91857.670555] EtherCAT DEBUG 0-0: Expedited download request:
[91857.670558] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[91857.730574] EtherCAT DEBUG 0-0: Download response:
[91857.730584] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[91857.730608] EtherCAT DEBUG 0-0: Mapping PDO entry 0x7000:00 (8 bit) at position 1.
[91857.730614] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[91857.730618] EtherCAT DEBUG: 08 00 00 70
[91857.730631] EtherCAT DEBUG 0-0: Expedited download request:
[91857.730634] EtherCAT DEBUG: 00 20 23 00 1A 01 08 00 00 70
[91857.790674] EtherCAT DEBUG 0-0: Download response:
[91857.790718] EtherCAT DEBUG: 00 30 60 00 1A 01 08 00 00 70
[91857.790744] EtherCAT DEBUG 0-0: Setting number of PDO entries to 1.
[91857.790750] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[91857.790754] EtherCAT DEBUG: 01
[91857.790762] EtherCAT DEBUG 0-0: Expedited download request:
[91857.790765] EtherCAT DEBUG: 00 20 2F 00 1A 00 01 00 00 00
[91857.850800] EtherCAT DEBUG 0-0: Download response:
[91857.850808] EtherCAT DEBUG: 00 30 60 00 1A 00 01 00 00 00
[91857.850832] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.
[91857.850838] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[91857.850842] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A01 0x1A00. PDOs to assign: 0x1A00
[91857.850859] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[91857.850865] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[91857.850868] EtherCAT DEBUG: 00
[91857.850877] EtherCAT DEBUG 0-0: Expedited download request:
[91857.850880] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[91857.910922] EtherCAT DEBUG 0-0: Download response:
[91857.910931] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[91857.910972] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
[91857.910978] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[91857.910981] EtherCAT DEBUG: 00 1A
[91857.910991] EtherCAT DEBUG 0-0: Expedited download request:
[91857.910994] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
[91857.971131] EtherCAT DEBUG 0-0: Download response:
[91857.971138] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00
[91857.971162] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[91857.971168] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[91857.971171] EtherCAT DEBUG: 01
[91857.971179] EtherCAT DEBUG 0-0: Expedited download request:
[91857.971182] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[91858.030401] EtherCAT DEBUG 0-0: Download response:
[91858.030408] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
[91858.030437] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[91858.030451] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 1, Ctrl 0x24, En 1
[91858.030457] EtherCAT DEBUG 0-0: SM3: Addr 0x1E00, Size 1, Ctrl 0x20, En 1
[91858.050861] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 1, PhysAddr 0x1E00, SM3, Dir in
[91858.050869] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000001, Size 1, PhysAddr 0x1800, SM2, Dir out
[91858.110847] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[91858.131264] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[91858.171002] EtherCAT 0-0: Acknowledged state PREOP.
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