[etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
Richard Hacker
ha at igh.de
Fri May 15 18:44:38 CEST 2020
You do need them, exactly like that! Including the bit stuffing! What's
more, you cannot join two consecutive stuffings to one either.
Am 15/05/2020 um 15.50 schrieb BUSSIERES Vincent:
> According to you, does index with 0x0000 can be problematic ?
> They are used to make bit stuffing.
>
> static ec_pdo_entry_info_t slave_0_pdo_entries[] = {
> /* RxPdo 0x1601 */
> {0x7000, 0x01, 1}, /* Control enable latch */
> {0x7000, 0x02, 1}, /* Control enable latch extern on positive edge */
> {0x7000, 0x03, 1}, /* Control set counter */
> {0x7000, 0x04, 1}, /* Control enable latch extern on negative edge */
> {0x0000, 0x00, 4},
> {0x0000, 0x00, 8},
> {0x7000, 0x11, 16}, /* Control enable latch extern on negative edge */
>
> /* TxPdo 0x1a01 */
> {0x6000, 0x01, 1}, /* Status Latch C valid */
> {0x6000, 0x02, 1}, /* Status Latch extern valid */
> {0x6000, 0x03, 1}, /* Status set counter done */
> {0x0000, 0x00, 2},
> {0x6000, 0x06, 1}, /* Status of input status */
> {0x6000, 0x07, 1}, /* Status open circuit */
> {0x0000, 0x00, 1},
> {0x6000, 0x09, 1}, /* Status of input A */
> {0x6000, 0x0a, 1}, /* Status of input B */
> {0x6000, 0x0b, 1}, /* Status of input C */
> {0x6000, 0x0c, 1}, /* Status of input gate */
> {0x6000, 0x0d, 1}, /* Status of extern latch */
> {0x6000, 0x0e, 1}, /* Status sync error */
> {0x6000, 0x0f, 1}, /* Status TxPDO state */
> {0x6000, 0x10, 1}, /* Status TxPDO toogle */
> {0x6000, 0x11, 16}, /* counter value */
> {0x6000, 0x12, 16} /* latch value */
> };
>
> static ec_pdo_info_t slave_0_pdos[] = {
> {0x1601, 7, &slave_0_pdo_entries[0]},
> {0x1a01, 17, &slave_0_pdo_entries[7]}
> };
>
> ec_sync_info_t slave_0_syncs[] = {
> {0, EC_DIR_OUTPUT, 0, nullptr, EC_WD_DISABLE},
> {1, EC_DIR_INPUT, 0, nullptr, EC_WD_DISABLE},
> {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
> {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_ENABLE},
> {0xff}
> };
>
> const static ec_pdo_entry_reg_t domain1_regs[] = {
> /* outputs */
> {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x01, &offOutput[0], &offBit[0]},
> {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x02, &offOutput[1], &offBit[1]},
> {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x03, &offOutput[2], &offBit[2]},
> {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x04, &offOutput[3], &offBit[3]},
> {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[4], &offBit[4]},
> {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[5], &offBit[5]},
> {0, 5, 0x00000002, 0x13ed3052, 0x7000, 0x11, &offOutput[6], &offBit[6]},
>
> /* inputs */
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[7], &offBit[7]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[8], &offBit[8]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[9], &offBit[9]},
> {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[10], &offBit[10]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[11], &offBit[11]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[12], &offBit[12]},
> {0, 5, 0x00000002, 0x13ed3052, 0x0000, 0x00, &offOutput[13], &offBit[13]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[14], &offBit[14]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[15], &offBit[15]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[16], &offBit[16]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[17], &offBit[17]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[18], &offBit[18]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[19], &offBit[19]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[20], &offBit[20]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[21], &offBit[21]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[22], &offBit[22]},
> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[23], &offBit[23]},
> {}
> };
>
> Cordialement
>
> Vincent BUSSIERES
> Responsable Technique Logiciel
>
>
> ZE Ma Campagne
> 36, Impasse Félix Nadar
> 16000 ANGOULEME
> Tel: 33 (0)9.72.40.35.08
> www.hemeria-group.com
> Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.
> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.
>
>
>
>
> -----Message d'origine-----
> De : Richard Hacker <ha at igh.de>
> Envoyé : vendredi 15 mai 2020 15:47
> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>; etherlab-users at etherlab.org
> Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
>
> From my memory, I just write zeros to the control register.
>
>
> Am 15/05/2020 um 14.32 schrieb BUSSIERES Vincent:
>> Thanks Nico,
>>
>> What’s you describe is for EL5101-0000 and EL5101-0090 modules, I am
>> using EL5101-0010 with only Index 0x1600 and 0x1601.
>>
>> Do you need to write something in encoder control register in order to
>> read position ? Is the position always filled in?
>>
>> Regards
>>
>> Cordialement
>>
>> *Vincent BUSSIERES*
>>
>> *Responsable Technique Logiciel*
>>
>> **
>>
>> 1572337113342
>>
>> /ZE Ma Campagne/
>>
>> /36, Impasse Félix Nadar/
>>
>> /16000 ANGOULEME/
>>
>> /Tel: 33 (0)9.72.40.35.08/
>>
>> /www.hemeria-group.com
>> <https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f>/
>> PAfin de contribuer au respect de l'environnement, merci de n'imprimer
>> ce courriel qu'en cas de nécessité.
>>
>> Ce message et les fichiers pouvant être attachés sont confidentiels,
>> réservés à l'usage unique des destinataires et n'engagent HEMERIA sous
>> aucune forme que ce soit.
>> This email and any files transmitted with it are confidential, intented
>> solely for the unique use of the recipients and don't commit HEMERIA.
>>
>> **
>>
>> **
>>
>> *De :*Kivel Niko (PSI) <niko.kivel at psi.ch>
>> *Envoyé :* vendredi 15 mai 2020 14:14
>> *À :* Richard Hacker <ha at igh.de>; BUSSIERES Vincent
>> <vincent.bussieres at hemeria-group.com>; etherlab-users at etherlab.org
>> *Objet :* Re: [etherlab-users] Beckhoff encoder interface EL5101-0010
>> mapping issue
>>
>> Hi
>>
>> here is what we map, only end of the lines from #14 ff. are interesting
>> for you guys.
>>
>> https://github.com/paulscherrerinstitute/ecmccfg/blob/19470cf1c9b71e52777a06f641394d85bc874918/hardware/Beckhoff_slaves/ecmcEL5101_32bit.cmd#L14
>>
>> best
>>
>> Niko
>>
>> --
>> Paul Scherrer Institute
>> Dr. Niko Kivel
>>
>> Forschungsstrasse 111
>>
>> WBGB/017
>> 5232 Villigen PSI
>> Switzerland
>>
>> phone: +41 56 310 2226
>> email: niko.kivel at psi.ch <mailto:niko.kivel at psi.ch>
>>
>> ------------------------------------------------------------------------
>>
>> *From:*etherlab-users <etherlab-users-bounces at etherlab.org
>> <mailto:etherlab-users-bounces at etherlab.org>> on behalf of Richard
>> Hacker <ha at igh.de <mailto:ha at igh.de>>
>> *Sent:* Friday, May 15, 2020 2:00:03 PM
>> *To:* BUSSIERES Vincent; etherlab-users at etherlab.org
>> <mailto:etherlab-users at etherlab.org>
>> *Subject:* Re: [etherlab-users] Beckhoff encoder interface EL5101-0010
>> mapping issue
>>
>> Don't be mislead by Beckhoff's XML description files. I've had numerous
>> fights with them about incorrect description files! "With TwinCAT it
>> works" is a standard response. Yeah right. That's because TwinCAT
>> typically ignores XML description files and reads the configuration
>> straight out of the slaves during a bus scan.
>>
>> Usually we map RxPDO #x1601 and TxPDO #x1a01. There is quite a bit of
>> SDO configuration in #x800* to get right. You will need to check the
>> documentation.
>>
>> Am 15/05/2020 um 12.00 schrieb BUSSIERES Vincent:
>>> Dear all,
>>>
>>> Finally, I mapped PDO like configurutation obtained using ethercat xml command.
>>> Mapping seems to be quite different from xml Beckhoff description file.
>>>
>>> Now I have no more problem with mapping, slave is in OP state.
>>> But I try to read encoder value using TxPdo 0x1a00 (0x6000:0x11:32) but I read always 0. Led status of inputs signal A,B, C are OK and change of states when I manually turned motor axis.
>>> When I write a value in counter value using TxPdo 0x1600 (0x7000:0x11:32), I read the good value with TxPdo.
>>>
>>> I don't know why I can't read the true counter value. Does someone have an idea?
>>>
>>> Regards
>>>
>>> Vincent BUSSIERES
>>> Responsable Technique Logiciel
>>>
>>>
>>> ZE Ma Campagne
>>> 36, Impasse Félix Nadar
>>> 16000 ANGOULEME
>>> Tel: 33 (0)9.72.40.35.08
>>> www.hemeria-group.com <http://www.hemeria-group.com>
>>> P Afin de contribuer au respect de l'environnement, merci de n'imprimer
>> ce courriel qu'en cas de nécessité.
>>> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
>>> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.
>>>
>>>
>>>
>>> -----Message d'origine-----
>>> De : Richard Hacker <ha at igh.de <mailto:ha at igh.de>>
>>> Envoyé : jeudi 14 mai 2020 17:05
>>> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com
>> <mailto:vincent.bussieres at hemeria-group.com>>;
>> etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org>
>>> Objet : Re: [etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
>>>
>>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E:
>>> "Invalid input configuration".
>>>
>>> Pls check your configuration... there is something wrong
>>>
>>> Restart your EC Network and before you start _any_ application, scan the bus for the available PDO's and use that for a start.
>>>
>>> Am 14/05/2020 um 16.59 schrieb BUSSIERES Vincent:
>>>> I map the inputs RxPdo and slave doesn't go in OP state and stay in PREOP.
>>>> You can see 2 errors in log file below:
>>>>
>>>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
>>>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".
>>>>
>>>>
>>>> [10917.969204] EtherCAT: Requesting master 0...
>>>> [10917.969209] EtherCAT DEBUG 0: IDLE -> OPERATION.
>>>> [10917.969213] EtherCAT: Successfully requested master 0.
>>>> [10917.969222] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
>>>> 0xffff895554eb6000) [10917.969226] EtherCAT DEBUG 0: Created domain 0.
>>>> [10917.969239] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969244] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x13ED3052.
>>>> [10917.969251] EtherCAT DEBUG 0 0:5: Attached slave main-5.
>>>> [10917.969278] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc
>>>> = 0xffff895551db3000, sync_index = 0, dir = 1, watchdog_mode = 2)
>>>> [10917.969287] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index
>>>> = 0) [10917.969294] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index =
>>>> 1, dir = 2, watchdog_mode = 2) [10917.969300] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 1) [10917.969307] EtherCAT DEBUG 0 0:5: ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 2, dir = 1, watchdog_mode = 1) [10917.969313] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index = 2) [10917.969324] EtherCAT DEBUG 0
>> 0:5: ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000,
>> sync_index = 2, pdo_index = 0x1601) [10917.969327] EtherCAT DEBUG 0 0:5:
>> Loading default mapping for PDO 0x1601.
>>>> [10917.969331] EtherCAT DEBUG 0 0:5: Entry 0x7000:01.
>>>> [10917.969334] EtherCAT DEBUG 0 0:5: Entry 0x7000:02.
>>>> [10917.969337] EtherCAT DEBUG 0 0:5: Entry 0x7000:03.
>>>> [10917.969339] EtherCAT DEBUG 0 0:5: Entry 0x7000:04.
>>>> [10917.969342] EtherCAT DEBUG 0 0:5: Entry 0x7000:11.
>>>> [10917.969349] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index
>>>> = 0x1601) [10917.969358] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1601, entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length
>>>> = 1) [10917.969364] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1601, entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length
>>>> = 1) [10917.969370] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 1) [10917.969376] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1601, entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length
>> = 1) [10917.969383] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1601, entry_index = 0x7000, entry_subindex = 0x11, entry_bit_length =
>> 16) [10917.969388] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_sync_manager(sc = 0xffff895551db3000, sync_index = 3,
>> dir = 2, watchdog_mode = 1) [10917.969393] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895551db3000, sync_index =
>> 3) [10917.969400] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_assign_add(sc = 0xffff895551db3000, sync_index =
>> 3, pdo_index = 0x1A01) [10917.969403] EtherCAT DEBUG 0 0:5: Loading
>> default mapping for PDO 0x1A01.
>>>> [10917.969408] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.
>>>> [10917.969411] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.
>>>> [10917.969413] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.
>>>> [10917.969416] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.
>>>> [10917.969418] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.
>>>> [10917.969421] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.
>>>> [10917.969423] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.
>>>> [10917.969426] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.
>>>> [10917.969429] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.
>>>> [10917.969431] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.
>>>> [10917.969434] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.
>>>> [10917.969436] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.
>>>> [10917.969439] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.
>>>> [10917.969442] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.
>>>> [10917.969444] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.
>>>> [10917.969449] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895551db3000, pdo_index
>>>> = 0x1A01) [10917.969457] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length
>>>> = 1) [10917.969463] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length
>>>> = 1) [10917.969469] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length
>>>> = 1) [10917.969475] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length
>>>> = 1) [10917.969481] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>>>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length
>>>> = 1) [10917.969487] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1) [10917.969493] EtherCAT DEBUG 0 0:5: ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length
>> = 1) [10917.969499] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length =
>> 1) [10917.969505] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length =
>> 1) [10917.969511] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length =
>> 1) [10917.969517] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length =
>> 1) [10917.969523] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length =
>> 1) [10917.969529] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length =
>> 1) [10917.969535] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x11, entry_bit_length =
>> 2) [10917.969541] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895551db3000, pdo_index =
>> 0x1A01, entry_index = 0x6000, entry_subindex = 0x12, entry_bit_length =
>> 2) [10917.969550] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>> product_code = 0x13ed3052) [10917.969558] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000,
>> subindex = 0x01, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969562] EtherCAT DEBUG 0: Domain 0: Added 3
>> bytes at 0.
>>>> [10917.969567] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>> product_code = 0x13ed3052) [10917.969573] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x7000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969579] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>>>> [10917.969585] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x7000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969590] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969597] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc =
>> 0xffff895551db3000, index = 0x7000, subindex = 0x04, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969602]
>> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000,
>> alias = 0, position = 5, vendor_id = 0x00000002, product_code =
>> 0x13ed3052) [10917.969609] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x7000,
>> subindex = 0x11, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969614] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969620] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff895551db3000, index = 0x6000, subindex = 0x01, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969623]
>> EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 3.
>>>> [10917.969629] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>> product_code = 0x13ed3052) [10917.969635] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x6000, subindex = 0x02, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969640] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>>>> [10917.969646] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x6000, subindex = 0x03, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969651] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>>>> [10917.969658] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x6000, subindex = 0x06, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969663] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>>>> [10917.969669] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x6000, subindex = 0x07, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969675] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>>>> [10917.969681] EtherCAT DEBUG 0 0:5:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index =
>>>> 0x6000, subindex = 0x09, domain = 0xffff895556dde3c0, bit_position =
>>>> 0xffffa33a0574bd64) [10917.969686] EtherCAT DEBUG 0:
>>>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>>>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052) [10917.969693] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000, subindex = 0x0A, domain = 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969698] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>> product_code = 0x13ed3052) [10917.969704] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000,
>> subindex = 0x0B, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969711] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969718] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff895551db3000, index = 0x6000, subindex = 0x0C, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969723]
>> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000,
>> alias = 0, position = 5, vendor_id = 0x00000002, product_code =
>> 0x13ed3052) [10917.969729] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000,
>> subindex = 0x0D, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969735] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969741] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff895551db3000, index = 0x6000, subindex = 0x0E, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969747]
>> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000,
>> alias = 0, position = 5, vendor_id = 0x00000002, product_code =
>> 0x13ed3052) [10917.969753] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000,
>> subindex = 0x0F, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969758] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969765] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff895551db3000, index = 0x6000, subindex = 0x10, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969770]
>> EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff895554eb6000,
>> alias = 0, position = 5, vendor_id = 0x00000002, product_code =
>> 0x13ed3052) [10917.969776] EtherCAT DEBUG 0 0:5:
>> ecrt_slave_config_reg_pdo_entry(sc = 0xffff895551db3000, index = 0x6000,
>> subindex = 0x11, domain = 0xffff895556dde3c0, bit_position =
>> 0xffffa33a0574bd64) [10917.969781] EtherCAT DEBUG 0:
>> ecrt_master_slave_config(master = 0xffff895554eb6000, alias = 0,
>> position = 5, vendor_id = 0x00000002, product_code = 0x13ed3052)
>> [10917.969788] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc
>> = 0xffff895551db3000, index = 0x6000, subindex = 0x12, domain =
>> 0xffff895556dde3c0, bit_position = 0xffffa33a0574bd64) [10917.969826]
>> EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
>> 0xffff895556dde3c0, mem = 0xffffa33a01ba1000) [10917.969830] EtherCAT
>> DEBUG 0: ecrt_master_callbacks(master = 0xffff895554eb6000, send_cb =
>> 0xffffffffc09feff0, receive_cb = 0xffffffffc09ffc60, cb_data =
>> 0xffff895554eb6000) [10917.969833] EtherCAT DEBUG 0:
>> ecrt_master_activate(master = 0xffff895554eb6000) [10917.969837]
>> EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
>>>> [10917.969840] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working counter 3.
>>>> [10917.969844] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 6 byte, type LRW at ffff895556dded98.
>>>> [10917.969846] EtherCAT DEBUG 0: Stopping master thread.
>>>> [10917.969866] EtherCAT DEBUG 0: Master IDLE thread exiting...
>>>> [10917.969930] EtherCAT 0: Master thread exited.
>>>> [10917.969936] EtherCAT 0: Stopping EoE thread.
>>>> [10917.969988] EtherCAT DEBUG 0: EoE thread exiting...
>>>> [10917.970056] EtherCAT 0: EoE thread exited.
>>>> [10917.970059] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.
>>>> [10917.970061] EtherCAT 0: Starting EoE thread.
>>>> [10917.970258] EtherCAT 0: Starting EtherCAT-OP thread.
>>>> [10917.970268] EtherCAT DEBUG 0: EoE thread running.
>>>> [10917.970451] EtherCAT DEBUG 0: Operation thread running with fsm
>>>> interval = 4000 us, max data size=45000 [10917.970454] EtherCAT DEBUG
>>>> 0: mmap() [10917.970458] EtherCAT WARNING 0: 1 datagram UNMATCHED!
>>>> [10917.970467] EtherCAT DEBUG 0: Vma fault, virtual_address =
>>>> 00007fffec02a000, offset = 0, page = fffffd0e8eb07c40 [10917.978870] EtherCAT DEBUG 0: Configuration changed (aborting state check).
>>>> [10917.978871] EtherCAT DEBUG 0-main-0: Checking system time offset.
>>>> [10917.986899] EtherCAT WARNING 0: No app_time received up to now, abort DC time offset calculation.
>>>> [10917.986900] EtherCAT DEBUG 0: Requesting OP...
>>>> [10917.986904] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.
>>>> [10917.986905] EtherCAT DEBUG 0-main-5: Configuring...
>>>> [10918.006913] EtherCAT DEBUG 0-main-5: Now in INIT.
>>>> [10918.006914] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...
>>>> [10918.006915] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...
>>>> [10918.014910] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations...
>>>> [10918.027012] EtherCAT DEBUG 0-main-5: Clearing DC assignment...
>>>> [10918.034985] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...
>>>> [10918.034986] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,
>>>> Ctrl 0x26, En 1 [10918.034987] EtherCAT DEBUG 0-main-5: SM1: Addr
>>>> 0x1080, Size 128, Ctrl 0x22, En 1 [10918.042915] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.
>>>> [10918.058916] EtherCAT 0: Slave states on main device: INIT, PREOP.
>>>> [10918.070949] EtherCAT DEBUG 0-main-5: Now in PREOP.
>>>> [10918.070951] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT.
>>>> [10918.078925] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:
>>>> [10918.078926] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:
>>>> 0x1601. PDOs to assign: 0x1601 [10918.078930] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.
>>>> [10918.078932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>> [10918.078932] EtherCAT DEBUG: 00
>>>> [10918.078935] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.078935] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
>>>> [10918.102953] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.102953] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
>>>> [10918.102961] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1601 at position 1.
>>>> [10918.102963] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.
>>>> [10918.102963] EtherCAT DEBUG: 01 16
>>>> [10918.102965] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.102966] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00
>>>> [10918.122875] EtherCAT 0: Slave states on main device: PREOP.
>>>> [10918.126963] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.126964] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00
>>>> [10918.126973] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.
>>>> [10918.126975] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>> [10918.126979] EtherCAT DEBUG: 01
>>>> [10918.126986] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.126986] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
>>>> [10918.154920] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.154921] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
>>>> [10918.154930] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM2.
>>>> [10918.154939] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:
>>>> [10918.154939] EtherCAT DEBUG 0-main-5: Currently assigned PDOs:
>>>> 0x1A01. PDOs to assign: 0x1A01 [10918.154942] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to zero.
>>>> [10918.154944] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>> [10918.154944] EtherCAT DEBUG: 00
>>>> [10918.154946] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.154947] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
>>>> [10918.178920] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.178921] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
>>>> [10918.178931] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.
>>>> [10918.178932] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.
>>>> [10918.178933] EtherCAT DEBUG: 01 1A
>>>> [10918.178935] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.178936] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
>>>> [10918.202933] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.202934] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
>>>> [10918.202941] EtherCAT DEBUG 0-main-5: Setting number of assigned PDOs to 1.
>>>> [10918.202942] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>> [10918.202943] EtherCAT DEBUG: 01
>>>> [10918.202945] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>> [10918.202945] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
>>>> [10918.226914] EtherCAT DEBUG 0-main-5: Download response:
>>>> [10918.226915] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
>>>> [10918.226925] EtherCAT DEBUG 0-main-5: Successfully configured PDO assignment of SM3.
>>>> [10918.226930] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 3, Ctrl 0x64, En 1
>>>> [10918.226933] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3, Ctrl 0x60, En 1
>>>> [10918.238918] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3, PhysAddr 0x1100, SM2, Dir out
>>>> [10918.238921] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000003, Size 3, PhysAddr 0x1180, SM3, Dir in
>>>> [10918.266966] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
>>>> [10918.274957] EtherCAT ERROR 0-main-5: AL status message 0x001E: "Invalid input configuration".
>>>> [10918.294969] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.
>>>> [10918.294972] EtherCAT 0-main-5: Acknowledged state PREOP.
>>>>
>>>> Regards
>>>>
>>>> Vincent BUSSIERES
>>>> Responsable Technique Logiciel
>>>>
>>>>
>>>> ZE Ma Campagne
>>>> 36, Impasse Félix Nadar
>>>> 16000 ANGOULEME
>>>> Tel: 33 (0)9.72.40.35.08
>>>> www.hemeria-group.com <http://www.hemeria-group.com>
>>>> P Afin de contribuer au respect de l'environnement, merci de n'imprimer
>> ce courriel qu'en cas de nécessité.
>>>> Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
>>>> This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.
>>>>
>>>>
>>>>
>>>>
>>>> -----Message d'origine-----
>>>> De : Richard Hacker <ha at igh.de <mailto:ha at igh.de>>
>>>> Envoyé : jeudi 14 mai 2020 16:27
>>>> À : BUSSIERES Vincent <vincent.bussieres at hemeria-group.com
>> <mailto:vincent.bussieres at hemeria-group.com>>;
>>>> etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org> Objet :
>> Re: [etherlab-users] Beckhoff
>>>> encoder interface EL5101-0010 mapping issue
>>>>
>>>> Did you map the inputs (RxPDO)? I remember that you must map them as well, even though you might not need them!
>>>>
>>>> Am 14/05/2020 um 16.17 schrieb BUSSIERES Vincent:
>>>>> Dear Etherlab users,
>>>>>
>>>>> I have got problems with Beckhoff encoder interface EL5101-0010 PDO mapping.
>>>>>
>>>>> I try to map only TxPDO 0x1a01 (SM3), I haven’t got any errors in
>>>>> init, everything seems to be fine.
>>>>>
>>>>> I read encoder value in a loop with 1ms period, return value is always 0.
>>>>>
>>>>> In dmesg, slave doesn’t reach OP state, and stay in PREOP state.
>>>>>
>>>>> In Ethercat xml description file, some entries have got 0x0 as index
>>>>> value, and subindex are not completed (strange). I don’t know if I
>>>>> need to take them into account.
>>>>>
>>>>> <Entry>
>>>>>
>>>>> <Index>#x0</Index>
>>>>>
>>>>> <BitLen>2</BitLen>
>>>>>
>>>>> <Name>Status__</Name>
>>>>>
>>>>> </Entry>
>>>>>
>>>>> You can see below dmesg :
>>>>>
>>>>> [ 7033.920685] EtherCAT: Requesting master 0...
>>>>>
>>>>> [ 7033.920686] EtherCAT DEBUG 0: IDLE -> OPERATION.
>>>>>
>>>>> [ 7033.920687] EtherCAT: Successfully requested master 0.
>>>>>
>>>>> [ 7034.872900] EtherCAT DEBUG 0: ecrt_master_create_domain(master =
>>>>> 0xffff895554eb6000)
>>>>>
>>>>> [ 7034.872901] EtherCAT DEBUG 0: Created domain 0.
>>>>>
>>>>> [ 7035.835219] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7035.835220] EtherCAT DEBUG 0: Creating slave configuration for
>>>>> 0:5, 0x00000002/0x13ED3052.
>>>>>
>>>>> [ 7035.835222] EtherCAT DEBUG 0 0:5: Attached slave main-5.
>>>>>
>>>>> [ 7036.592742] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_sync_manager(sc = 0xffff895552309000, sync_index =
>>>>> 3, dir = 2, watchdog_mode = 1)
>>>>>
>>>>> [ 7036.592745] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_assign_clear(sc = 0xffff895552309000,
>>>>> sync_index = 3)
>>>>>
>>>>> [ 7036.592749] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_assign_add(sc
>>>>> = 0xffff895552309000, sync_index = 3, pdo_index = 0x1A01)
>>>>>
>>>>> [ 7036.592750] EtherCAT DEBUG 0 0:5: Loading default mapping for PDO 0x1A01.
>>>>>
>>>>> [ 7036.592753] EtherCAT DEBUG 0 0:5: Entry 0x6000:01.
>>>>>
>>>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:02.
>>>>>
>>>>> [ 7036.592754] EtherCAT DEBUG 0 0:5: Entry 0x6000:03.
>>>>>
>>>>> [ 7036.592755] EtherCAT DEBUG 0 0:5: Entry 0x6000:06.
>>>>>
>>>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:07.
>>>>>
>>>>> [ 7036.592756] EtherCAT DEBUG 0 0:5: Entry 0x6000:09.
>>>>>
>>>>> [ 7036.592757] EtherCAT DEBUG 0 0:5: Entry 0x6000:0A.
>>>>>
>>>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0B.
>>>>>
>>>>> [ 7036.592758] EtherCAT DEBUG 0 0:5: Entry 0x6000:0C.
>>>>>
>>>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0D.
>>>>>
>>>>> [ 7036.592759] EtherCAT DEBUG 0 0:5: Entry 0x6000:0E.
>>>>>
>>>>> [ 7036.592760] EtherCAT DEBUG 0 0:5: Entry 0x6000:0F.
>>>>>
>>>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:10.
>>>>>
>>>>> [ 7036.592761] EtherCAT DEBUG 0 0:5: Entry 0x6000:11.
>>>>>
>>>>> [ 7036.592762] EtherCAT DEBUG 0 0:5: Entry 0x6000:12.
>>>>>
>>>>> [ 7036.592764] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_clear(sc = 0xffff895552309000,
>>>>> pdo_index =
>>>>> 0x1A01)
>>>>>
>>>>> [ 7036.592767] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x01,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592769] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x02,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592770] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x03,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592772] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x06,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592773] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x07,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592775] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x09,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592776] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0A,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592778] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0B,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592779] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0C,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592781] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0D,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592783] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0E,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592784] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x0F,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592786] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x10,
>>>>> entry_bit_length = 1)
>>>>>
>>>>> [ 7036.592788] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x11,
>>>>> entry_bit_length = 2)
>>>>>
>>>>> [ 7036.592789] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_pdo_mapping_add(sc = 0xffff895552309000, pdo_index
>>>>> = 0x1A01, entry_index = 0x6000, entry_subindex = 0x12,
>>>>> entry_bit_length = 2)
>>>>>
>>>>> [ 7037.153188] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153191] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x01, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153193] EtherCAT DEBUG 0: Domain 0: Added 3 bytes at 0.
>>>>>
>>>>> [ 7037.153194] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153195] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x02, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153196] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153198] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x03, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153199] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153200] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x06, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153201] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153202] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x07, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153203] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153205] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x09, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153206] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153207] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0A, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153208] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153209] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0B, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153211] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153212] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0C, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153213] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153214] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0D, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153215] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153216] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0E, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153218] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153219] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x0F, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153220] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153221] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x10, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153222] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153223] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x11, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.153224] EtherCAT DEBUG 0: ecrt_master_slave_config(master =
>>>>> 0xffff895554eb6000, alias = 0, position = 5, vendor_id = 0x00000002,
>>>>> product_code = 0x13ed3052)
>>>>>
>>>>> [ 7037.153225] EtherCAT DEBUG 0 0:5:
>>>>> ecrt_slave_config_reg_pdo_entry(sc
>>>>> = 0xffff895552309000, index = 0x6000, subindex = 0x12, domain =
>>>>> 0xffff89555461e3c0, bit_position = 0xffffa33a0525bd64)
>>>>>
>>>>> [ 7037.720938] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain =
>>>>> 0xffff89555461e3c0, mem = 0xffffa33a01b69000)
>>>>>
>>>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_callbacks(master =
>>>>> 0xffff895554eb6000, send_cb = 0xffffffffc09feff0, receive_cb =
>>>>> 0xffffffffc09ffc60, cb_data = 0xffff895554eb6000)
>>>>>
>>>>> [ 7037.720940] EtherCAT DEBUG 0: ecrt_master_activate(master =
>>>>> 0xffff895554eb6000)
>>>>>
>>>>> [ 7037.720941] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1.
>>>>>
>>>>> [ 7037.720942] EtherCAT 0: Domain0: Logical address 0x00000000, 3
>>>>> byte, expected working counter 1.
>>>>>
>>>>> [ 7037.720943] EtherCAT 0: Datagram domain0-0-main: Logical offset
>>>>> 0x00000000, 3 byte, type LRD at ffff89555461ef18.
>>>>>
>>>>> [ 7037.720943] EtherCAT DEBUG 0: Stopping master thread.
>>>>>
>>>>> [ 7037.720974] EtherCAT DEBUG 0: Master IDLE thread exiting...
>>>>>
>>>>> [ 7037.720978] EtherCAT 0: Master thread exited.
>>>>>
>>>>> [ 7037.720978] EtherCAT 0: Stopping EoE thread.
>>>>>
>>>>> [ 7037.721017] EtherCAT DEBUG 0: EoE thread exiting...
>>>>>
>>>>> [ 7037.721021] EtherCAT 0: EoE thread exited.
>>>>>
>>>>> [ 7037.721042] EtherCAT DEBUG 0: FSM datagram is ffff895554eb6350.
>>>>>
>>>>> [ 7037.721043] EtherCAT 0: Starting EoE thread.
>>>>>
>>>>> [ 7037.721152] EtherCAT 0: Starting EtherCAT-OP thread.
>>>>>
>>>>> [ 7037.721174] EtherCAT DEBUG 0: EoE thread running.
>>>>>
>>>>> [ 7037.721300] EtherCAT DEBUG 0: Operation thread running with fsm
>>>>> interval = 4000 us, max data size=45000
>>>>>
>>>>> [ 7037.721305] EtherCAT DEBUG 0: mmap()
>>>>>
>>>>> [ 7037.721308] EtherCAT DEBUG 0: Vma fault, virtual_address =
>>>>> 00007fffec02a000, offset = 0, page = fffffd0e908af680
>>>>>
>>>>> [ 7083.264568] EtherCAT DEBUG 0: Configuration changed (aborting
>>>>> state check).
>>>>>
>>>>> [ 7083.264570] EtherCAT DEBUG 0-main-0: Checking system time offset.
>>>>>
>>>>> [ 7118.368544] EtherCAT WARNING 0: No app_time received up to now,
>>>>> abort DC time offset calculation.
>>>>>
>>>>> [ 7118.368545] EtherCAT DEBUG 0: Requesting OP...
>>>>>
>>>>> [ 7118.368549] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP.
>>>>>
>>>>> [ 7118.368550] EtherCAT DEBUG 0-main-5: Configuring...
>>>>>
>>>>> [ 7118.384514] EtherCAT DEBUG 0-main-5: Now in INIT.
>>>>>
>>>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations...
>>>>>
>>>>> [ 7118.384515] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag...
>>>>>
>>>>> [ 7118.392604] EtherCAT DEBUG 0-main-5: Clearing sync manager
>>>>> configurations...
>>>>>
>>>>> [ 7118.400551] EtherCAT DEBUG 0-main-5: Clearing DC assignment...
>>>>>
>>>>> [ 7118.408559] EtherCAT DEBUG 0-main-5: Configuring mailbox sync managers...
>>>>>
>>>>> [ 7118.408562] EtherCAT DEBUG 0-main-5: SM0: Addr 0x1000, Size 128,
>>>>> Ctrl 0x26, En 1
>>>>>
>>>>> [ 7118.408564] EtherCAT DEBUG 0-main-5: SM1: Addr 0x1080, Size 128,
>>>>> Ctrl 0x22, En 1
>>>>>
>>>>> [ 7118.416573] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.
>>>>>
>>>>> [ 7118.432522] EtherCAT 0: Slave states on main device: INIT, PREOP.
>>>>>
>>>>> [ 7118.444566] EtherCAT DEBUG 0-main-5: Now in PREOP.
>>>>>
>>>>> [ 7118.444567] EtherCAT DEBUG 0-main-5: Assigning SII access back to
>>>>> EtherCAT.
>>>>>
>>>>> [ 7118.456607] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM2:
>>>>>
>>>>> [ 7118.456608] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1600.
>>>>> PDOs to assign: 0x1600
>>>>>
>>>>> [ 7118.456610] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>>>> PDOs to zero.
>>>>>
>>>>> [ 7118.456611] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>>>
>>>>> [ 7118.456611] EtherCAT DEBUG: 00
>>>>>
>>>>> [ 7118.456612] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.456612] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
>>>>>
>>>>> [ 7118.480613] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.480613] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
>>>>>
>>>>> [ 7118.480619] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1600 at position 1.
>>>>>
>>>>> [ 7118.480620] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:01.
>>>>>
>>>>> [ 7118.480621] EtherCAT DEBUG: 00 16
>>>>>
>>>>> [ 7118.480623] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.480623] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
>>>>>
>>>>> [ 7118.496551] EtherCAT 0: Slave states on main device: PREOP.
>>>>>
>>>>> [ 7118.504563] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.504564] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00
>>>>>
>>>>> [ 7118.504572] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>>>> PDOs to 1.
>>>>>
>>>>> [ 7118.504574] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C12:00.
>>>>>
>>>>> [ 7118.504574] EtherCAT DEBUG: 01
>>>>>
>>>>> [ 7118.504577] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.504577] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
>>>>>
>>>>> [ 7118.528572] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.528573] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00
>>>>>
>>>>> [ 7118.528586] EtherCAT DEBUG 0-main-5: Successfully configured PDO
>>>>> assignment of SM2.
>>>>>
>>>>> [ 7118.528596] EtherCAT DEBUG 0-main-5: Setting PDO assignment of SM3:
>>>>>
>>>>> [ 7118.528597] EtherCAT DEBUG 0-main-5: Currently assigned PDOs: 0x1A01.
>>>>> PDOs to assign: 0x1A01
>>>>>
>>>>> [ 7118.528602] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>>>> PDOs to zero.
>>>>>
>>>>> [ 7118.528604] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>>>
>>>>> [ 7118.528605] EtherCAT DEBUG: 00
>>>>>
>>>>> [ 7118.528608] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.528608] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
>>>>>
>>>>> [ 7118.552556] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.552557] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
>>>>>
>>>>> [ 7118.552569] EtherCAT DEBUG 0-main-5: Assigning PDO 0x1A01 at position 1.
>>>>>
>>>>> [ 7118.552571] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:01.
>>>>>
>>>>> [ 7118.552571] EtherCAT DEBUG: 01 1A
>>>>>
>>>>> [ 7118.552575] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.552575] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
>>>>>
>>>>> [ 7118.580562] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.580563] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
>>>>>
>>>>> [ 7118.580573] EtherCAT DEBUG 0-main-5: Setting number of assigned
>>>>> PDOs to 1.
>>>>>
>>>>> [ 7118.580575] EtherCAT DEBUG 0-main-5: Downloading SDO 0x1C13:00.
>>>>>
>>>>> [ 7118.580575] EtherCAT DEBUG: 01
>>>>>
>>>>> [ 7118.580578] EtherCAT DEBUG 0-main-5: Expedited download request:
>>>>>
>>>>> [ 7118.580579] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
>>>>>
>>>>> [ 7118.604557] EtherCAT DEBUG 0-main-5: Download response:
>>>>>
>>>>> [ 7118.604558] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
>>>>>
>>>>> [ 7118.604571] EtherCAT DEBUG 0-main-5: Successfully configured PDO
>>>>> assignment of SM3.
>>>>>
>>>>> [ 7118.604578] EtherCAT DEBUG 0-main-5: SM2: Addr 0x1100, Size 6,
>>>>> Ctrl 0x24, En 1
>>>>>
>>>>> [ 7118.604581] EtherCAT DEBUG 0-main-5: SM3: Addr 0x1180, Size 3,
>>>>> Ctrl 0x60, En 1
>>>>>
>>>>> [ 7118.612565] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000000, Size 3,
>>>>> PhysAddr 0x1180, SM3, Dir in
>>>>>
>>>>> [ 7118.636572] EtherCAT ERROR 0-main-5: Failed to set SAFEOP state,
>>>>> slave refused state change (PREOP + ERROR).
>>>>>
>>>>> [ 7118.644558] EtherCAT ERROR 0-main-5: AL status message 0x0024:
>>>>> "Invalid Input Mapping".
>>>>>
>>>>> [ 7118.664569] EtherCAT DEBUG 0-main-5: PREOP + ERROR -> PREOP.
>>>>>
>>>>> [ 7118.664573] EtherCAT 0-main-5: Acknowledged state PREOP.
>>>>>
>>>>> **
>>>>>
>>>>> You can see below, an extract of my source code which work correctly
>>>>> with other ethercat slaves
>>>>>
>>>>> static unsigned int offOutput[15];
>>>>>
>>>>> static unsigned int offBit[15];
>>>>>
>>>>> static ec_domain_state_t domain1_state = {};
>>>>>
>>>>> static ec_master_state_t master_state = {};
>>>>>
>>>>> static ec_pdo_entry_info_t slave_0_pdo_entries[] = {
>>>>>
>>>>> /* TxPdo 0x1a01 */
>>>>>
>>>>> {0x6000, 0x01, 1}, /* Status Latch C valid */
>>>>>
>>>>> {0x6000, 0x02, 1}, /* Status Latch extern valid */
>>>>>
>>>>> {0x6000, 0x03, 1}, /* Status set counter done */
>>>>>
>>>>> {0x6000, 0x06, 1}, /* Status of input status */
>>>>>
>>>>> {0x6000, 0x07, 1}, /* Status open circuit */
>>>>>
>>>>> {0x6000, 0x09, 1}, /* Status of input A */
>>>>>
>>>>> {0x6000, 0x0a, 1}, /* Status of input B */
>>>>>
>>>>> {0x6000, 0x0b, 1}, /* Status of input C */
>>>>>
>>>>> {0x6000, 0x0c, 1}, /* Status of input gate */
>>>>>
>>>>> {0x6000, 0x0d, 1}, /* Status of extern latch */
>>>>>
>>>>> {0x6000, 0x0e, 1}, /* Status sync error */
>>>>>
>>>>> {0x6000, 0x0f, 1}, /* Status TxPDO state */
>>>>>
>>>>> {0x6000, 0x10, 1}, /* Status TxPDO toogle */
>>>>>
>>>>> {0x6000, 0x11, 2}, /* counter value */
>>>>>
>>>>> {0x6000, 0x12, 2} /* latch value */
>>>>>
>>>>> };
>>>>>
>>>>> static ec_pdo_info_t slave_0_pdos[] = {
>>>>>
>>>>> {0x1a01, 15, &slave_0_pdo_entries[0]}
>>>>>
>>>>> };
>>>>>
>>>>> ec_sync_info_t slave_0_syncs[] = {
>>>>>
>>>>> {3, EC_DIR_INPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
>>>>>
>>>>> {0xff}
>>>>>
>>>>> };
>>>>>
>>>>> const static ec_pdo_entry_reg_t domain1_regs[] = {
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0],
>>>>> &offBit[0]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x02, &offOutput[1],
>>>>> &offBit[1]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x03, &offOutput[2],
>>>>> &offBit[2]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x06, &offOutput[3],
>>>>> &offBit[3]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x07, &offOutput[4],
>>>>> &offBit[4]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x09, &offOutput[5],
>>>>> &offBit[5]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0a, &offOutput[6],
>>>>> &offBit[6]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0b, &offOutput[7],
>>>>> &offBit[7]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0c, &offOutput[8],
>>>>> &offBit[8]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0d, &offOutput[9],
>>>>> &offBit[9]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0e, &offOutput[10],
>>>>> &offBit[10]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x0f, &offOutput[11],
>>>>> &offBit[11]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x10, &offOutput[12],
>>>>> &offBit[12]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[13],
>>>>> &offBit[13]},
>>>>>
>>>>> {0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[14],
>>>>> &offBit[14]},
>>>>>
>>>>> {}
>>>>>
>>>>> };
>>>>>
>>>>> static ec_master_t *master = nullptr;
>>>>>
>>>>> static ec_domain_t *domain1 = nullptr;
>>>>>
>>>>> static uint8_t *domain1_pd = nullptr;
>>>>>
>>>>> static ec_slave_config_t *sc_el5101 = nullptr;
>>>>>
>>>>> static ec_slave_config_state_t sc_el2809_state = {};
>>>>>
>>>>> static ec_slave_info_t slaveInfo;
>>>>>
>>>>> bool Worker::init()
>>>>>
>>>>> {
>>>>>
>>>>> master = ecrt_request_master(0);
>>>>>
>>>>> if ( !master )
>>>>>
>>>>> return false;
>>>>>
>>>>> domain1 = ecrt_master_create_domain(master);
>>>>>
>>>>> if ( !domain1 )
>>>>>
>>>>> return false;
>>>>>
>>>>> if ( !(sc_el5101 = ecrt_master_slave_config(master, 0, 5,
>>>>> 0x00000002, 0x13ed3052)) )
>>>>>
>>>>> {
>>>>>
>>>>> fprintf(stderr, "Failed to get slave configuration for
>>>>> AKD.\n");
>>>>>
>>>>> return false;
>>>>>
>>>>> }
>>>>>
>>>>> if (ecrt_slave_config_pdos(sc_el5101, EC_END, slave_0_syncs))
>>>>>
>>>>> return false;
>>>>>
>>>>> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))
>>>>>
>>>>> return false;
>>>>>
>>>>> if ( ecrt_master_activate( master ) )
>>>>>
>>>>> return false;
>>>>>
>>>>> if (!(domain1_pd = ecrt_domain_data(domain1)))
>>>>>
>>>>> return false;
>>>>>
>>>>> return true;
>>>>>
>>>>> }
>>>>>
>>>>> void Worker::loop()
>>>>>
>>>>> {
>>>>>
>>>>> mMustStop = false;
>>>>>
>>>>> while(!mMustStop)
>>>>>
>>>>> {
>>>>>
>>>>> QThread::usleep(1000);
>>>>>
>>>>> if(!mIsCycleStopped)
>>>>>
>>>>> {
>>>>>
>>>>> // receive process data
>>>>>
>>>>> ecrt_master_receive(master);
>>>>>
>>>>> ecrt_domain_process(domain1);
>>>>>
>>>>> uint16_t lCounterValue = EC_READ_U16(domain1_pd +
>>>>> offOutput[13]);
>>>>>
>>>>> qDebug() << "counter value :" << lCounterValue;
>>>>>
>>>>> ecrt_domain_queue(domain1);
>>>>>
>>>>> ecrt_master_send(master);
>>>>>
>>>>> }
>>>>>
>>>>> }
>>>>>
>>>>> ecrt_release_master(master);
>>>>>
>>>>> master = nullptr;
>>>>>
>>>>> emit finished();
>>>>>
>>>>> }
>>>>>
>>>>> Take care of yourself
>>>>>
>>>>> *Vincent BUSSIERES*
>>>>>
>>>>> *Responsable Technique Logiciel*
>>>>>
>>>>> **
>>>>>
>>>>> 1572337113342
>>>>>
>>>>> /ZE Ma Campagne/
>>>>>
>>>>> /36, Impasse Félix Nadar/
>>>>>
>>>>> /16000 ANGOULEME/
>>>>>
>>>>> /Tel: 33 (0)9.72.40.35.08/
>>>>>
>>>>> /www.hemeria-group.com
>>>>> <https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1
>>>>> N
>>>>> G9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com
>>>>> %
>>>>> 2f>/ PAfin de contribuer au respect de l'environnement, merci de
>>>>> n'imprimer ce courriel qu'en cas de nécessité.
>>>>>
>>>>> Ce message et les fichiers pouvant être attachés sont confidentiels,
>>>>> réservés à l'usage unique des destinataires et n'engagent HEMERIA
>>>>> sous aucune forme que ce soit.
>>>>> This email and any files transmitted with it are confidential,
>>>>> intented solely for the unique use of the recipients and don't commit HEMERIA.
>>>>>
>>>>> **
>>>>>
>>>>> **
>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> etherlab-users mailing list
>>>>> etherlab-users at etherlab.org
>>>>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>>>>
>> _______________________________________________
>> etherlab-users mailing list
>> etherlab-users at etherlab.org
>> http://lists.etherlab.org/mailman/listinfo/etherlab-users
>>
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