[etherlab-users] Beckhoff encoder interface EL5101-0010 mapping issue
Michael Reeder
mr at datatroniq.com
Tue May 26 21:55:54 CEST 2020
Hi,
I would try to read the values from the domain in one block instead of
seperatly.
like
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0]}
};
instead of
>>>>> 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],
...
And then extract the different bits and bytes manually.
I worked with a EL6731 card and in one setting it had two PDOs (0x6000
0x1 and 0x6000 0x2) but I had to read them as one , otherwise the second
part was 0 similar to your problem.
You could also try to group them like in TwinCat:
const static ec_pdo_entry_reg_t domain1_regs[] = {
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x01, &offOutput[0]}, //
status bits grouped like TC
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x11, &offOutput[1]},
{0, 5, 0x00000002, 0x13ed3052, 0x6000, 0x12, &offOutput[2]},
};
Good luck,
Michael Reeder
On 26.05.20 18:07, BUSSIERES Vincent wrote:
>
> I think issue is due to gap in PDO with index 0x0000 but I don’t know
> how to solve it.
>
> I am using Gavin patchset 20190904.
>
> I read to use ecrt_domain_reg_pdo_entry() instead of
> ecrt_domain_reg_pdo_entry_list() but I don’t fund this function.
>
> Regards
>
> *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 :*BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>
> *Envoyé :* mardi 26 mai 2020 17:25
> *À :* BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>; Graeme
> Foot <Graeme.Foot at touchcut.com>; Richard Hacker <ha at igh.de>;
> etherlab-users at etherlab.org
> *Objet :* RE: [etherlab-users] Beckhoff encoder interface EL5101-0010
> mapping issue
>
> I also noticed that ecrt_domain_reg_pdo_entry_list doesn’t return
> error, but after this function call, all offsets in ec_pdo_entry_reg_t
> are still set to 0.
>
> Does someone have an idea ?
>
> Regards.
>
> *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 :*etherlab-users <etherlab-users-bounces at etherlab.org
> <mailto:etherlab-users-bounces at etherlab.org>> *De la part de*
> BUSSIERES Vincent
> *Envoyé :* mardi 26 mai 2020 11:03
> *À :* Graeme Foot <Graeme.Foot at touchcut.com
> <mailto:Graeme.Foot at touchcut.com>>; Richard Hacker <ha at igh.de
> <mailto:ha at igh.de>>; etherlab-users at etherlab.org
> <mailto:etherlab-users at etherlab.org>
> *Objet :* Re: [etherlab-users] Beckhoff encoder interface EL5101-0010
> mapping issue
>
> I run « cstruct » command after repowered module and I get mapping
> below. It’s a bit strange because we can notice that unlike warning
> message, objects 0x1801 are replaced with 0x1800 and latch value and
> counter values are on 32 bits.
>
> Moreover I configure debug level to 2 and compare frames received in
> dmesg before and after turned encoder axis. Frames received seem to be
> simular, strange behaviour. It looks like we need to activate
> something on the module, but in twincat counter value is sended
> automatically.
>
> Regards//
>
> /* Master 0, Slave 1, "EL5101-0010"
>
> * Vendor ID: 0x00000002
>
> * Product code: 0x13ed3052
>
> * Revision number: 0x0013000a
>
> */
>
> ec_pdo_entry_info_t slave_1_pdo_entries[] = {
>
> {0x7000, 0x01, 1},
>
> {0x7000, 0x02, 1},
>
> {0x7000, 0x03, 1},
>
> {0x7000, 0x04, 1},
>
> {0x0000, 0x00, 4}, /* Gap */
>
> {0x0000, 0x00, 8}, /* Gap */
>
> {0x7000, 0x11, 32},
>
> {0x6000, 0x01, 1},
>
> {0x6000, 0x02, 1},
>
> {0x6000, 0x03, 1},
>
> {0x0000, 0x00, 2}, /* Gap */
>
> {0x6000, 0x06, 1},
>
> {0x6000, 0x07, 1},
>
> {0x0000, 0x00, 1}, /* Gap */
>
> {0x6000, 0x09, 1},
>
> {0x6000, 0x0a, 1},
>
> {0x6000, 0x0b, 1},
>
> {0x6000, 0x0c, 1},
>
> {0x6000, 0x0d, 1},
>
> {0x1c32, 0x20, 1},
>
> {0x1800, 0x07, 1},
>
> {0x1800, 0x09, 1},
>
> {0x6000, 0x11, 32},
>
> {0x6000, 0x12, 32},
>
> };
>
> ec_pdo_info_t slave_1_pdos[] = {
>
> {0x1600, 7, slave_1_pdo_entries + 0},
>
> {0x1a00, 17, slave_1_pdo_entries + 7},
>
> };
>
> ec_sync_info_t slave_1_syncs[] = {
>
> {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
>
> {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
>
> {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_DISABLE},
>
> {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
>
> {0xff}
>
> };
>
> [ 4532.066259] EtherCAT DEBUG 0: Sending frame:
>
> [ 4532.066260] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 4532.066273] EtherCAT DEBUG: 04 1A 01 00 30 01 02 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.066286] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.066299] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 4532.074208] EtherCAT DEBUG 0: Received frame:
>
> [ 4532.074210] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 4532.074229] EtherCAT DEBUG: 04 1A 01 00 30 01 02 00 00 00 02 00 01
> 00 00 00
>
> [ 4532.074247] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.074264] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 4532.074285] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index
> = 0)
>
> [ 4532.074287] EtherCAT DEBUG 0: Adding datagram 0x1B
>
> [ 4532.074289] EtherCAT DEBUG 0: frame size: 46
>
> [ 4532.074290] EtherCAT DEBUG 0: Sending frame:
>
> [ 4532.074291] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 4532.074309] EtherCAT DEBUG: 04 1B 02 00 30 01 02 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.074326] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.074343] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 4532.082208] EtherCAT DEBUG 0: Received frame:
>
> [ 4532.082210] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 4532.082230] EtherCAT DEBUG: 04 1B 02 00 30 01 02 00 00 00 02 00 01
> 00 00 00
>
> [ 4532.082247] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 4532.082264] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 4532.082287] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index
> = 0)
>
> [ 4532.082289] EtherCAT DEBUG 0: Adding datagram 0x1C
>
> [ 4532.082292] EtherCAT DEBUG 0: frame size: 46
>
> *encoder axis turned*
>
> [ 5395.149869] EtherCAT DEBUG 0: Sending frame:
>
> [ 5395.149869] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 5395.149879] EtherCAT DEBUG: 04 95 01 00 30 01 02 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.149889] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.149899] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 5395.157812] EtherCAT DEBUG 0: Received frame:
>
> [ 5395.157813] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 5395.157824] EtherCAT DEBUG: 04 95 01 00 30 01 02 00 00 00 02 00 01
> 00 00 00
>
> [ 5395.157834] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.157843] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 5395.157856] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index
> = 0)
>
> [ 5395.157857] EtherCAT DEBUG 0: Adding datagram 0x96
>
> [ 5395.157858] EtherCAT DEBUG 0: frame size: 46
>
> [ 5395.157859] EtherCAT DEBUG 0: Sending frame:
>
> [ 5395.157860] EtherCAT DEBUG: FF FF FF FF FF FF 68 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 5395.157870] EtherCAT DEBUG: 04 96 02 00 30 01 02 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.157879] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.157889] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 5395.165810] EtherCAT DEBUG 0: Received frame:
>
> [ 5395.165811] EtherCAT DEBUG: FF FF FF FF FF FF 6A 05 CA 8B CE EB 88
> A4 0E 10
>
> [ 5395.165822] EtherCAT DEBUG: 04 96 02 00 30 01 02 00 00 00 02 00 01
> 00 00 00
>
> [ 5395.165831] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00
> 00 00 00
>
> [ 5395.165841] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00
>
> [ 5395.165853] EtherCAT DEBUG 0: ec_master_send_datagrams(device_index
> = 0)
>
> [ 5395.165854] EtherCAT DEBUG 0: Adding datagram 0x97
>
> [ 5395.165855] EtherCAT DEBUG 0: frame size: 46
>
> **
>
> *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 :*Graeme Foot <Graeme.Foot at touchcut.com
> <mailto:Graeme.Foot at touchcut.com>>
> *Envoyé :* mardi 26 mai 2020 00:07
> *À :* BUSSIERES Vincent <vincent.bussieres at hemeria-group.com
> <mailto:vincent.bussieres at hemeria-group.com>>; Richard Hacker
> <ha at igh.de <mailto:ha at igh.de>>; etherlab-users at etherlab.org
> <mailto:etherlab-users at etherlab.org>
> *Objet :* RE: [etherlab-users] Beckhoff encoder interface EL5101-0010
> mapping issue
>
> Hi,
>
> You need to pay attention to those warnings. You will not get the
> warning again until the module it repowered. (The modules interface
> mappings get changed, so no further warnings and doing an "ethercat
> struct" command will return you mappings, but internally they will be
> ignored.)
>
> Change your struct to match the "Currently mapped PDO entries".
>
> Currently mapped PDO entries: Entries to map:
>
> 0x6000:01/1 0x6000:01/1
>
> 0x6000:02/1 0x6000:02/1
>
> 0x6000:03/1 0x6000:03/1
>
> 0x0000:00/2 0x0000:00/2
>
> 0x6000:06/1 0x6000:06/1
>
> 0x6000:07/1 0x6000:07/1
>
> 0x0000:00/1 0x0000:00/1
>
> 0x6000:09/1 0x6000:09/1
>
> 0x6000:0A/1 0x6000:0A/1
>
> 0x6000:0B/1 0x6000:0B/1
>
> 0x6000:0C/1 0x6000:0C/1
>
> 0x6000:0D/1 0x6000:0D/1
>
> 0x1C32:20/10x6000:0E/1
>
> 0x1801:07/10x6000:0F/1
>
> 0x1801:09/10x6000:10/1
>
> 0x6000:11/16 0x6000:11/16
>
> 0x6000:12/16. 0x6000:12/16
>
> Of course, that still may not help since the position mapping still
> looks correct.
>
> Regards,
>
> Graeme.
>
> -----Original Message-----
> From: etherlab-users <etherlab-users-bounces at etherlab.org
> <mailto:etherlab-users-bounces at etherlab.org>> On Behalf Of BUSSIERES
> Vincent
> Sent: Tuesday, 26 May 2020 3:38 AM
> To: Richard Hacker <ha at igh.de <mailto:ha at igh.de>>;
> etherlab-users at etherlab.org <mailto:etherlab-users at etherlab.org>
> Subject: Re: [etherlab-users] Beckhoff encoder interface EL5101-0010
> mapping issue
>
> Hello Etherlab users,
>
> I'm still struggling with the Beckhoff EL5101-0010 encoder module. I
> configure PDO like Twincat but I still cannot read the encoder
> position, I always read 0.
>
> I noticed that after the first start of the module I had a warning "
> Slave does not support changing the PDO mapping!".
>
> But after configuration, I run command ethercat xml, and mapping seems
> to be OK. Slave is in OP state.
>
> If I restart configuration without restart module, I no longer have
> warning but I still read 0.
>
> I have no more ideas, this module is the only slave on the network,
> counter value can be read with Twincat.
>
> Regards
>
> [30811.918395] EtherCAT DEBUG: 10 12 00 60
>
> [30811.918400] EtherCAT DEBUG 0-main-1: PDO entry 0x6000:12, 16 bit,
> "???".
>
> [30811.918402] EtherCAT WARNING 0-main-1: Slave does not support
> changing the PDO mapping!
>
> [30811.918403] EtherCAT WARNING 0-main-1: Currently mapped PDO
> entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x0000:00/2 0x6000:06/1
> 0x6000:07/1 0x0000:00/1 0x6000:09/1 0x6000:0A/1 0x6000:0B/1
> 0x6000:0C/1 0x6000:0D/1 0x1C32:20/1 0x1801:07/1 0x1801:09/1
> 0x6000:11/16 0x6000:12/16. Entries to map: 0x6000:01/1 0x6000:02/1
> 0x6000:03/1 0x0000:00/2 0x6000:06/1 0x6000:07/1 0x0000:00/1
> 0x6000:09/1 0x6000:0A/1 0x6000:0B/1 0x6000:0C/1 0x6000:0D/1
> 0x6000:0E/1 0x6000:0F/1 0x6000:10/1 0x6000:11/16 0x6000:12/16
>
> [30811.918436] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM3:
>
> [30811.918437] EtherCAT DEBUG 0-main-1: Currently assigned PDOs:
> 0x1A00. PDOs to assign: 0x1A01
>
> [30811.918440] EtherCAT DEBUG 0-main-1: Setting number of assigned
> PDOs to zero.
>
> [30811.918442] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.
>
> [30811.918442] EtherCAT DEBUG: 00
>
> [30811.918444] EtherCAT DEBUG 0-main-1: Expedited download request:
>
> [30811.918444] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
>
> [30811.946384] EtherCAT DEBUG 0-main-1: Download response:
>
> [30811.946385] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
>
> [30811.946395] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1A01 at
> position 1.
>
> [30811.946396] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:01.
>
> [30811.946397] EtherCAT DEBUG: 01 1A
>
> [30811.946399] EtherCAT DEBUG 0-main-1: Expedited download request:
>
> [30811.946399] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00
>
> [30811.974385] EtherCAT DEBUG 0-main-1: Download response:
>
> [30811.974386] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00
>
> [30811.974393] EtherCAT DEBUG 0-main-1: Setting number of assigned
> PDOs to 1.
>
> [30811.974394] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00.
>
> [30811.974395] EtherCAT DEBUG: 01
>
> [30811.974397] EtherCAT DEBUG 0-main-1: Expedited download request:
>
> [30811.974397] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
>
> [30812.002429] EtherCAT DEBUG 0-main-1: Download response:
>
> [30812.002430] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00
>
> [30812.002441] EtherCAT DEBUG 0-main-1: Successfully configured PDO
> assignment of SM3.
>
> [30812.002446] EtherCAT DEBUG 0-main-1: SM2: Addr 0x1100, Size 4,
> Ctrl 0x24, En 1
>
> [30812.002448] EtherCAT DEBUG 0-main-1: SM3: Addr 0x1180, Size 6,
> Ctrl 0x20, En 1
>
> [30812.010431] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000000, Size
> 4, PhysAddr 0x1100, SM2, Dir out
>
> [30812.021655] EtherCAT 0: Domain 0: Working counter changed to 1/1.
>
> [30812.034432] EtherCAT DEBUG 0-main-1: Now in SAFEOP.
>
> [30812.050464] EtherCAT 0: Slave states on main device: PREOP, OP.
>
> [30812.050467] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration.
>
> 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>
>
> 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 : vendredi 15 mai 2020 18:45
>
> 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
>
> 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 <http://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 <mailto:ha at igh.de>>
>
> > Envoyé : vendredi 15 mai 2020 15:47
>
> > 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
>
> >
>
> > 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 <mailto:niko.kivel at psi.ch>>
>
> >> *Envoyé :* vendredi 15 mai 2020 14:14
>
> >> *À :* Richard Hacker <ha at igh.de <mailto:ha at igh.de>>; 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
>
> >>
>
> >> 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> <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 <mailto:ha at igh.de%20%3cmailto: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>
>
> >> <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>
> <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
> <mailto:ha at igh.de%20%3cmailto: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>
> <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>
> <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
> <mailto:ha at igh.de%20%3cmailto: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>
> <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
>
> >>
>
> _______________________________________________
>
> 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
--
--
B.Sc. Michael Reeder
DATATRONIQ GmbH
Office Stuttgart: Uhlbacher Strasse 75 • 70329 Stuttgart
Office Berlin: Kastanienallee 29-30 • 10435 Berlin
Email: mr at datatroniq.com
Tel: +49 30 95 999 88 27
Fax: +49 711 65823888
https://www.datatroniq.com
Angaben lt. §35a GmbHG: HRB 753304 B / Amtsgericht Stuttgart,
Geschäftsführer: Jürgen Walter & Stefan Weingärtner, Sitz: Stuttgart
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