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<p>Hi,</p>
<p>I have a special slave with a strange behaviour. It's located at
the end of the bus after a few servo motor drives.</p>
<p>At the startup, it doesn't go to OP mode with the rest of the
slaves. But if I remove the power of this slave, before startup,
and replug after everything else is in OP mode, this slave goes to
OP mode too.</p>
<p>When I checked the dmesg output I noticed that it gives a timeout
error for going to state INIT.</p>
<p>Here is the <b>ethercat slaves -v</b> output:</p>
<font face="monospace"><i>ethercat slaves -v<br>
=== Master 0, Slave 0 ===<br>
Device: Main<br>
State: PREOP<br>
Flag: E<br>
Identity:<br>
Vendor Id: 0x6167656d<br>
Product code: 0x00000000<br>
Revision number: 0x00000000<br>
Serial number: 0x00000000<br>
DL information:<br>
FMMU bit operation: no<br>
Distributed clocks: yes, 64 bit<br>
DC system time transmission delay: 0 ns<br>
Port Type Link Loop Signal NextSlave RxTime [ns] Diff
[ns] NextDc [ns]<br>
0 MII up open yes - 1795181876
0 0<br>
1 MII down closed no - -
- -<br>
2 N/A down closed no - -
- -<br>
3 N/A down closed no - -
- -<br>
Mailboxes:<br>
Bootstrap RX: 0x1000/1024, TX: 0x1400/1024<br>
Standard RX: 0x1000/1024, TX: 0x1400/1024<br>
Supported protocols: CoE, FoE<br>
General:<br>
Group: SSC_Device<br>
Image name: <br>
Order number: Megatec_ESC_NLCH<br>
Device name: Megatec_ESC_NLCH<br>
CoE details:<br>
Enable SDO: yes<br>
Enable SDO Info: yes<br>
Enable PDO Assign: no<br>
Enable PDO Configuration: no<br>
Enable Upload at startup: no<br>
Enable SDO complete access: yes<br>
Flags:<br>
Enable SafeOp: no<br>
Enable notLRW: no<br>
Current consumption: 0 mA</i></font>
<p>And this is the dmesg output with <b>Ethercat debug 1</b>
configuration</p>
<p><i><font face="monospace">[ 186.189225] EtherCAT: Requesting
master 0...<br>
[ 186.189232] EtherCAT DEBUG 0: IDLE -> OPERATION.<br>
[ 186.189234] EtherCAT: Successfully requested master 0.<br>
[ 186.189236] EtherCAT DEBUG 0:
ecrt_master_create_domain(master = 0x0000000086b530b0)<br>
[ 186.189240] EtherCAT DEBUG 0: Created domain 0.<br>
[ 186.189243] EtherCAT DEBUG 0:
ecrt_master_slave_config(master = 0x0000000086b530b0, alias =
0, position = 0, vendor_id = 0x6167656d, product_code =
0x00000000)<br>
[ 186.189246] EtherCAT DEBUG 0: Creating slave configuration
for 0:0, 0x6167656D/0x00000000.<br>
[ 186.189250] EtherCAT DEBUG 0 0:0: Attached slave 0.<br>
[ 186.189300] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
sync_index = 0, dir = 1, watchdog_mode = 2)<br>
[ 186.189305] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
sync_index = 0)<br>
[ 186.189308] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
sync_index = 1, dir = 2, watchdog_mode = 2)<br>
[ 186.189311] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
sync_index = 1)<br>
[ 186.189314] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
sync_index = 2, dir = 1, watchdog_mode = 1)<br>
[ 186.189316] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
sync_index = 2)<br>
[ 186.189322] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2,
sync_index = 2, pdo_index = 0x1600)<br>
[ 186.189325] EtherCAT DEBUG 0 0:0: Loading default mapping
for PDO 0x1600.<br>
<br>
[ 186.189331] EtherCAT DEBUG 0 0:0: Entry 0x7000:01.<br>
[ 186.189333] EtherCAT DEBUG 0 0:0: Entry 0x7000:02.<br>
[ 186.189334] EtherCAT DEBUG 0 0:0: Entry 0x7000:03.<br>
[ 186.189336] EtherCAT DEBUG 0 0:0: Entry 0x7000:04.<br>
[ 186.189337] EtherCAT DEBUG 0 0:0: Entry 0x7000:05.<br>
[ 186.189338] EtherCAT DEBUG 0 0:0: Entry 0x7000:06.<br>
[ 186.189339] EtherCAT DEBUG 0 0:0: Entry 0x7000:07.<br>
[ 186.189340] EtherCAT DEBUG 0 0:0: Entry 0x7000:08.<br>
[ 186.189341] EtherCAT DEBUG 0 0:0: Entry 0x7000:09.<br>
[ 186.189343] EtherCAT DEBUG 0 0:0: Entry 0x7000:0A.<br>
[ 186.189344] EtherCAT DEBUG 0 0:0: Entry 0x7000:0B.<br>
[ 186.189345] EtherCAT DEBUG 0 0:0: Entry 0x7000:0C.<br>
[ 186.189346] EtherCAT DEBUG 0 0:0: Entry 0x7000:0D.<br>
[ 186.189347] EtherCAT DEBUG 0 0:0: Entry 0x7000:0E.<br>
[ 186.189349] EtherCAT DEBUG 0 0:0: Entry 0x7000:0F.<br>
[ 186.189350] EtherCAT DEBUG 0 0:0: Entry 0x7000:10.<br>
[ 186.189351] EtherCAT DEBUG 0 0:0: Entry 0x7000:11.<br>
[ 186.189352] EtherCAT DEBUG 0 0:0: Entry 0x7000:12.<br>
[ 186.189354] EtherCAT DEBUG 0 0:0: Entry 0x7000:13.<br>
[ 186.189355] EtherCAT DEBUG 0 0:0: Entry 0x7000:14.<br>
[ 186.189356] EtherCAT DEBUG 0 0:0: Entry 0x7000:15.<br>
[ 186.189357] EtherCAT DEBUG 0 0:0: Entry 0x7000:16.<br>
[ 186.189358] EtherCAT DEBUG 0 0:0: Entry 0x7000:17.<br>
[ 186.189360] EtherCAT DEBUG 0 0:0: Entry 0x7000:18.<br>
[ 186.189361] EtherCAT DEBUG 0 0:0: Entry 0x7000:19.<br>
[ 186.189362] EtherCAT DEBUG 0 0:0: Entry 0x7000:1A.<br>
[ 186.189363] EtherCAT DEBUG 0 0:0: Entry 0x7000:1B.<br>
[ 186.189364] EtherCAT DEBUG 0 0:0: Entry 0x7000:1C.<br>
[ 186.189365] EtherCAT DEBUG 0 0:0: Entry 0x7000:1D.<br>
[ 186.189367] EtherCAT DEBUG 0 0:0: Entry 0x7000:1E.<br>
[ 186.189368] EtherCAT DEBUG 0 0:0: Entry 0x7000:1F.<br>
[ 186.189369] EtherCAT DEBUG 0 0:0: Entry 0x7000:20.<br>
[ 186.189370] EtherCAT DEBUG 0 0:0: Entry 0x7000:21.<br>
[ 186.189371] EtherCAT DEBUG 0 0:0: Entry 0x7000:22.<br>
[ 186.189372] EtherCAT DEBUG 0 0:0: Entry 0x7000:23.<br>
[ 186.189373] EtherCAT DEBUG 0 0:0: Entry 0x7000:24.<br>
[ 186.189374] EtherCAT DEBUG 0 0:0: Entry 0x7000:25.<br>
[ 186.189376] EtherCAT DEBUG 0 0:0: Entry 0x7000:26.<br>
[ 186.189377] EtherCAT DEBUG 0 0:0: Entry 0x7000:27.<br>
[ 186.189379] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,
pdo_index = 0x1600)<br>
[ 186.189386] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x01, entry_bit_length = 16)<br>
[ 186.189390] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x02, entry_bit_length = 16)<br>
[ 186.189393] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x03, entry_bit_length = 16)<br>
[ 186.189396] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x04, entry_bit_length = 16)<br>
[ 186.189399] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x05, entry_bit_length = 16)<br>
[ 186.189402] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x06, entry_bit_length = 16)<br>
[ 186.189404] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x07, entry_bit_length = 16)<br>
[ 186.189407] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x08, entry_bit_length = 16)<br>
[ 186.189410] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x09, entry_bit_length = 16)<br>
[ 186.189412] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0A, entry_bit_length = 16)<br>
[ 186.189415] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0B, entry_bit_length = 16)<br>
[ 186.189418] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0C, entry_bit_length = 16)<br>
[ 186.189420] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0D, entry_bit_length = 16)<br>
[ 186.189423] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0E, entry_bit_length = 16)<br>
[ 186.189426] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x0F, entry_bit_length = 16)<br>
[ 186.189428] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x10, entry_bit_length = 16)<br>
[ 186.189431] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x11, entry_bit_length = 16)<br>
[ 186.189434] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x12, entry_bit_length = 16)<br>
[ 186.189437] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x13, entry_bit_length = 16)<br>
[ 186.189440] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x14, entry_bit_length = 16)<br>
[ 186.189442] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x15, entry_bit_length = 16)<br>
[ 186.189445] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x16, entry_bit_length = 16)<br>
[ 186.189448] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x17, entry_bit_length = 16)<br>
[ 186.189450] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x18, entry_bit_length = 16)<br>
[ 186.189453] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x19, entry_bit_length = 16)<br>
[ 186.189456] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1A, entry_bit_length = 16)<br>
[ 186.189458] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1B, entry_bit_length = 16)<br>
[ 186.189461] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1C, entry_bit_length = 16)<br>
[ 186.189464] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1D, entry_bit_length = 16)<br>
[ 186.189466] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1E, entry_bit_length = 16)<br>
[ 186.189469] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x1F, entry_bit_length = 16)<br>
[ 186.189472] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x20, entry_bit_length = 16)<br>
[ 186.189474] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x21, entry_bit_length = 16)<br>
[ 186.189477] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x22, entry_bit_length = 16)<br>
[ 186.189480] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x23, entry_bit_length = 16)<br>
[ 186.189482] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x24, entry_bit_length = 16)<br>
[ 186.189485] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x25, entry_bit_length = 16)<br>
[ 186.189488] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x26, entry_bit_length = 16)<br>
[ 186.189490] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1600, entry_index = 0x7000, entry_subindex =
0x27, entry_bit_length = 16)<br>
[ 186.189494] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
sync_index = 3, dir = 2, watchdog_mode = 2)<br>
[ 186.189496] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
sync_index = 3)<br>
[ 186.189502] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2,
sync_index = 3, pdo_index = 0x1A00)<br>
[ 186.189504] EtherCAT DEBUG 0 0:0: Loading default mapping
for PDO 0x1A00.<br>
<br>
[ 186.189512] EtherCAT DEBUG 0 0:0: Entry 0x6000:01.<br>
[ 186.189513] EtherCAT DEBUG 0 0:0: Entry 0x6000:02.<br>
[ 186.189514] EtherCAT DEBUG 0 0:0: Entry 0x6000:03.<br>
[ 186.189515] EtherCAT DEBUG 0 0:0: Entry 0x6000:04.<br>
[ 186.189517] EtherCAT DEBUG 0 0:0: Entry 0x6000:05.<br>
[ 186.189518] EtherCAT DEBUG 0 0:0: Entry 0x6000:06.<br>
[ 186.189519] EtherCAT DEBUG 0 0:0: Entry 0x6000:07.<br>
[ 186.189520] EtherCAT DEBUG 0 0:0: Entry 0x6000:08.<br>
[ 186.189521] EtherCAT DEBUG 0 0:0: Entry 0x6000:09.<br>
[ 186.189522] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A.<br>
[ 186.189523] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B.<br>
[ 186.189524] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C.<br>
[ 186.189525] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D.<br>
[ 186.189526] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E.<br>
[ 186.189528] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F.<br>
[ 186.189529] EtherCAT DEBUG 0 0:0: Entry 0x6000:10.<br>
[ 186.189530] EtherCAT DEBUG 0 0:0: Entry 0x6000:11.<br>
[ 186.189531] EtherCAT DEBUG 0 0:0: Entry 0x6000:12.<br>
[ 186.189532] EtherCAT DEBUG 0 0:0: Entry 0x6000:13.<br>
[ 186.189533] EtherCAT DEBUG 0 0:0: Entry 0x6000:14.<br>
[ 186.189534] EtherCAT DEBUG 0 0:0: Entry 0x6000:15.<br>
[ 186.189535] EtherCAT DEBUG 0 0:0: Entry 0x6000:16.<br>
[ 186.189537] EtherCAT DEBUG 0 0:0: Entry 0x6000:17.<br>
[ 186.189538] EtherCAT DEBUG 0 0:0: Entry 0x6000:18.<br>
[ 186.189539] EtherCAT DEBUG 0 0:0: Entry 0x6000:19.<br>
[ 186.189540] EtherCAT DEBUG 0 0:0: Entry 0x6000:1A.<br>
[ 186.189541] EtherCAT DEBUG 0 0:0: Entry 0x6000:1B.<br>
[ 186.189542] EtherCAT DEBUG 0 0:0: Entry 0x6000:1C.<br>
[ 186.189543] EtherCAT DEBUG 0 0:0: Entry 0x6000:1D.<br>
[ 186.189544] EtherCAT DEBUG 0 0:0: Entry 0x6000:1E.<br>
[ 186.189546] EtherCAT DEBUG 0 0:0: Entry 0x6000:1F.<br>
[ 186.189547] EtherCAT DEBUG 0 0:0: Entry 0x6000:20.<br>
[ 186.189548] EtherCAT DEBUG 0 0:0: Entry 0x6000:21.<br>
[ 186.189549] EtherCAT DEBUG 0 0:0: Entry 0x6000:22.<br>
[ 186.189550] EtherCAT DEBUG 0 0:0: Entry 0x6000:23.<br>
[ 186.189551] EtherCAT DEBUG 0 0:0: Entry 0x6000:24.<br>
[ 186.189553] EtherCAT DEBUG 0 0:0: Entry 0x6000:25.<br>
[ 186.189554] EtherCAT DEBUG 0 0:0: Entry 0x6000:26.<br>
[ 186.189555] EtherCAT DEBUG 0 0:0: Entry 0x6000:27.<br>
[ 186.189557] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,
pdo_index = 0x1A00)<br>
[ 186.189562] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x01, entry_bit_length = 16)<br>
[ 186.189565] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x02, entry_bit_length = 16)<br>
[ 186.189568] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x03, entry_bit_length = 16)<br>
[ 186.189571] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x04, entry_bit_length = 16)<br>
[ 186.189574] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x05, entry_bit_length = 16)<br>
[ 186.189577] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x06, entry_bit_length = 16)<br>
[ 186.189579] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x07, entry_bit_length = 16)<br>
[ 186.189582] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x08, entry_bit_length = 16)<br>
[ 186.189585] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x09, entry_bit_length = 16)<br>
[ 186.189588] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0A, entry_bit_length = 16)<br>
[ 186.189591] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0B, entry_bit_length = 16)<br>
[ 186.189593] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0C, entry_bit_length = 16)<br>
[ 186.189596] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0D, entry_bit_length = 16)<br>
[ 186.189599] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0E, entry_bit_length = 16)<br>
[ 186.189601] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x0F, entry_bit_length = 16)<br>
[ 186.189604] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x10, entry_bit_length = 16)<br>
[ 186.189607] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x11, entry_bit_length = 16)<br>
[ 186.189610] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x12, entry_bit_length = 16)<br>
[ 186.189612] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x13, entry_bit_length = 16)<br>
[ 186.189615] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x14, entry_bit_length = 16)<br>
[ 186.189618] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x15, entry_bit_length = 16)<br>
[ 186.189621] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x16, entry_bit_length = 16)<br>
[ 186.189624] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x17, entry_bit_length = 16)<br>
[ 186.189626] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x18, entry_bit_length = 16)<br>
[ 186.189629] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x19, entry_bit_length = 16)<br>
[ 186.189632] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1A, entry_bit_length = 16)<br>
[ 186.189635] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1B, entry_bit_length = 16)<br>
[ 186.189637] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1C, entry_bit_length = 16)<br>
[ 186.189640] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1D, entry_bit_length = 16)<br>
[ 186.189643] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1E, entry_bit_length = 16)<br>
[ 186.189646] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x1F, entry_bit_length = 16)<br>
[ 186.189649] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x20, entry_bit_length = 16)<br>
[ 186.189651] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x21, entry_bit_length = 16)<br>
[ 186.189654] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x22, entry_bit_length = 16)<br>
[ 186.189656] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x23, entry_bit_length = 16)<br>
[ 186.189659] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x24, entry_bit_length = 16)<br>
[ 186.189662] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x25, entry_bit_length = 16)<br>
[ 186.189664] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x26, entry_bit_length = 16)<br>
[ 186.189667] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex =
0x27, entry_bit_length = 16)<br>
[ 186.189671] EtherCAT DEBUG 0:
ecrt_master_slave_config(master = 0x0000000086b530b0, alias =
0, position = 0, vendor_id = 0x6167656d, product_code =
0x00000000)<br>
[ 186.189676] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index
= 0x7000, subindex = 0x01, domain = 0x00000000b451bb74,
bit_position = 0x000000002facf3e1)<br>
[ 186.189680] EtherCAT DEBUG 0: Domain 0: Added 78 bytes,
total 78.<br>
[ 186.189683] EtherCAT DEBUG 0:
ecrt_master_slave_config(master = 0x0000000086b530b0, alias =
0, position = 0, vendor_id = 0x6167656d, product_code =
0x00000000)<br>
[ 186.189686] EtherCAT DEBUG 0 0:0:
ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index
= 0x7000, subindex = 0x05, domain = 0x00000000b451bb74,
bit_position = 0x000000006507b978)<br>
[ 186.189707] EtherCAT DEBUG 0:
ecrt_domain_external_memory(domain = 0x00000000b451bb74, mem =
0x000000006263e939)<br>
[ 186.189710] EtherCAT DEBUG 0: ecrt_master_callbacks(master
= 0x0000000086b530b0, send_cb = 0x00000000a7d24716, receive_cb
= 0x0000000062142df5, cb_data = 0x0000000086b530b0)<br>
[ 186.189713] EtherCAT DEBUG 0: ecrt_master_activate(master =
0x0000000086b530b0)<br>
[ 186.189716] EtherCAT DEBUG 0: Adding datagram pair with
expected WC 1.<br>
[ 186.189717] EtherCAT 0: Domain0: Logical address
0x00000000, 78 byte, expected working counter 1.<br>
[ 186.189720] EtherCAT 0: Datagram domain0-0-main: Logical
offset 0x00000000, 78 byte, type LWR.<br>
[ 186.189723] EtherCAT DEBUG 0: Stopping master thread.<br>
[ 186.189734] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>
[ 186.189749] EtherCAT 0: Master thread exited.<br>
[ 186.189752] EtherCAT DEBUG 0: FSM datagram is
00000000cfd93c4c.<br>
[ 186.189753] EtherCAT 0: Starting EtherCAT-OP thread.<br>
[ 186.189947] EtherCAT DEBUG 0: Operation thread running with
fsm interval = 4000 us, max data size=45000<br>
[ 186.190049] EtherCAT DEBUG 0: mmap()<br>
[ 186.190063] EtherCAT DEBUG 0: Vma fault, offset = 0, page =
00000000edcde822<br>
[ 186.195501] EtherCAT DEBUG 0: Configuration changed
(aborting state check).<br>
[ 186.195506] EtherCAT WARNING 0: No application time
received up to now, but master already active.<br>
[ 186.195508] EtherCAT DEBUG 0: Requesting OP...<br>
[ 186.203556] EtherCAT DEBUG 0-0: Changing state from PREOP
to OP.<br>
[ 186.203564] EtherCAT DEBUG 0-0: Configuring...<br>
[ 191.215776] EtherCAT ERROR 0-0: Timeout while setting state
INIT</font>.</i><br>
</p>
<p>And this a simple code part for my tests. This doesn't configures
servo drives. Just one slave to see if it goes to OP mode</p>
<p><i><font face="monospace"> if (!(sc_dig_out =
ecrt_master_slave_config(<br>
master, BusCouplerPos, megatec))) {<br>
fprintf(stderr, "Failed to get slave
configuration.\n");<br>
return -1;<br>
}<br>
<br>
printf("Configuring PDOs...\n");<br>
if (ecrt_slave_config_pdos(sc_dig_out, EC_END,
slave_0_syncs)) {<br>
fprintf(stderr, "Failed to configure PDOs.\n");<br>
return -1;<br>
}<br>
<br>
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs))
{<br>
fprintf(stderr, "PDO entry registration failed!\n");<br>
return -1;<br>
}<br>
<br>
printf("Activating master...\n");<br>
if (ecrt_master_activate(master))<br>
return -1;<br>
</font></i></p>
<p>Any ideas? Do you suggest something to try?</p>
<p>Best regards,</p>
<p>Oguz.</p>
<pre class="moz-signature" cols="72">--
Oguz Dilmac
Bilko AS, R&D Manager
====================================
Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 563 00 00
e-mail : <a class="moz-txt-link-abbreviated" href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a>
web site : <a class="moz-txt-link-freetext" href="http://www.bilko-automation.com">http://www.bilko-automation.com</a>
<a class="moz-txt-link-freetext" href="https://www.youtube.com/@LyncaCNC">https://www.youtube.com/@LyncaCNC</a></pre>
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