Hello, Debug 2: ec_mini: Starting... EtherCAT: Requesting master 0... EtherCAT DEBUG: IDLE -> OPERATION. EtherCAT: Successfully requested master 0. EtherCAT DEBUG: ecrt_master_callbacks(master = 0xd7f12000, request_cb = 0xdeab7009, release_cb = 0xdeab7000, cb_data = 0x0) ec_mini: Registering domain... EtherCAT DEBUG: ecrt_master_create_domain(master = 0xd7f12000) EtherCAT DEBUG: Created domain 0. EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: Creating slave configuration for 0:0, 0x00000044/0x00000001. EtherCAT DEBUG: Attached slave 0 to config 0:0. ec_mini: Configuring Pdos... EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xd12fec00, n_syncs = 4294967295, syncs = 0xdeab83e0) EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd12fec00, sync_index = 2, dir = 1) EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd12fec00, sync_index = 2) EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd12fec00, sync_index = 2, pdo_index = 0x1600) EtherCAT DEBUG: Loading default mapping for Pdo 0x1600 in config 0:0. EtherCAT DEBUG: Found Pdo name "1. RxPDO". EtherCAT DEBUG: Entry 0x2000:01. EtherCAT DEBUG: Entry 0x2000:02. EtherCAT DEBUG: Entry 0x2000:03. EtherCAT DEBUG: Entry 0x2000:04. EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd12fec00, pdo_index = 0x1600) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x01, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x02, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x03, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1600, entry_index = 0x2000, entry_subindex = 0x04, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc = 0xd12fec00, sync_index = 3, dir = 2) EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc = 0xd12fec00, sync_index = 3) EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc = 0xd12fec00, sync_index = 3, pdo_index = 0x1A00) EtherCAT DEBUG: Loading default mapping for Pdo 0x1A00 in config 0:0. EtherCAT DEBUG: Found Pdo name "1. TxPDO". EtherCAT DEBUG: Entry 0x3000:01. EtherCAT DEBUG: Entry 0x3000:02. EtherCAT DEBUG: Entry 0x3000:03. EtherCAT DEBUG: Entry 0x3000:04. EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc = 0xd12fec00, pdo_index = 0x1A00) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x01, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x02, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x03, entry_bit_length = 8) EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc = 0xd12fec00, pdo_index = 0x1A00, entry_index = 0x3000, entry_subindex = 0x04, entry_bit_length = 8) ec_mini: Creating Sdo requests... EtherCAT DEBUG: ecrt_slave_config_create_sdo_request(sc = 0xd12fec00, index = 0x3000, subindex = 0x02, size = 1) ec_mini: Registering Pdo entries... EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain = 0xc445e0c0, regs = 0xdeab73c0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x01, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: Domain 0: Added 4 bytes, total 4. EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x02, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x03, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x3000, subindex = 0x04, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x01, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: Domain 0: Added 4 bytes, total 8. EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x02, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x03, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_master_slave_config(master = 0xd7f12000, alias = 0, position = 0, vendor_id = 68, product_code = 1) EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc = 0xd12fec00, index = 0x2000, subindex = 0x04, domain = 0xc445e0c0, bit_position = 0x0) EtherCAT DEBUG: ecrt_domain_external_memory(domain = 0xc445e0c0, mem = 0xd85269b0) ec_mini: Activating master... EtherCAT DEBUG: ecrt_master_activate(master = 0xd7f12000) EtherCAT: Domain0: Logical address 0x00000000, 8 byte, expected working counter 3. EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 8 byte, type LRW. EtherCAT DEBUG: Stopping master thread. EtherCAT DEBUG: Master IDLE thread exiting... EtherCAT: Master thread exited. EtherCAT DEBUG: FSM datagram is d7f122b8. EtherCAT: Starting EtherCAT-OP thread. ec_mini: Starting cyclic sample thread. ec_mini: Started. EtherCAT DEBUG: Operation thread running. ec_mini: Read info1 100 ec_mini: 1 slave(s). ec_mini: AL states: 0x02. ec_mini: Link is up. ec_mini: AnaIn: State 0x02. ec_mini: AnaIn: online. EtherCAT WARNING: 1 datagram UNMATCHED! EtherCAT DEBUG: Changing state of slave 0 from PREOP to OP. EtherCAT DEBUG: Configuring slave 0... EtherCAT DEBUG: Slave 0 is now in INIT. EtherCAT DEBUG: Clearing FMMU configurations of slave 0... EtherCAT DEBUG: Configuring mailbox sync managers of slave 0. EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1 EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1 EtherCAT DEBUG: Slave 0 is now in PREOP. EtherCAT DEBUG: Pdo assignment for SM0 is already configured correctly. EtherCAT DEBUG: Pdo assignment for SM1 is already configured correctly. EtherCAT DEBUG: Mapping of Pdo 0x1600 is already configured correctly. EtherCAT DEBUG: Pdo assignment for SM2 is already configured correctly. EtherCAT DEBUG: Mapping of Pdo 0x1A00 is already configured correctly. EtherCAT DEBUG: Pdo assignment for SM3 is already configured correctly. EtherCAT DEBUG: SM2: Addr 0x1100, Size 4, Ctrl 0x74, En 1 EtherCAT DEBUG: SM3: Addr 0x1358, Size 4, Ctrl 0x30, En 1 EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 4, PhysAddr 0x1358, SM3, Dir in EtherCAT DEBUG: FMMU: LogAddr 0x00000004, Size 4, PhysAddr 0x1100, SM2, Dir out EtherCAT DEBUG: Slave 0 is now in SAFEOP. EtherCAT DEBUG: Slave 0 is now in OP. EtherCAT DEBUG: Finished configuration of slave 0. EtherCAT DEBUG: Processing Sdo request for slave 0... EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0. EtherCAT DEBUG: Upload request: EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00 EtherCAT DEBUG: Upload response: EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00 EtherCAT DEBUG: Uploaded data: EtherCAT DEBUG: 83 EtherCAT DEBUG: Finished Sdo request for slave 0. EtherCAT: Slave states: OP. ec_mini: Read info1 100 ec_mini: AL states: 0x08. ec_mini: AnaIn: State 0x08. ec_mini: AnaIn: operational. ec_mini: Sdo value: 0x6983 EtherCAT DEBUG: Processing Sdo request for slave 0... EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0. EtherCAT DEBUG: Upload request: EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00 EtherCAT DEBUG: Upload response: EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00 EtherCAT DEBUG: Uploaded data: EtherCAT DEBUG: 83 EtherCAT DEBUG: Finished Sdo request for slave 0. ec_mini: Read info1 100 ec_mini: Sdo value: 0x6983 EtherCAT DEBUG: Processing Sdo request for slave 0... EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0. EtherCAT DEBUG: Upload request: EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00 EtherCAT DEBUG: Upload response: EtherCAT DEBUG: 00 30 4F 00 30 02 83 00 00 00 EtherCAT DEBUG: Uploaded data: EtherCAT DEBUG: 83 EtherCAT DEBUG: Finished Sdo request for slave 0. ec_mini: Read info1 100 ec_mini: Sdo value: 0x6983 EtherCAT DEBUG: Processing Sdo request for slave 0... EtherCAT DEBUG: Uploading Sdo 0x3000:02 from slave 0. EtherCAT DEBUG: Upload request: EtherCAT DEBUG: 00 20 40 00 30 02 00 00 00 00
Best regards, Li.peng _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
