Hello Florian
I made the following changes:
- I removed the sdo requests, and try to get the counter values only via pdo
- I added outputs to the pdo-entries
The pdo-entries now are:
static ec_pdo_entry_info_t cCI70A_pdo_entries[] = {
{0x7020, 1, 1}, //
{0x7020, 2, 1}, //
{0x7020, 3, 1}, //
{0x7020, 4, 1}, //
{0x0000, 0, 12}, //
{0x7020, 17, 32}, //
{0x6020, 1, 1}, // output function enabled
{0x6020, 2, 1}, // status of output
{0x6020, 3, 1}, // set counter done
{0x6020, 4, 1}, // counter inhibited
{0x6020, 5, 1}, // status of input UD
{0x6020, 6, 1}, // status of input clock
{0x0000, 0, 7}, //
{0x1C32, 32, 1}, //
{0x0000, 0, 1}, //
{0x1802, 9, 1}, //
{0x6020, 17, 32} // counter value
};
static ec_pdo_info_t cCI70A_pdos[] = {
{0x1602, 6, cCI70A_pdo_entries},
{0x1A02, 11, cCI70A_pdo_entries + 6}
// {0x1602, 5, cCI70A_pdo_entries},
// {0x1A02, 7, cCI70A_pdo_entries + 5}
};
static ec_sync_info_t cCI70A_syncs[] = {
{2, EC_DIR_OUTPUT, 1, cCI70A_pdos},
{3, EC_DIR_INPUT, 1, cCI70A_pdos + 1},
{0xff}
};
As you can see in the following log, the slave puts a counter-value in the Ecat
frame, but it is allways
the counter value from the start. The value never changes until i restart the
master.
Then i get once a new value where i can see, that the slave has counted my
inputs before i made the restart.
<7>[ 143.980385] EtherCAT DEBUG: sending frame:
<7>[ 143.980401] EtherCAT DEBUG: c30b301e:
<4>[ 143.980415] 20 10 0A CC 00 00 00 00 06 80 00 00 00 00 00 00 <---- i
set the counter value to 0 in the sending frame
<7>[ 143.980472] EtherCAT DEBUG: 00 00 00 00 07 CD 00 00 30 01 02 00 00 00 00
00
<7>[ 143.980533] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
<7>[ 143.981037] EtherCAT DEBUG: Received frame:
<7>[ 143.981083] EtherCAT DEBUG: c3373420:
<4>[ 143.981099] 20 10 0A CC 00 00 00 00 06 80 00 00 00 80 6A FF <-----
the slave puts a value into the frame
<7>[ 143.981156] EtherCAT DEBUG: FF FF 01 00 07 CD 02 00 30 01 02 00 00 00 0A
00
<7>[ 143.981219] EtherCAT DEBUG: 02 00 00 00 00 00 00 00 00 00 00 00 00 00
<7>[ 143.981300] EtherCAT DEBUG: ec_master_send_datagrams
<7>[ 143.981321] EtherCAT DEBUG: adding datagram 0xCE
<7>[ 143.981341] EtherCAT DEBUG: frame size: 46
<7>[ 143.981359] EtherCAT DEBUG: sending frame:
<7>[ 143.981376] EtherCAT DEBUG: c302d81e:
<4>[ 143.981390] 12 10 0A CE 00 00 00 00 06 00 00 00 00 00 00 00
<7>[ 143.981447] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00
<7>[ 143.981508] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
<7>[ 143.982043] EtherCAT DEBUG: Received frame:
<7>[ 143.982091] EtherCAT DEBUG: c3373420:
<4>[ 143.982106] 12 10 0A CE 00 00 00 00 06 00 00 00 00 80 6A FF
<----- the slave puts a value into the frame
<7>[ 143.982163] EtherCAT DEBUG: FF FF 01 00 00 00 00 00 00 00 00 00 00 00 00
00
<7>[ 143.982224] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00
I attached the startup log-file.
Although i added outputs to the pdo-entries, the communication still goes via
LRD intstead of LRW commands (log file Line 354)
In line 379 i can read once a counter value change.
If i could read any further change i can see it in the log file, but there are
none.
The only thing that looks strange for me in the log file is in line 17:
EtherCAT WARNING: Unknown category type 0x003C in slave 1.
I think the communication between master and slave works, but there is any
trigger missing to make the slave
put the actual counter value into the ecat frames.
Best regards
Günter Hammer
What do I wrong in my postings, because every posting starts with a new thread
in the archieve and is not attached to the older ones ?
<6>[ 65.767489] EtherCAT: Master driver 1.4.0-rc3 stable r1483
<6>[ 65.809423] EtherCAT: 1 master waiting for devices.
<4>[ 67.189295] fs_enet driver: compiled at Dec 3 2008 15:59:26
<4>[ 67.189385] EtherCAT driver for eth0(00:12:ad:00:11:53)
<6>[ 67.216173] EC BB MII Bus: probed
<4>[ 67.258661] Platform device registred "ec0".
<6>[ 67.258847] ec_fs_enet_probe:ec_fs_enet: is called.(c39e9260)
<6>[ 67.259122] EtherCAT: Accepting device 00:12:AD:00:11:53 for master 0.
<6>[ 67.260458] EtherCAT: Starting EtherCAT-IDLE thread.
<7>[ 67.279197] EtherCAT DEBUG: Idle thread running.
<4>[ 67.281748] Driver was registred.
<6>[ 70.262177] EtherCAT: Link state changed to UP.
<4>[ 70.262224] generic_adjust_link(617)->link is on
<6>[ 70.263136] EtherCAT: 2 slave(s) responding.
<6>[ 70.263178] EtherCAT: Slave states: INIT.
<6>[ 70.263295] EtherCAT: Scanning bus.
<4>[ 70.542449] EtherCAT WARNING: Unknown category type 0x003C in slave 1.
<7>[ 70.542493] EtherCAT DEBUG: Slave 1 is not in the state to do mailbox
com, setting to PREOP.
<7>[ 70.542522] EtherCAT DEBUG: Configuring slave 1...
<7>[ 70.542707] EtherCAT DEBUG: Slave 1 is now in INIT.
<7>[ 70.542739] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
<7>[ 70.542848] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
<7>[ 70.542896] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
<7>[ 70.542924] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
<7>[ 70.543658] EtherCAT DEBUG: Slave 1 is now in PREOP.
<7>[ 70.543694] EtherCAT DEBUG: Finished configuration of slave 1.
<7>[ 70.543718] EtherCAT DEBUG: Scanning Pdo assignment and mapping of slave
1.
<7>[ 70.543745] EtherCAT DEBUG: Reading Pdo assignment of SM2.
<7>[ 70.543778] EtherCAT DEBUG: Uploading Sdo 0x1C12:00 from slave 1.
<7>[ 70.543805] EtherCAT DEBUG: Upload request:
<7>[ 70.543824] EtherCAT DEBUG: c302b806:
<4>[ 70.543839] 00 20 40 12 1C 00 00 00 00 00
<7>[ 70.544679] EtherCAT DEBUG: Upload response:
<7>[ 70.544726] EtherCAT DEBUG: c302b806:
<4>[ 70.544741] 00 30 4F 12 1C 00 01 00 00 00
<7>[ 70.544793] EtherCAT DEBUG: Uploaded data:
<7>[ 70.544809] EtherCAT DEBUG: c3320420:
<4>[ 70.544824] 01
<7>[ 70.544840] EtherCAT DEBUG: 1 Pdos assigned.
<7>[ 70.544863] EtherCAT DEBUG: Uploading Sdo 0x1C12:01 from slave 1.
<7>[ 70.544889] EtherCAT DEBUG: Upload request:
<7>[ 70.544906] EtherCAT DEBUG: c302b806:
<4>[ 70.544921] 00 20 40 12 1C 01 00 00 00 00
<7>[ 70.545914] EtherCAT DEBUG: Upload response:
<7>[ 70.546044] EtherCAT DEBUG: c302b806:
<4>[ 70.546066] 00 30 4B 12 1C 01 02 16 00 00
<7>[ 70.546120] EtherCAT DEBUG: Uploaded data:
<7>[ 70.546136] EtherCAT DEBUG: c3320420:
<4>[ 70.546151] 02 16
<7>[ 70.546172] EtherCAT DEBUG: Pdo 0x1602.
<7>[ 70.546198] EtherCAT DEBUG: Uploading Sdo 0x1602:00 from slave 1.
<7>[ 70.546226] EtherCAT DEBUG: Upload request:
<7>[ 70.546243] EtherCAT DEBUG: c302b806:
<4>[ 70.546257] 00 20 40 02 16 00 00 00 00 00
<7>[ 70.547169] EtherCAT DEBUG: Upload response:
<7>[ 70.547216] EtherCAT DEBUG: c302b806:
<4>[ 70.547231] 00 30 4F 02 16 00 06 00 00 00
<7>[ 70.547280] EtherCAT DEBUG: Uploaded data:
<7>[ 70.547297] EtherCAT DEBUG: c33203e0:
<4>[ 70.547311] 06
<7>[ 70.547328] EtherCAT DEBUG: 6 Pdo entries mapped.
<7>[ 70.547353] EtherCAT DEBUG: Uploading Sdo 0x1602:01 from slave 1.
<7>[ 70.547381] EtherCAT DEBUG: Upload request:
<7>[ 70.547397] EtherCAT DEBUG: c302b806:
<4>[ 70.547412] 00 20 40 02 16 01 00 00 00 00
<7>[ 70.548296] EtherCAT DEBUG: Upload response:
<7>[ 70.548343] EtherCAT DEBUG: c302b806:
<4>[ 70.548358] 00 30 43 02 16 01 01 01 20 70
<7>[ 70.548408] EtherCAT DEBUG: Uploaded data:
<7>[ 70.548424] EtherCAT DEBUG: c33203e0:
<4>[ 70.548438] 01 01 20 70
<7>[ 70.548473] EtherCAT DEBUG: Pdo entry 0x7020:01, 1 bit, "???".
<7>[ 70.548502] EtherCAT DEBUG: Uploading Sdo 0x1602:02 from slave 1.
<7>[ 70.548529] EtherCAT DEBUG: Upload request:
<7>[ 70.548546] EtherCAT DEBUG: c302b806:
<4>[ 70.548560] 00 20 40 02 16 02 00 00 00 00
<7>[ 70.549385] EtherCAT DEBUG: Upload response:
<7>[ 70.549432] EtherCAT DEBUG: c302b806:
<4>[ 70.549447] 00 30 43 02 16 02 01 02 20 70
<7>[ 70.549493] EtherCAT DEBUG: Uploaded data:
<7>[ 70.549509] EtherCAT DEBUG: c33203e0:
<4>[ 70.549524] 01 02 20 70
<7>[ 70.549560] EtherCAT DEBUG: Pdo entry 0x7020:02, 1 bit, "???".
<7>[ 70.549588] EtherCAT DEBUG: Uploading Sdo 0x1602:03 from slave 1.
<7>[ 70.549615] EtherCAT DEBUG: Upload request:
<7>[ 70.549632] EtherCAT DEBUG: c302b806:
<4>[ 70.549646] 00 20 40 02 16 03 00 00 00 00
<7>[ 70.550514] EtherCAT DEBUG: Upload response:
<7>[ 70.550561] EtherCAT DEBUG: c302b806:
<4>[ 70.550576] 00 30 43 02 16 03 01 03 20 70
<7>[ 70.550622] EtherCAT DEBUG: Uploaded data:
<7>[ 70.550638] EtherCAT DEBUG: c33203e0:
<4>[ 70.550652] 01 03 20 70
<7>[ 70.550688] EtherCAT DEBUG: Pdo entry 0x7020:03, 1 bit, "???".
<7>[ 70.550716] EtherCAT DEBUG: Uploading Sdo 0x1602:04 from slave 1.
<7>[ 70.550743] EtherCAT DEBUG: Upload request:
<7>[ 70.550761] EtherCAT DEBUG: c302b806:
<4>[ 70.550775] 00 20 40 02 16 04 00 00 00 00
<7>[ 70.551661] EtherCAT DEBUG: Upload response:
<7>[ 70.551708] EtherCAT DEBUG: c302b806:
<4>[ 70.551723] 00 30 43 02 16 04 01 04 20 70
<7>[ 70.551768] EtherCAT DEBUG: Uploaded data:
<7>[ 70.551785] EtherCAT DEBUG: c33203e0:
<4>[ 70.551799] 01 04 20 70
<7>[ 70.551835] EtherCAT DEBUG: Pdo entry 0x7020:04, 1 bit, "???".
<7>[ 70.551863] EtherCAT DEBUG: Uploading Sdo 0x1602:05 from slave 1.
<7>[ 70.551890] EtherCAT DEBUG: Upload request:
<7>[ 70.551907] EtherCAT DEBUG: c302b806:
<4>[ 70.551921] 00 20 40 02 16 05 00 00 00 00
<7>[ 70.552868] EtherCAT DEBUG: Upload response:
<7>[ 70.552907] EtherCAT DEBUG: c302b806:
<4>[ 70.552921] 00 30 43 02 16 05 0C 00 00 00
<7>[ 70.553064] EtherCAT DEBUG: Uploaded data:
<7>[ 70.553086] EtherCAT DEBUG: c33203e0:
<4>[ 70.553100] 0C 00 00 00
<7>[ 70.553141] EtherCAT DEBUG: Pdo entry 0x0000:00, 12 bit, "Gap".
<7>[ 70.553169] EtherCAT DEBUG: Uploading Sdo 0x1602:06 from slave 1.
<7>[ 70.553197] EtherCAT DEBUG: Upload request:
<7>[ 70.553214] EtherCAT DEBUG: c302b806:
<4>[ 70.553229] 00 20 40 02 16 06 00 00 00 00
<7>[ 70.554183] EtherCAT DEBUG: Upload response:
<7>[ 70.554230] EtherCAT DEBUG: c302b806:
<4>[ 70.554245] 00 30 43 02 16 06 20 11 20 70
<7>[ 70.554291] EtherCAT DEBUG: Uploaded data:
<7>[ 70.554307] EtherCAT DEBUG: c33203e0:
<4>[ 70.554321] 20 11 20 70
<7>[ 70.554357] EtherCAT DEBUG: Pdo entry 0x7020:11, 32 bit, "???".
<7>[ 70.554416] EtherCAT DEBUG: Reading Pdo assignment of SM3.
<7>[ 70.554442] EtherCAT DEBUG: Uploading Sdo 0x1C13:00 from slave 1.
<7>[ 70.554469] EtherCAT DEBUG: Upload request:
<7>[ 70.554486] EtherCAT DEBUG: c302b806:
<4>[ 70.554500] 00 20 40 13 1C 00 00 00 00 00
<7>[ 70.555383] EtherCAT DEBUG: Upload response:
<7>[ 70.555430] EtherCAT DEBUG: c302b806:
<4>[ 70.555445] 00 30 4F 13 1C 00 01 00 00 00
<7>[ 70.555490] EtherCAT DEBUG: Uploaded data:
<7>[ 70.555507] EtherCAT DEBUG: c3320420:
<4>[ 70.555521] 01
<7>[ 70.555537] EtherCAT DEBUG: 1 Pdos assigned.
<7>[ 70.555559] EtherCAT DEBUG: Uploading Sdo 0x1C13:01 from slave 1.
<7>[ 70.555586] EtherCAT DEBUG: Upload request:
<7>[ 70.555603] EtherCAT DEBUG: c302b806:
<4>[ 70.555617] 00 20 40 13 1C 01 00 00 00 00
<7>[ 70.556484] EtherCAT DEBUG: Upload response:
<7>[ 70.556531] EtherCAT DEBUG: c302b806:
<4>[ 70.556546] 00 30 4B 13 1C 01 02 1A 00 00
<7>[ 70.556591] EtherCAT DEBUG: Uploaded data:
<7>[ 70.556608] EtherCAT DEBUG: c3320420:
<4>[ 70.556622] 02 1A
<7>[ 70.556644] EtherCAT DEBUG: Pdo 0x1A02.
<7>[ 70.556670] EtherCAT DEBUG: Uploading Sdo 0x1A02:00 from slave 1.
<7>[ 70.556696] EtherCAT DEBUG: Upload request:
<7>[ 70.556713] EtherCAT DEBUG: c302b806:
<4>[ 70.556727] 00 20 40 02 1A 00 00 00 00 00
<7>[ 70.557563] EtherCAT DEBUG: Upload response:
<7>[ 70.557609] EtherCAT DEBUG: c302b806:
<4>[ 70.557624] 00 30 4F 02 1A 00 0B 00 00 00
<7>[ 70.557669] EtherCAT DEBUG: Uploaded data:
<7>[ 70.557685] EtherCAT DEBUG: c33203e0:
<4>[ 70.557700] 0B
<7>[ 70.557716] EtherCAT DEBUG: 11 Pdo entries mapped.
<7>[ 70.557741] EtherCAT DEBUG: Uploading Sdo 0x1A02:01 from slave 1.
<7>[ 70.557768] EtherCAT DEBUG: Upload request:
<7>[ 70.557785] EtherCAT DEBUG: c302b806:
<4>[ 70.557799] 00 20 40 02 1A 01 00 00 00 00
<7>[ 70.558686] EtherCAT DEBUG: Upload response:
<7>[ 70.558734] EtherCAT DEBUG: c302b806:
<4>[ 70.558749] 00 30 43 02 1A 01 01 01 20 60
<7>[ 70.558794] EtherCAT DEBUG: Uploaded data:
<7>[ 70.558810] EtherCAT DEBUG: c33203e0:
<4>[ 70.558824] 01 01 20 60
<7>[ 70.558860] EtherCAT DEBUG: Pdo entry 0x6020:01, 1 bit, "???".
<7>[ 70.558888] EtherCAT DEBUG: Uploading Sdo 0x1A02:02 from slave 1.
<7>[ 70.558915] EtherCAT DEBUG: Upload request:
<7>[ 70.559028] EtherCAT DEBUG: c302b806:
<4>[ 70.559051] 00 20 40 02 1A 02 00 00 00 00
<7>[ 70.560036] EtherCAT DEBUG: Upload response:
<7>[ 70.560081] EtherCAT DEBUG: c302b806:
<4>[ 70.560096] 00 30 43 02 1A 02 01 02 20 60
<7>[ 70.560142] EtherCAT DEBUG: Uploaded data:
<7>[ 70.560159] EtherCAT DEBUG: c33203e0:
<4>[ 70.560173] 01 02 20 60
<7>[ 70.560209] EtherCAT DEBUG: Pdo entry 0x6020:02, 1 bit, "???".
<7>[ 70.560237] EtherCAT DEBUG: Uploading Sdo 0x1A02:03 from slave 1.
<7>[ 70.560265] EtherCAT DEBUG: Upload request:
<7>[ 70.560282] EtherCAT DEBUG: c302b806:
<4>[ 70.560296] 00 20 40 02 1A 03 00 00 00 00
<7>[ 70.561198] EtherCAT DEBUG: Upload response:
<7>[ 70.561245] EtherCAT DEBUG: c302b806:
<4>[ 70.561260] 00 30 43 02 1A 03 01 03 20 60
<7>[ 70.561306] EtherCAT DEBUG: Uploaded data:
<7>[ 70.561322] EtherCAT DEBUG: c33203e0:
<4>[ 70.561336] 01 03 20 60
<7>[ 70.561372] EtherCAT DEBUG: Pdo entry 0x6020:03, 1 bit, "???".
<7>[ 70.561400] EtherCAT DEBUG: Uploading Sdo 0x1A02:04 from slave 1.
<7>[ 70.561427] EtherCAT DEBUG: Upload request:
<7>[ 70.561445] EtherCAT DEBUG: c302b806:
<4>[ 70.561459] 00 20 40 02 1A 04 00 00 00 00
<7>[ 70.562337] EtherCAT DEBUG: Upload response:
<7>[ 70.562384] EtherCAT DEBUG: c302b806:
<4>[ 70.562399] 00 30 43 02 1A 04 01 04 20 60
<7>[ 70.562445] EtherCAT DEBUG: Uploaded data:
<7>[ 70.562462] EtherCAT DEBUG: c33203e0:
<4>[ 70.562476] 01 04 20 60
<7>[ 70.562511] EtherCAT DEBUG: Pdo entry 0x6020:04, 1 bit, "???".
<7>[ 70.562539] EtherCAT DEBUG: Uploading Sdo 0x1A02:05 from slave 1.
<7>[ 70.562566] EtherCAT DEBUG: Upload request:
<7>[ 70.562584] EtherCAT DEBUG: c302b806:
<4>[ 70.562598] 00 20 40 02 1A 05 00 00 00 00
<7>[ 70.563514] EtherCAT DEBUG: Upload response:
<7>[ 70.563561] EtherCAT DEBUG: c302b806:
<4>[ 70.563576] 00 30 43 02 1A 05 01 05 20 60
<7>[ 70.563621] EtherCAT DEBUG: Uploaded data:
<7>[ 70.563638] EtherCAT DEBUG: c33203e0:
<4>[ 70.563652] 01 05 20 60
<7>[ 70.563687] EtherCAT DEBUG: Pdo entry 0x6020:05, 1 bit, "???".
<7>[ 70.563716] EtherCAT DEBUG: Uploading Sdo 0x1A02:06 from slave 1.
<7>[ 70.563743] EtherCAT DEBUG: Upload request:
<7>[ 70.563760] EtherCAT DEBUG: c302b806:
<4>[ 70.563774] 00 20 40 02 1A 06 00 00 00 00
<7>[ 70.564662] EtherCAT DEBUG: Upload response:
<7>[ 70.564709] EtherCAT DEBUG: c302b806:
<4>[ 70.564724] 00 30 43 02 1A 06 01 06 20 60
<7>[ 70.564769] EtherCAT DEBUG: Uploaded data:
<7>[ 70.564786] EtherCAT DEBUG: c33203e0:
<4>[ 70.564800] 01 06 20 60
<7>[ 70.564836] EtherCAT DEBUG: Pdo entry 0x6020:06, 1 bit, "???".
<7>[ 70.564864] EtherCAT DEBUG: Uploading Sdo 0x1A02:07 from slave 1.
<7>[ 70.564891] EtherCAT DEBUG: Upload request:
<7>[ 70.564909] EtherCAT DEBUG: c302b806:
<4>[ 70.564923] 00 20 40 02 1A 07 00 00 00 00
<7>[ 70.565889] EtherCAT DEBUG: Upload response:
<7>[ 70.565928] EtherCAT DEBUG: c302b806:
<4>[ 70.566036] 00 30 43 02 1A 07 07 00 00 00
<7>[ 70.566089] EtherCAT DEBUG: Uploaded data:
<7>[ 70.566106] EtherCAT DEBUG: c33203e0:
<4>[ 70.566120] 07 00 00 00
<7>[ 70.566161] EtherCAT DEBUG: Pdo entry 0x0000:00, 7 bit, "Gap".
<7>[ 70.566189] EtherCAT DEBUG: Uploading Sdo 0x1A02:08 from slave 1.
<7>[ 70.566217] EtherCAT DEBUG: Upload request:
<7>[ 70.566234] EtherCAT DEBUG: c302b806:
<4>[ 70.566249] 00 20 40 02 1A 08 00 00 00 00
<7>[ 70.567208] EtherCAT DEBUG: Upload response:
<7>[ 70.567255] EtherCAT DEBUG: c302b806:
<4>[ 70.567271] 00 30 43 02 1A 08 01 20 32 1C
<7>[ 70.567316] EtherCAT DEBUG: Uploaded data:
<7>[ 70.567333] EtherCAT DEBUG: c33203e0:
<4>[ 70.567347] 01 20 32 1C
<7>[ 70.567383] EtherCAT DEBUG: Pdo entry 0x1C32:20, 1 bit, "???".
<7>[ 70.567411] EtherCAT DEBUG: Uploading Sdo 0x1A02:09 from slave 1.
<7>[ 70.567438] EtherCAT DEBUG: Upload request:
<7>[ 70.567455] EtherCAT DEBUG: c302b806:
<4>[ 70.567469] 00 20 40 02 1A 09 00 00 00 00
<7>[ 70.568357] EtherCAT DEBUG: Upload response:
<7>[ 70.568404] EtherCAT DEBUG: c302b806:
<4>[ 70.568419] 00 30 43 02 1A 09 01 00 00 00
<7>[ 70.568464] EtherCAT DEBUG: Uploaded data:
<7>[ 70.568480] EtherCAT DEBUG: c33203e0:
<4>[ 70.568494] 01 00 00 00
<7>[ 70.568535] EtherCAT DEBUG: Pdo entry 0x0000:00, 1 bit, "Gap".
<7>[ 70.568563] EtherCAT DEBUG: Uploading Sdo 0x1A02:0A from slave 1.
<7>[ 70.568590] EtherCAT DEBUG: Upload request:
<7>[ 70.568607] EtherCAT DEBUG: c302b806:
<4>[ 70.568622] 00 20 40 02 1A 0A 00 00 00 00
<7>[ 70.569510] EtherCAT DEBUG: Upload response:
<7>[ 70.569557] EtherCAT DEBUG: c302b806:
<4>[ 70.569572] 00 30 43 02 1A 0A 01 09 02 18
<7>[ 70.569617] EtherCAT DEBUG: Uploaded data:
<7>[ 70.569634] EtherCAT DEBUG: c33203e0:
<4>[ 70.569648] 01 09 02 18
<7>[ 70.569684] EtherCAT DEBUG: Pdo entry 0x1802:09, 1 bit, "???".
<7>[ 70.569712] EtherCAT DEBUG: Uploading Sdo 0x1A02:0B from slave 1.
<7>[ 70.569739] EtherCAT DEBUG: Upload request:
<7>[ 70.569757] EtherCAT DEBUG: c302b806:
<4>[ 70.569771] 00 20 40 02 1A 0B 00 00 00 00
<7>[ 70.570666] EtherCAT DEBUG: Upload response:
<7>[ 70.570713] EtherCAT DEBUG: c302b806:
<4>[ 70.570728] 00 30 43 02 1A 0B 20 11 20 60
<7>[ 70.570774] EtherCAT DEBUG: Uploaded data:
<7>[ 70.570791] EtherCAT DEBUG: c33203e0:
<4>[ 70.570805] 20 11 20 60
<7>[ 70.570841] EtherCAT DEBUG: Pdo entry 0x6020:11, 32 bit, "???".
<7>[ 70.570913] EtherCAT DEBUG: Reading of Pdo configuration finished.
<6>[ 70.571044] EtherCAT: Bus scanning completed in 308 ms.
<6>[ 70.572112] EtherCAT: Slave states: INIT, PREOP.
<7>[ 70.573123] EtherCAT DEBUG: Changing state of slave 0 from INIT to PREOP
(forced).
<7>[ 70.573168] EtherCAT DEBUG: Configuring slave 0...
<7>[ 70.573336] EtherCAT DEBUG: Slave 0 is now in INIT.
<7>[ 70.573369] EtherCAT DEBUG: Clearing FMMU configurations of slave 0...
<7>[ 70.573477] EtherCAT DEBUG: Slave 0 does not support mailbox
communication.
<7>[ 70.573651] EtherCAT DEBUG: Slave 0 is now in PREOP.
<7>[ 70.573684] EtherCAT DEBUG: Finished configuration of slave 0.
<6>[ 70.575097] EtherCAT: Slave states: PREOP.
<6>[ 72.403470] EtherCAT: Requesting master 0...
<7>[ 72.403495] EtherCAT DEBUG: IDLE -> OPERATION.
<6>[ 72.403520] EtherCAT: Successfully requested master 0.
<7>[ 73.404096] EtherCAT DEBUG: ecrt_master_callbacks(master = 0xc3029800,
request_cb = 0xc50c8050, release_cb = 0xc50c8058, cb_data = 0x0)
<7>[ 73.404170] EtherCAT DEBUG: ecrt_master_create_domain(master = 0xc3029800)
<7>[ 73.404201] EtherCAT DEBUG: Created domain 0.
<7>[ 80.117825] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc3029800,
alias = 0, position = 1, vendor_id = 4781, product_code = 98447442)
<7>[ 80.117866] EtherCAT DEBUG: Creating slave configuration for 0:1,
0x000012AD/0x05DE3052.
<7>[ 80.117908] EtherCAT DEBUG: Attached slave 1 to config 0:1.
<7>[ 80.118133] EtherCAT DEBUG: ecrt_slave_config_pdos(sc = 0xc3b23400,
n_syncs = 4294967295, syncs = 0xc50cb758)
<7>[ 80.118168] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xc3b23400, sync_index = 2, dir = 1)
<7>[ 80.118201] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc =
0xc3b23400, sync_index = 2)
<7>[ 80.118243] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc =
0xc3b23400, sync_index = 2, pdo_index = 0x1602)
<7>[ 80.118280] EtherCAT DEBUG: Loading default mapping for Pdo 0x1602 in
config 0:1.
<7>[ 80.118314] EtherCAT DEBUG: Entry 0x7020:01.
<7>[ 80.118333] EtherCAT DEBUG: Entry 0x7020:02.
<7>[ 80.118351] EtherCAT DEBUG: Entry 0x7020:03.
<7>[ 80.118369] EtherCAT DEBUG: Entry 0x7020:04.
<7>[ 80.118386] EtherCAT DEBUG: Entry 0x0000:00.
<7>[ 80.118404] EtherCAT DEBUG: Entry 0x7020:11.
<7>[ 80.118428] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc =
0xc3b23400, pdo_index = 0x1602)
<7>[ 80.118473] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x01,
entry_bit_length = 1)
<7>[ 80.118525] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x02,
entry_bit_length = 1)
<7>[ 80.118576] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x03,
entry_bit_length = 1)
<7>[ 80.118626] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x04,
entry_bit_length = 1)
<7>[ 80.118677] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x0000, entry_subindex = 0x00,
entry_bit_length = 12)
<7>[ 80.118727] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1602, entry_index = 0x7020, entry_subindex = 0x11,
entry_bit_length = 32)
<7>[ 80.118774] EtherCAT DEBUG: ecrt_slave_config_sync_manager(sc =
0xc3b23400, sync_index = 3, dir = 2)
<7>[ 80.118805] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_clear(sc =
0xc3b23400, sync_index = 3)
<7>[ 80.118844] EtherCAT DEBUG: ecrt_slave_config_pdo_assign_add(sc =
0xc3b23400, sync_index = 3, pdo_index = 0x1A02)
<7>[ 80.118878] EtherCAT DEBUG: Loading default mapping for Pdo 0x1A02 in
config 0:1.
<7>[ 80.118916] EtherCAT DEBUG: Entry 0x6020:01.
<7>[ 80.119034] EtherCAT DEBUG: Entry 0x6020:02.
<7>[ 80.119059] EtherCAT DEBUG: Entry 0x6020:03.
<7>[ 80.119077] EtherCAT DEBUG: Entry 0x6020:04.
<7>[ 80.119095] EtherCAT DEBUG: Entry 0x6020:05.
<7>[ 80.119113] EtherCAT DEBUG: Entry 0x6020:06.
<7>[ 80.119131] EtherCAT DEBUG: Entry 0x0000:00.
<7>[ 80.119149] EtherCAT DEBUG: Entry 0x1C32:20.
<7>[ 80.119166] EtherCAT DEBUG: Entry 0x0000:00.
<7>[ 80.119184] EtherCAT DEBUG: Entry 0x1802:09.
<7>[ 80.119202] EtherCAT DEBUG: Entry 0x6020:11.
<7>[ 80.119226] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_clear(sc =
0xc3b23400, pdo_index = 0x1A02)
<7>[ 80.119274] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x01,
entry_bit_length = 1)
<7>[ 80.119328] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x02,
entry_bit_length = 1)
<7>[ 80.119378] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x03,
entry_bit_length = 1)
<7>[ 80.119429] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x04,
entry_bit_length = 1)
<7>[ 80.119480] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x05,
entry_bit_length = 1)
<7>[ 80.119530] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x06,
entry_bit_length = 1)
<7>[ 80.119581] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00,
entry_bit_length = 7)
<7>[ 80.119631] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x1C32, entry_subindex = 0x20,
entry_bit_length = 1)
<7>[ 80.119682] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x0000, entry_subindex = 0x00,
entry_bit_length = 1)
<7>[ 80.119732] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x1802, entry_subindex = 0x09,
entry_bit_length = 1)
<7>[ 80.119783] EtherCAT DEBUG: ecrt_slave_config_pdo_mapping_add(sc =
0xc3b23400, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x11,
entry_bit_length = 32)
<7>[ 80.119851] EtherCAT DEBUG: ecrt_domain_reg_pdo_entry_list(domain =
0xc3034360, regs = 0xc3034460)
<7>[ 80.119888] EtherCAT DEBUG: ecrt_master_slave_config(master = 0xc3029800,
alias = 0, position = 1, vendor_id = 4781, product_code = 98447442)
<7>[ 80.119935] EtherCAT DEBUG: ecrt_slave_config_reg_pdo_entry(sc =
0xc3b23400, index = 0x6020, subindex = 0x11, domain = 0xc3034360, bit_position
= 0xc3320e80)
<7>[ 80.120073] EtherCAT DEBUG: Domain 0: Added 6 bytes, total 6.
<7>[ 80.120129] EtherCAT DEBUG: ecrt_master_activate(master = 0xc3029800)
<6>[ 80.120177] EtherCAT: Domain0: Logical address 0x00000000, 6 byte,
expected working counter 1.
<6>[ 80.120213] EtherCAT: Datagram domain0-0: Logical offset 0x00000000, 6
byte, type LRD.
<7>[ 80.120241] EtherCAT DEBUG: Stopping master thread.
<7>[ 80.135622] EtherCAT DEBUG: Master IDLE thread exiting...
<6>[ 80.135790] EtherCAT: Master thread exited.
<7>[ 80.135856] EtherCAT DEBUG: FSM datagram is c3029b54.
<6>[ 80.135885] EtherCAT: Starting EtherCAT-OP thread.
<7>[ 80.139694] EtherCAT DEBUG: Operation thread running.
<7>[ 80.144196] EtherCAT DEBUG: Changing state of slave 1 from PREOP to OP.
<7>[ 80.144286] EtherCAT DEBUG: Configuring slave 1...
<7>[ 80.148090] EtherCAT DEBUG: Slave 1 is now in INIT.
<7>[ 80.148178] EtherCAT DEBUG: Clearing FMMU configurations of slave 1...
<7>[ 80.150138] EtherCAT DEBUG: Configuring mailbox sync managers of slave 1.
<7>[ 80.150248] EtherCAT DEBUG: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
<7>[ 80.150280] EtherCAT DEBUG: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1
<7>[ 80.156091] EtherCAT DEBUG: Slave 1 is now in PREOP.
<7>[ 80.156196] EtherCAT DEBUG: Pdo assignment for SM0 is already configured
correctly.
<7>[ 80.156228] EtherCAT DEBUG: Pdo assignment for SM1 is already configured
correctly.
<7>[ 80.157864] EtherCAT DEBUG: Mapping of Pdo 0x1602 is already configured
correctly.
<7>[ 80.158149] EtherCAT DEBUG: Pdo assignment for SM2 is already configured
correctly.
<7>[ 80.159813] EtherCAT DEBUG: Mapping of Pdo 0x1A02 is already configured
correctly.
<7>[ 80.159916] EtherCAT DEBUG: Pdo assignment for SM3 is already configured
correctly.
<7>[ 80.160182] EtherCAT DEBUG: SM2: Addr 0x1100, Size 6, Ctrl 0x24, En 1
<7>[ 80.160226] EtherCAT DEBUG: SM3: Addr 0x1180, Size 6, Ctrl 0x20, En 1
<7>[ 80.162166] EtherCAT DEBUG: FMMU: LogAddr 0x00000000, Size 6, PhysAddr
0x1180, SM3, Dir in
<6>[ 80.167052] EtherCAT: Domain 0: Working counter changed to 1/1.
<4>[ 80.167151] EcKApp: -> new CI-Data uij 0 uiOff 0 pu8DomData c3320bc2 Val
ffffff6a
<7>[ 80.169188] EtherCAT DEBUG: Slave 1 is now in SAFEOP.
<7>[ 80.173093] EtherCAT DEBUG: Slave 1 is now in OP.
<7>[ 80.173179] EtherCAT DEBUG: Finished configuration of slave 1.
<6>[ 80.175175] EtherCAT: Slave states: PREOP, OP.
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