Hello Richard and Jeroen,
I did what you suggested and recorded some debug output. The Kernel messages
concerning my slave directly after insmod are in relmess.txt . The debug level
was 1.
Everything else is below.
Thanks for the hints!
Jasper
set_param(gcb,'debug','2')
====== EtherCAT slave tb/win/Generic Slave =======
- - EtherCATInfo.Descriptions.Devices.Device.Sm: - - - -
- EtherCATInfo.Descriptions.Devices.Device.Dc.OpMode: - - -
- - - EtherCATInfo.Descriptions.Devices.Device.RxPdo(1): - -
- - - - - - - -
EtherCATInfo.Descriptions.Devices.Device.TxPdo(1): - - - -
- - - - - - - - -
EtherCATInfo.Descriptions.Devices.Device.TxPdo(2):
ethercat config -p9
0:9 0x00000002/0x1a243052 9 OP
ethercat domains
Domain0: LogBaseAddr 0x00000000, Size 76, WorkingCounter 9/9
Domain1: LogBaseAddr 0x0000004c, Size 145, WorkingCounter 8/8
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0: Creating slave configuration
for 0:9, 0x00000002/0x1A243052.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Attached slave 9.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: ecrt_slave_config_pdos(sc =
0xf557d000, n_syncs = 4294967295, syncs = 0xf894eaa0)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_sync_manager(sc = 0xf557d000, sync_index = 2, dir = 1,
watchdog_mode = 0)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_assign_clear(sc = 0xf557d000, sync_index = 2)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_assign_add(sc = 0xf557d000, sync_index = 2, pdo_index =
0x1600)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Loading default mapping for
PDO 0x1600.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Found PDO name "RxPDO-Map".
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_clear(sc = 0xf557d000, pdo_index = 0x1600)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x01, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x02, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x03, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 8)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 5)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x04, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x05, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1600,
entry_index = 0x7000, entry_subindex = 0x06, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_sync_manager(sc = 0xf557d000, sync_index = 3, dir = 2,
watchdog_mode = 0)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_assign_clear(sc = 0xf557d000, sync_index = 3)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_assign_add(sc = 0xf557d000, sync_index = 3, pdo_index =
0x1A03)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Loading default mapping for
PDO 0x1A03.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:02.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x0000:00.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x0000:00.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x1800:09.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x1800:07.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0E.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0F.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0A.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0B.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0C.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x10F4:0D.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_clear(sc = 0xf557d000, pdo_index = 0x1A03)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x02, entry_bit_length = 2)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 3)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x1800, entry_subindex = 0x09, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x1800, entry_subindex = 0x07, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0E, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0F, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0A, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0B, entry_bit_length = 32)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0C, entry_bit_length = 32)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A03,
entry_index = 0x10F4, entry_subindex = 0x0D, entry_bit_length = 32)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_assign_add(sc = 0xf557d000, sync_index = 3, pdo_index =
0x1A00)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Loading default mapping for
PDO 0x1A00.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Found PDO name "TxPDO-Map".
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:01.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:02.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:03.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:04.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:05.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:06.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:07.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:08.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x0000:00.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x0000:00.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:09.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: Entry 0x6000:0A.
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_clear(sc = 0xf557d000, pdo_index = 0x1A00)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 32)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 32)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 64)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 8)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 6)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_pdo_mapping_add(sc = 0xf557d000, pdo_index = 0x1A00,
entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: ecrt_slave_config_dc(sc =
0xf557d000, assign_activate = 0x0320, sync0_cycle = 125000, sync0_shift =
62500, sync1_cycle = 0, sync1_shift = 0
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x01, domain = 0xecb601c0, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x02, domain = 0xecb601c0, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x03, domain = 0xecb601c0, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x04, domain = 0xecb601c0, bit_position = 0xf8957908)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x05, domain = 0xecb601c0, bit_position = 0xf895790c)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x7000, subindex =
0x06, domain = 0xecb601c0, bit_position = 0xf8957910)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x02, domain = 0xecb60980, bit_position = 0xf89578e8)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x1800, subindex =
0x09, domain = 0xecb60980, bit_position = 0xf89578ec)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x1800, subindex =
0x07, domain = 0xecb60980, bit_position = 0xf89578f0)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0E, domain = 0xecb60980, bit_position = 0xf89578f4)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0F, domain = 0xecb60980, bit_position = 0xf89578f8)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0A, domain = 0xecb60980, bit_position = 0xf89578fc)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0B, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0C, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x10F4, subindex =
0x0D, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x01, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x02, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x03, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x04, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x05, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x06, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x07, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x08, domain = 0xecb60980, bit_position = 0x00000000)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x09, domain = 0xecb60980, bit_position = 0xf8957900)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9:
ecrt_slave_config_reg_pdo_entry(sc = 0xf557d000, index = 0x6000, subindex =
0x0A, domain = 0xecb60980, bit_position = 0xf8957904)
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: FMMU: LogAddr 0x0000000C,
Size 26, PhysAddr 0x1200, SM2, Dir out
Nov 14 10:01:49 MPT67 kernel: EtherCAT DEBUG 0 0:9: FMMU: LogAddr 0x00000064,
Size 72, PhysAddr 0x1800, SM3, Dir in
Nov 14 10:02:11 MPT67 kernel: EtherCAT DEBUG 0 0:9: FMMU: LogAddr 0x0000000C,
Size 26, PhysAddr 0x1200, SM2, Dir out
Nov 14 10:02:11 MPT67 kernel: EtherCAT DEBUG 0 0:9: FMMU: LogAddr 0x00000064,
Size 72, PhysAddr 0x1800, SM3, Dir in
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 1 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x1a243052" RevisionNo="#x00100000">EL6692</Type>
<Name><![CDATA[EL6692 EtherCAT Bridge-Klemme (Prim�r)]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="256" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="256" />
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x24" DefaultSize="0" />
<Sm Enable="1" StartAddress="#x1800" ControlByte="#x20" DefaultSize="20" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>RxPDO-Map</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>64</BitLen>
<Name>xabs</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>64</BitLen>
<Name>yabs</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>3</SubIndex>
<BitLen>64</BitLen>
<Name>zabs</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>8</BitLen>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>5</BitLen>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>start</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>stop</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>6</SubIndex>
<BitLen>1</BitLen>
<Name>load</Name>
<DataType>BOOL</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a03</Index>
<Name>TxPDO-Map External Sync Compact</Name>
<Entry>
<Index>#x10f4</Index>
<SubIndex>2</SubIndex>
<BitLen>2</BitLen>
<Name>SubIndex 002</Name>
<DataType>BIT2</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>6</BitLen>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>3</BitLen>
</Entry>
<Entry>
<Index>#x1800</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO toggle</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x1800</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO state</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>14</SubIndex>
<BitLen>1</BitLen>
<Name>Control value update toggle</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>15</SubIndex>
<BitLen>1</BitLen>
<Name>Time stamp update toggle</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>10</SubIndex>
<BitLen>1</BitLen>
<Name>External device not connected</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>11</SubIndex>
<BitLen>32</BitLen>
<Name>Internal time stamp</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>12</SubIndex>
<BitLen>32</BitLen>
<Name>External time stamp</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x10f4</Index>
<SubIndex>13</SubIndex>
<BitLen>32</BitLen>
<Name>Control Value for DC Master Clock</Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>TxPDO-Map</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name>state</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<Name>errid</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>64</BitLen>
<Name>xpos</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>64</BitLen>
<Name>xvelo</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>5</SubIndex>
<BitLen>64</BitLen>
<Name>ypos</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>6</SubIndex>
<BitLen>64</BitLen>
<Name>yvelo</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>64</BitLen>
<Name>zpos</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>8</SubIndex>
<BitLen>64</BitLen>
<Name>zvelo</Name>
<DataType>DOUBLE</DataType>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>8</BitLen>
</Entry>
<Entry>
<Index>#x0000</Index>
<BitLen>6</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>itpstatus</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>10</SubIndex>
<BitLen>1</BitLen>
<Name>error</Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
<Dc Unknown64Bit="1" UnknownFRMW="1">
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</Desc>
<AssignActivate>#x0320</AssignActivate>
<CycleTimeSync0>125000</CycleTimeSync0>
<ShiftTimeSync0>62500</ShiftTimeSync0>
<CycleTimeSync1>0</CycleTimeSync1>
<ShiftTimeSync1>0</ShiftTimeSync1>
</OpMode>
</Dc>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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