Thanks for your explain, Graeme. I moved on a little bit, Dmesg as follow:
1489.381676] ec_mini: Starting... [ 1489.381686] EtherCAT: Requesting master 0... [ 1489.381692] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 1489.381695] EtherCAT: Successfully requested master 0. [ 1489.381700] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xf59d2000, send_cb = 0xf8138030, receive_cb = 0xf8138000, cb_data = 0xf59d2000) [ 1489.381703] ec_mini: Registering domain... [ 1489.381706] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf59d2000) [ 1489.381710] EtherCAT DEBUG 0: Created domain 0. [ 1489.381713] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf59d2000) [ 1489.381716] EtherCAT DEBUG 0: Created domain 1. [ 1489.381720] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381723] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000539/0x02200001. [ 1489.381729] EtherCAT DEBUG 0 0:0: Attached slave 0. [ 1489.381735] ec_mini: Configuring PDOs... [ 1489.381740] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdos(sc = 0xf1432000, n_syncs = 4294967295, syncs = 0xf813a000) [ 1489.381745] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 0, dir = 1, watchdog_mode = 2) [ 1489.381748] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 1, dir = 2, watchdog_mode = 2) [ 1489.381752] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 2, dir = 1, watchdog_mode = 1) [ 1489.381755] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf1432000, sync_index = 2) [ 1489.381760] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf1432000, sync_index = 2, pdo_index = 0x1602) [ 1489.381763] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1602. [ 1489.381767] EtherCAT DEBUG 0 0:0: Entry 0x6040:00. [ 1489.381770] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00. [ 1489.381772] EtherCAT DEBUG 0 0:0: Entry 0x6060:00. [ 1489.381776] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf1432000, pdo_index = 0x1602) [ 1489.381782] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 1489.381787] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32) [ 1489.381791] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1602, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8) [ 1489.381795] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf1432000, sync_index = 3, dir = 2, watchdog_mode = 2) [ 1489.381799] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf1432000, sync_index = 3) [ 1489.381802] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf1432000, sync_index = 3, pdo_index = 0x1A02) [ 1489.381805] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A02. [ 1489.381808] EtherCAT DEBUG 0 0:0: Entry 0x6041:00. [ 1489.381811] EtherCAT DEBUG 0 0:0: Entry 0x6061:00. [ 1489.381814] EtherCAT DEBUG 0 0:0: Entry 0x6064:00. [ 1489.381817] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf1432000, pdo_index = 0x1A02) [ 1489.381822] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 1489.381827] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8) [ 1489.381831] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf1432000, pdo_index = 0x1A02, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 1489.381834] ec_mini: Registering PDO entries... [ 1489.381837] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xe55bbf40, regs = 0xf81390a0) [ 1489.381841] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381846] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6040, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null)) [ 1489.381850] EtherCAT DEBUG 0: Domain 0: Added 7 bytes, total 7. [ 1489.381853] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381857] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x60FF, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null)) [ 1489.381861] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381865] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6060, subindex = 0x00, domain = 0xe55bbf40, bit_position = 0x (null)) [ 1489.381868] EtherCAT DEBUG 0: ecrt_domain_reg_pdo_entry_list(domain = 0xe55bbf80, regs = 0xf8139040) [ 1489.381872] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381876] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6041, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null)) [ 1489.381879] EtherCAT DEBUG 0: Domain 1: Added 7 bytes, total 7. [ 1489.381883] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381887] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6064, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null)) [ 1489.381890] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf59d2000, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200001) [ 1489.381894] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf1432000, index = 0x6061, subindex = 0x00, domain = 0xe55bbf80, bit_position = 0x (null)) [ 1489.381897] ec_mini: Activating master... [ 1489.381900] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf59d2000) [ 1489.381906] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1. [ 1489.381909] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 1. [ 1489.381913] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LWR. [ 1489.381916] EtherCAT DEBUG 0: Adding datagram pair with expected WC 1. [ 1489.381920] EtherCAT 0: Domain1: Logical address 0x00000007, 7 byte, expected working counter 1. [ 1489.381923] EtherCAT 0: Datagram domain1-7-main: Logical offset 0x00000007, 7 byte, type LRD. [ 1489.381925] EtherCAT DEBUG 0: Stopping master thread. [ 1489.381941] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 1489.381999] EtherCAT 0: Master thread exited. [ 1489.382005] EtherCAT DEBUG 0: FSM datagram is f59d2420. [ 1489.382009] EtherCAT 0: Starting EtherCAT-OP thread. [ 1489.383753] ec_mini: Starting cyclic sample thread. [ 1489.383761] ec_mini: Started. [ 1489.387224] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 1489.387239] EtherCAT WARNING 0: 2 datagrams UNMATCHED! [ 1489.420045] ec_mini: 1 slave(s). [ 1489.420047] EtherCAT DEBUG 0: Configuration changed. [ 1489.420052] EtherCAT WARNING 0: No app_time received up to now, but master already active. [ 1489.420054] EtherCAT DEBUG 0: Requesting OP... [ 1489.420058] ec_mini: AL states: 0x02. [ 1489.420060] ec_mini: Link is up. [ 1489.420063] ec_mini: AnaIn: State 0x02. [ 1489.420065] ec_mini: AnaIn: online. [ 1489.420068] inputdata = 00000000 [ 1489.420072] inputdata = 00000000 [ 1489.448017] EtherCAT DEBUG 0-0: Changing state from PREOP to OP. [ 1489.448023] EtherCAT DEBUG 0-0: Configuring... [ 1489.468033] EtherCAT DEBUG 0-0: Now in INIT. [ 1489.468041] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [ 1489.484110] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [ 1489.500037] EtherCAT DEBUG 0-0: Clearing DC assignment... [ 1489.516020] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [ 1489.516028] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1 [ 1489.516032] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1 [ 1489.560001] EtherCAT DEBUG 0-0: Now in PREOP. [ 1489.560001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1602. [ 1489.560001] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x60FF:00/32 0x6060:00/8. Entries to map: 0x6040:00/16 0x60FF:00/32 0x6060:00/8 [ 1489.560001] EtherCAT DEBUG 0-0: Setting entry count to zero. [ 1489.560001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00. [ 1489.560001] EtherCAT DEBUG: 00 [ 1489.560001] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.560001] EtherCAT DEBUG: 00 20 2F 02 16 00 00 00 00 00 [ 1489.612014] EtherCAT DEBUG 0-0: Download response: [ 1489.612019] EtherCAT DEBUG: 00 30 62 02 16 00 00 00 00 00 [ 1489.612035] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 1489.612040] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:01. [ 1489.612042] EtherCAT DEBUG: 10 00 40 60 [ 1489.612050] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.612052] EtherCAT DEBUG: 00 20 23 02 16 01 10 00 40 60 [ 1489.660013] EtherCAT DEBUG 0-0: Download response: [ 1489.660018] EtherCAT DEBUG: 00 30 62 02 16 01 10 00 40 60 [ 1489.660034] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 2. [ 1489.660038] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:02. [ 1489.660040] EtherCAT DEBUG: 20 00 FF 60 [ 1489.660047] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.660049] EtherCAT DEBUG: 00 20 23 02 16 02 20 00 FF 60 [ 1489.708005] EtherCAT DEBUG 0-0: Download response: [ 1489.708005] EtherCAT DEBUG: 00 30 62 02 16 02 20 00 FF 60 [ 1489.708005] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 3. [ 1489.708005] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:03. [ 1489.708005] EtherCAT DEBUG: 08 00 60 60 [ 1489.708005] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.708005] EtherCAT DEBUG: 00 20 23 02 16 03 08 00 60 60 [ 1489.756001] EtherCAT DEBUG 0-0: Download response: [ 1489.756001] EtherCAT DEBUG: 00 30 62 02 16 03 08 00 60 60 [ 1489.756001] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3. [ 1489.756001] EtherCAT DEBUG 0-0: Downloading SDO 0x1602:00. [ 1489.756001] EtherCAT DEBUG: 03 [ 1489.756001] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.756001] EtherCAT DEBUG: 00 20 2F 02 16 00 03 00 00 00 [ 1489.804027] EtherCAT DEBUG 0-0: Download response: [ 1489.804034] EtherCAT DEBUG: 00 30 62 02 16 00 03 00 00 00 [ 1489.804049] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1602. [ 1489.804052] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2: [ 1489.804055] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1602. PDOs to assign: 0x1602 [ 1489.804063] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. [ 1489.804067] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. [ 1489.804069] EtherCAT DEBUG: 00 [ 1489.804075] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.804077] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 1489.852015] EtherCAT DEBUG 0-0: Download response: [ 1489.852020] EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 [ 1489.852037] EtherCAT DEBUG 0-0: Assigning PDO 0x1602 at position 1. [ 1489.852041] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01. [ 1489.852043] EtherCAT DEBUG: 02 16 [ 1489.852048] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.852050] EtherCAT DEBUG: 00 20 2B 12 1C 01 02 16 00 00 [ 1489.900007] EtherCAT DEBUG 0-0: Download response: [ 1489.900007] EtherCAT DEBUG: 00 30 62 12 1C 01 02 16 00 00 [ 1489.900007] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. [ 1489.900007] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. [ 1489.900007] EtherCAT DEBUG: 01 [ 1489.900007] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.900007] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 1489.948001] EtherCAT DEBUG 0-0: Download response: [ 1489.948001] EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 [ 1489.948001] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2. [ 1489.948001] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A02. [ 1489.948001] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 [ 1489.948001] EtherCAT DEBUG 0-0: Setting entry count to zero. [ 1489.948001] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00. [ 1489.948001] EtherCAT DEBUG: 00 [ 1489.948001] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.948001] EtherCAT DEBUG: 00 20 2F 02 1A 00 00 00 00 00 [ 1489.996052] EtherCAT DEBUG 0-0: Download response: [ 1489.996060] EtherCAT DEBUG: 00 30 62 02 1A 00 00 00 00 00 [ 1489.996077] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 1489.996082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:01. [ 1489.996084] EtherCAT DEBUG: 10 00 41 60 [ 1489.996093] EtherCAT DEBUG 0-0: Expedited download request: [ 1489.996095] EtherCAT DEBUG: 00 20 23 02 1A 01 10 00 41 60 [ 1490.044002] EtherCAT DEBUG 0-0: Download response: [ 1490.044002] EtherCAT DEBUG: 00 30 62 02 1A 01 10 00 41 60 [ 1490.044002] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 2. [ 1490.044002] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:02. [ 1490.044002] EtherCAT DEBUG: 08 00 61 60 [ 1490.044002] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.044002] EtherCAT DEBUG: 00 20 23 02 1A 02 08 00 61 60 [ 1490.092052] EtherCAT DEBUG 0-0: Download response: [ 1490.092060] EtherCAT DEBUG: 00 30 62 02 1A 02 08 00 61 60 [ 1490.092076] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 3. [ 1490.092082] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:03. [ 1490.092084] EtherCAT DEBUG: 20 00 64 60 [ 1490.092092] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.092094] EtherCAT DEBUG: 00 20 23 02 1A 03 20 00 64 60 [ 1490.140004] EtherCAT DEBUG 0-0: Download response: [ 1490.140004] EtherCAT DEBUG: 00 30 62 02 1A 03 20 00 64 60 [ 1490.140004] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3. [ 1490.140004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A02:00. [ 1490.140004] EtherCAT DEBUG: 03 [ 1490.140004] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.140004] EtherCAT DEBUG: 00 20 2F 02 1A 00 03 00 00 00 [ 1490.188056] EtherCAT DEBUG 0-0: Download response: [ 1490.188064] EtherCAT DEBUG: 00 30 62 02 1A 00 03 00 00 00 [ 1490.188080] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A02. [ 1490.188084] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3: [ 1490.188087] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A02. PDOs to assign: 0x1A02 [ 1490.188097] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. [ 1490.188101] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. [ 1490.188103] EtherCAT DEBUG: 00 [ 1490.188108] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.188110] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 1490.236016] EtherCAT DEBUG 0-0: Download response: [ 1490.236022] EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 [ 1490.236040] EtherCAT DEBUG 0-0: Assigning PDO 0x1A02 at position 1. [ 1490.236044] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01. [ 1490.236046] EtherCAT DEBUG: 02 1A [ 1490.236052] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.236054] EtherCAT DEBUG: 00 20 2B 13 1C 01 02 1A 00 00 [ 1490.284068] EtherCAT DEBUG 0-0: Download response: [ 1490.284076] EtherCAT DEBUG: 00 30 62 13 1C 01 02 1A 00 00 [ 1490.284092] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. [ 1490.284096] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. [ 1490.284098] EtherCAT DEBUG: 01 [ 1490.284104] EtherCAT DEBUG 0-0: Expedited download request: [ 1490.284106] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 1490.332036] EtherCAT DEBUG 0-0: Download response: [ 1490.332044] EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 [ 1490.332063] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3. [ 1490.332071] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 7, Ctrl 0x74, En 1 [ 1490.332075] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 7, Ctrl 0x30, En 1 [ 1490.348024] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 7, PhysAddr 0x1100, SM2, Dir out [ 1490.348031] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000007, Size 7, PhysAddr 0x1400, SM3, Dir in [ 1490.388046] EtherCAT 0: Domain 0: Working counter changed to 1/1. [ 1490.388053] EtherCAT 0: Domain 1: Working counter changed to 1/1. [ 1490.396063] EtherCAT DEBUG 0-0: Now in SAFEOP. [ 1490.420053] EtherCAT DEBUG 0-0: Now in OP. Finished configuration. [ 1490.440036] EtherCAT 0: Slave states on main device: OP. [ 1497.428021] ec_mini: Read Domain: WC 1. [ 1497.428026] ec_mini: Read Domain: State 2. [ 1497.428029] ec_mini: Write Domain: WC 1. [ 1497.428031] ec_mini: Write Domain: State 2. [ 1497.428034] ec_mini: AL states: 0x08. [ 1497.428037] ec_mini: AnaIn: State 0x08. [ 1497.428039] ec_mini: AnaIn: operational. [ 1497.428042] inputdata = 00000650 [ 1497.428046] inputdata = 00000001 [ 1505.436014] inputdata = 00000650 [ 1505.436021] inputdata = 00000001 [ 1513.444059] inputdata = 00000650 [ 1513.444067] inputdata = 00000001 As Highlight shows, this mini example start to do pdo exchange. I refer *to Henry Bausley's *post < http://lists.etherlab.org/pipermail/etherlab-users/2010/000969.html> and his code: void cyclic_task(unsigned long data) { unsigned short inputdata; static unsigned short ctrlword = 0; // receive process data down(&master_sem); ecrt_master_receive(master); #ifdef ENABLE_INPUTS ecrt_domain_process(domainInput); #endif ecrt_domain_process(domainOutput); up(&master_sem); if (counter) { counter--; } else { // do this at 1 Hz counter = FREQUENCY*10;///10; // calculate new process data // blink ^= 0xFFFF; blink *= 2; // check process data state (optional) check_domainInput_state(); // check for master state (optional) check_master_state(); // check for islave configuration state(s) (optional) check_slave_config_states(); if (blink > 0x8000) blink = 1; } // write process data EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword); #ifdef ENABLE_INPUTS inputdata = EC_READ_U16(domainInput_pd + ofs_statusword_coe); if(counter == FREQUENCY*10) printk(KERN_ALERT "inputdata = %08X\n",inputdata); inputdata = EC_READ_U16(domainInput_pd + ofs_feedbackword_coe); if(counter == FREQUENCY*10) printk(KERN_ALERT "inputdata = %08X\n",inputdata); #endif // send process data down(&master_sem); ecrt_domain_queue(domainInput); ecrt_domain_queue(domainOutput); ecrt_master_send(master); up(&master_sem); // restart timer timer.expires += HZ / FREQUENCY; add_timer(&timer); if(ctrlword == 0) ctrlword = 6; else if(ctrlword == 6) ctrlword = 7; else if(ctrlword == 7) ctrlword = 15; } The problem is control word 0x6040 never been updated . EC_WRITE_U16(domainOutput_pd + ofs_ctrlword_coe, ctrlword); it means write failed. So I am trying to figure it out as follow: 1. Should I configure DC and check DC sync? most of time I refer to http://thread.gmane.org/gmane.network.etherlab.user/1335/focus=1346 . and when i start to configure DC as follow code before active master: #if CONFIG_DC printk(KERN_INFO PFX "Config DC...\n"); dc->assignActivate=0x300; dc->sync0Cycle=1000000; dc->sync0Shift=0; dc->sync1Cycle=0; dc->sync1Shift=0; ecrt_slave_config_dc(sc_ana_in,dc->assignActivate,dc->sync0Cycle,dc->sync0Shift,dc->sync1Cycle,dc->sync1Shift); #endif Kernel Oops as George Broz mentioned in the thread. 2. Should I start a real time thread? Since I am using xenomai as a real time kernel I am trying to use example/xenomai , but it can not find libethercat-rtdm. I am appreciated if anyone have any suggestions. Thanks! On Tue, Mar 24, 2015 at 6:00 AM, Graeme Foot <[email protected]> wrote: > Hi, > > > > Firstly, error messages: > > a) see: > http://stackoverflow.com/questions/24975377/kvm-module-verification-failed-signature-and-or-required-key-missing-taintin > or similar > > b) don’t know > > c) Often get a datagram timeout when switching to cyclic operation > > > > > > 1) SDO_ACCESS à sorry, don’t know > > > > 2) Enabling servo motor: > > Unfortunately I don’t think you can just set the control word to 15. You > need to go through a few stages. > > > > a) first if there are any faults make sure they are reset (by setting, > waiting say 100ms, and resetting the faultReset control bit) > > b) set the enableVoltage and quickStop control bits > > c) wait for the readyToSwitchOn status bit > > d) set the switchOn control bit > > e) wait for the switchedOn status bit > > f) set the enableOperation control bit > > g) wait for the operationEnabled status bit > > > > See page 8-21 of the manual (Device Control, Details on Bits 0 to 3). > > > > Once the servo is fully enabled then you should be able to set the > required velocity. One thing of note here is that you control the target > velocity at every time period in cyclic velocity mode and the amp will try > to ramp to that velocity in one time period. So if you want to accelerate > / decelerate nicely you will need to ramp the velocity over time yourself. > > > > > > Graeme. > > >
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