I had the same feeling. But I do not understand why TwinCAT chooses to use other addresses for the PDO sync managers. Nevermind I tried to change the addresses in the TwinCAT configuration to the ones that Etherlab uses and it worked just fine. Therefore I think that the address and length settings of the sync managers are not the problem but the point that Etherlab wants to set them as disabled. I have attached a dump of dmesg from the run.
I assume that Etherlab disables the sync managers because I dont configure any PDOs which is because I dont know the Interface the EL6751 will offer after the configuration. Greetings Stefan Laufmann ----------------------------------------------------- Stefan Laufmann ITPower Solutions GmbH Kolonnenstraße 26 10829 Berlin Tel.: +49 (0)30 6098501-20 Fax: +49 (0)30 46799891 E-Mail: stefan.laufm...@itpower.de Web: www.itpower.de > -----Ursprüngliche Nachricht----- > Von: Gavin Lambert [mailto:gav...@compacsort.com] > Gesendet: Mittwoch, 27. Mai 2015 01:42 > An: Stefan Laufmann; etherlab-users@etherlab.org > Betreff: RE: EL6751: invalid input configuration, wrong physical > address of sync manager > > On 27 May 2015 04:01, quoth Stefan Laufmann: > > I am still working on a running configuration for the EL6751 clamp. > > After analyzing and comparing the network traffic of both TwinCAT and > > EtherLab I finally understood what is causing the problem. > > At least I think I do. > > After sending the startup SDOs and getting the EL6751 slave into > PREOP > > mode the sync managers for buffered access (the PDOs) are configured. > > But TwinCAT sets them to the start addresses 0x1800 > > (Write) and 0x2400 (Read) whereas EtherLab sets 0x1000 (Write) and > > 0x1400 (Read). > > > > Is there a way to influence the addresses for the sync managers out > of > > a kernel module that uses the functions provided by "ecrt.h"? > > As far as I am aware, Etherlab just uses the configuration that the > slave defines itself. (From the SII for the mailboxes and from the > slave's own internal initialisation for the PDOs.) >
[18865.813840] device eth1 entered promiscuous mode [18925.724538] EtherCAT: Master driver 1.5.1 0f7a243b03e4 [18925.724579] EtherCAT: 1 master waiting for devices. [18925.738479] ec_8139too: ec_8139too EtherCAT-capable Fast Ethernet driver 0.9.28, master 1.5.1 0f7a243b03e4 [18925.738508] ec_8139too 0000:09:01.0: PCI->APIC IRQ transform: INT A -> IRQ 19 [18925.739189] EtherCAT: Accepting device 00:50:BF:72:3C:94 for master 0. [18925.739192] ec_8139too: ec0: RealTek RTL8139 at 0xfa9e8000, 00:50:bf:72:3c:94, IRQ 19 [18925.739213] EtherCAT 0: Link state changed to UP. [18925.739234] EtherCAT 0: Starting EtherCAT-IDLE thread. [18925.740104] EtherCAT 0: 2 slave(s) responding. [18925.740106] EtherCAT 0: Slave states: INIT. [18925.740228] EtherCAT 0: Scanning bus. [18925.740609] EtherCAT 0: Master debug level set to 1. [18925.762311] Starting RT-AppCore 1.3-rc3 [18925.762362] Successfully started RT-AppCore [18925.800835] EtherCAT DEBUG 0-1: Slave has the System Time register. [18925.876052] EtherCAT DEBUG 0-1: Unknown category type 0x002B. [18925.876054] EtherCAT DEBUG 0-1: Unknown category type 0x003C. [18925.876056] EtherCAT DEBUG 0-1: Slave is not in the state to do mailbox com (INIT), setting to PREOP. [18925.876057] EtherCAT DEBUG 0-1: Configuring... [18925.876157] EtherCAT DEBUG 0-1: Now in INIT. [18925.876158] EtherCAT DEBUG 0-1: Clearing FMMU configurations... [18925.876226] EtherCAT DEBUG 0-1: Clearing sync manager configurations... [18925.876276] EtherCAT DEBUG 0-1: Clearing DC assignment... [18925.876316] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... [18925.876318] EtherCAT DEBUG 0-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1 [18925.876320] EtherCAT DEBUG 0-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1 [18925.928085] EtherCAT DEBUG 0-1: Now in PREOP. [18925.928086] EtherCAT DEBUG 0-1: Finished configuration. [18925.928087] EtherCAT DEBUG 0-1: Scanning PDO assignment and mapping. [18925.928089] EtherCAT DEBUG 0-1: Reading PDO assignment of SM2. [18925.928091] EtherCAT DEBUG 0-1: Uploading SDO 0x1C12:00. [18925.928092] EtherCAT DEBUG 0-1: Upload request: [18925.928093] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [18925.928673] EtherCAT DEBUG 0-1: Upload response: [18925.928674] EtherCAT DEBUG: 00 30 4F 12 1C 00 00 00 00 00 [18925.928680] EtherCAT DEBUG 0-1: Uploaded data: [18925.928681] EtherCAT DEBUG: 00 [18925.928683] EtherCAT DEBUG 0-1: 0 PDOs assigned. [18925.928684] EtherCAT DEBUG 0-1: Reading PDO assignment of SM3. [18925.928686] EtherCAT DEBUG 0-1: Uploading SDO 0x1C13:00. [18925.928687] EtherCAT DEBUG 0-1: Upload request: [18925.928688] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [18925.929269] EtherCAT DEBUG 0-1: Upload response: [18925.929270] EtherCAT DEBUG: 00 30 4F 13 1C 00 00 00 00 00 [18925.929275] EtherCAT DEBUG 0-1: Uploaded data: [18925.929276] EtherCAT DEBUG: 00 [18925.929278] EtherCAT DEBUG 0-1: 0 PDOs assigned. [18925.929279] EtherCAT DEBUG 0-1: Reading of PDO configuration finished. [18925.929280] EtherCAT 0: Bus scanning completed in 189 ms. [18925.929283] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) [18925.929284] EtherCAT DEBUG 0-1: ec_slave_calc_transmission_delays_rec(delay = 150 ns) [18925.929286] EtherCAT DEBUG 0: Writing system time offsets... [18925.929287] EtherCAT DEBUG 0: No app_time received up to now. [18925.930016] EtherCAT 0: Slave states: INIT, PREOP. [18925.930928] EtherCAT DEBUG 0-0: Changing state from INIT to PREOP (forced). [18925.930931] EtherCAT DEBUG 0-0: Configuring... [18925.931034] EtherCAT DEBUG 0-0: Now in INIT. [18925.931035] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [18925.931102] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [18925.931151] EtherCAT DEBUG 0-0: Clearing DC assignment... [18925.931191] EtherCAT DEBUG 0-0: Slave does not support mailbox communication. [18925.931287] EtherCAT DEBUG 0-0: Now in PREOP. [18925.931288] EtherCAT DEBUG 0-0: Finished configuration. [18925.932151] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced). [18925.932153] EtherCAT DEBUG 0-1: Configuring... [18925.983939] EtherCAT DEBUG 0-1: Now in INIT. [18925.983940] EtherCAT DEBUG 0-1: Clearing FMMU configurations... [18925.984007] EtherCAT DEBUG 0-1: Clearing sync manager configurations... [18925.984055] EtherCAT DEBUG 0-1: Clearing DC assignment... [18925.984101] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... [18925.984103] EtherCAT DEBUG 0-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1 [18925.984105] EtherCAT DEBUG 0-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1 [18926.035915] EtherCAT DEBUG 0-1: Now in PREOP. [18926.035916] EtherCAT DEBUG 0-1: Finished configuration. [18926.035917] EtherCAT DEBUG 0-0: Ready for requests. [18926.035918] EtherCAT DEBUG 0-1: Ready for requests. [18926.036818] EtherCAT 0: Slave states: PREOP. [18926.765064] Initialising FIO for rt_appcore [18926.765074] Reserved char dev for testprojekt, major 248, minor start 0 [18926.765076] Started chardev for testprojekt [18926.765119] Inserting testprojekt. [18927.768244] Inserting application. [18927.768246] testEL6751: Starting... [18927.768247] EtherCAT: Requesting master 0... [18927.768249] EtherCAT DEBUG 0: IDLE -> OPERATION. [18927.768250] EtherCAT: Successfully requested master 0. [18927.768252] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xdc69e000) [18927.768254] EtherCAT DEBUG 0: Created domain 0. [18927.768255] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xdc69e000, alias = 0, position = 0, vendor_id = 0x00000002, product_code = 0x044d2c52) [18927.768257] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000002/0x044D2C52. [18927.768260] EtherCAT DEBUG 0 0:0: Attached slave 0. [18927.768262] testEL6751: Configuring Beckhoff EL6751 ... [18927.768263] testEL6751: Requesting slave configuration for EL6751 ... [18927.768265] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xdc69e000, alias = 0, position = 1, vendor_id = 0x00000002, product_code = 0x1a5f3052) [18927.768266] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000002/0x1A5F3052. [18927.768268] EtherCAT DEBUG 0 0:1: Attached slave 1. [18927.768269] testEL6751: Configure EL6751 using Startup SDOs ... [18927.768270] testEL6751: structure for startup command 0x1C32 initialized [18927.768271] testEL6751: structure for startup command 0x1C33 initialized [18927.768272] testEL6751: structure for startup command 0xF800 initialized [18927.768274] testEL6751: struture for startup command 0x8000 initialized [18927.768275] testEL6751: struture for startup command 0x8001 initialized [18927.768276] testEL6751: struture for startup command 0x8002 initialized [18927.768278] testEL6751: struture for startup command 0x8003 initialized [18927.768279] testEL6751: added SDO to structure [18927.768280] testEL6751: added SDO to structure [18927.768281] testEL6751: added SDO to structure [18927.768282] testEL6751: added SDO to structure [18927.768283] testEL6751: added SDO to structure [18927.768284] testEL6751: added SDO to structure [18927.768285] testEL6751: added SDO to structure [18927.768286] testEL6751: added SDO to structure [18927.768287] testEL6751: added SDO to structure [18927.768288] testEL6751: added SDO to structure [18927.768289] testEL6751: Calling function to pack startup SDO commands into memory. [18927.768291] testEL6751: Packing of structure succeeded. Have 77 bytes now at address: -357079616 [18927.768293] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x1C32, data = 0xeaada1e0, size = 12) [18927.768296] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x1C33, data = 0xea845b00, size = 12) [18927.768298] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0xF800, data = 0xecfecb20, size = 14) [18927.768300] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x8000, data = 0xeab762c0, size = 66) [18927.768302] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x8001, data = 0xed1f8000, size = 44) [18927.768304] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x8002, data = 0xf6727000, size = 30) [18927.768306] EtherCAT DEBUG 0 0:1: ecrt_slave_config_complete_sdo(sc = 0xf6181000, index = 0x8003, data = 0xeab765c0, size = 77) [18927.768308] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xdc69e000) [18927.768310] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0. [18927.768311] EtherCAT DEBUG 0: Stopping master thread. [18927.768315] EtherCAT DEBUG 0: Master IDLE thread exiting... [18927.768320] EtherCAT 0: Master thread exited. [18927.768322] EtherCAT DEBUG 0: FSM datagram is dc69e3e0. [18927.768323] EtherCAT 0: Starting EtherCAT-OP thread. [18927.768339] testEL6751: Initialized. [18927.768341] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250 [18927.768343] Malloc'ed struct app *(eab08800) for rt_app *(fad5fb20) [18927.768344] SignalCOUNT: 0 [18927.768345] ParamCOUNT: 8 [18927.768346] Durchlaufe Paramindizes: 0 [18927.768347] SINGNALINFO-ADRESSE 3979535360 [18927.768348] Zugriff Stuktur PARAM: 0 [18927.768349] Durchlaufe Paramindizes: 1 [18927.768350] SINGNALINFO-ADRESSE 3979536384 [18927.768351] Zugriff Stuktur PARAM: 2 [18927.768352] Durchlaufe Paramindizes: 2 [18927.768353] SINGNALINFO-ADRESSE 3979537408 [18927.768354] Zugriff Stuktur PARAM: 4 [18927.768355] Durchlaufe Paramindizes: 3 [18927.768356] SINGNALINFO-ADRESSE 3976160256 [18927.768357] Zugriff Stuktur PARAM: 6 [18927.768358] Durchlaufe Paramindizes: 4 [18927.768359] SINGNALINFO-ADRESSE 4126578688 [18927.768360] Zugriff Stuktur PARAM: 8 [18927.768361] Durchlaufe Paramindizes: 5 [18927.768362] SINGNALINFO-ADRESSE 4127546368 [18927.768363] Zugriff Stuktur PARAM: 10 [18927.768364] Durchlaufe Paramindizes: 6 [18927.768365] SINGNALINFO-ADRESSE 4130294784 [18927.768366] Zugriff Stuktur PARAM: 12 [18927.768367] Durchlaufe Paramindizes: 7 [18927.768368] SINGNALINFO-ADRESSE 4130293760 [18927.768370] Zugriff Stuktur PARAM: 14 [18927.768371] Stored information for parameter and signal from app: capiEL6751 [18927.768372] rt_var_start() [18927.769411] Reserviere Speicher für cp_app [18927.769413] size: 10484 [18927.769414] Speicher für cp_app reserviert: eaa20000 [18927.769416] Speicher für cp_app reserviert: eaa20000 [18927.769419] Initialising FIO for app_id 0 (testprojekt) [18927.769420] Added char dev for BlockIO, minor 1 (testprojekt) [18927.769432] Application tid 0 running at 500000ns [18927.769436] Successfully registered application "capiEL6751" with RT-AppCore. [18927.782371] EtherCAT DEBUG 0: Configuration changed. [18927.782375] EtherCAT DEBUG 0: Writing system time offsets... [18927.782377] EtherCAT WARNING 0: No app_time received up to now, but master already active. [18927.782380] EtherCAT DEBUG 0: Requesting OP... [18927.784366] EtherCAT DEBUG 0-0: Changing state from PREOP to OP. [18927.784368] EtherCAT DEBUG 0-0: Configuring... [18927.785410] EtherCAT DEBUG 0-0: Now in INIT. [18927.785411] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [18927.785909] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [18927.786409] EtherCAT DEBUG 0-0: Clearing DC assignment... [18927.786908] EtherCAT DEBUG 0-0: Slave does not support mailbox communication. [18927.787908] EtherCAT DEBUG 0-0: Now in PREOP. [18927.787911] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 2, Ctrl 0x00, En 0 [18927.789905] EtherCAT DEBUG 0-0: Now in SAFEOP. [18927.790904] EtherCAT DEBUG 0-0: Now in OP. Finished configuration. [18927.792359] EtherCAT DEBUG 0-1: Changing state from PREOP to OP. [18927.792361] EtherCAT DEBUG 0-1: Configuring... [18927.844852] EtherCAT DEBUG 0-1: Now in INIT. [18927.844853] EtherCAT DEBUG 0-1: Clearing FMMU configurations... [18927.845351] EtherCAT DEBUG 0-1: Clearing sync manager configurations... [18927.845851] EtherCAT DEBUG 0-1: Clearing DC assignment... [18927.846350] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... [18927.846352] EtherCAT DEBUG 0-1: SM0: Addr 0x1800, Size 558, Ctrl 0x26, En 1 [18927.846354] EtherCAT DEBUG 0-1: SM1: Addr 0x1A2E, Size 558, Ctrl 0x22, En 1 [18927.899298] EtherCAT DEBUG 0-1: Now in PREOP. [18927.899301] EtherCAT DEBUG 0-1: Downloading SDO 0x1C32. [18927.899302] EtherCAT DEBUG: 03 00 01 00 00 09 3D 00 00 00 00 00 [18927.899308] EtherCAT DEBUG 0-1: Normal download request: [18927.899309] EtherCAT DEBUG: 00 20 31 32 1C 00 0C 00 00 00 03 00 01 00 00 09 [18927.899316] EtherCAT DEBUG: 3D 00 00 00 00 00 [18927.901296] EtherCAT DEBUG 0-1: Download response: [18927.901297] EtherCAT DEBUG: 00 30 60 32 1C 00 0C 00 00 00 [18927.901303] EtherCAT DEBUG 0-1: Downloading SDO 0x1C33. [18927.901304] EtherCAT DEBUG: 03 00 22 00 00 00 00 00 00 9F 24 00 [18927.901310] EtherCAT DEBUG 0-1: Normal download request: [18927.901310] EtherCAT DEBUG: 00 20 31 33 1C 00 0C 00 00 00 03 00 22 00 00 00 [18927.901318] EtherCAT DEBUG: 00 00 00 9F 24 00 [18927.903294] EtherCAT DEBUG 0-1: Download response: [18927.903295] EtherCAT DEBUG: 00 30 60 33 1C 00 0C 00 00 00 [18927.903301] EtherCAT DEBUG 0-1: Downloading SDO 0xF800. [18927.903302] EtherCAT DEBUG: 0A 00 7F 02 80 00 1E 00 01 00 10 00 64 00 [18927.903308] EtherCAT DEBUG 0-1: Normal download request: [18927.903309] EtherCAT DEBUG: 00 20 31 00 F8 00 0E 00 00 00 0A 00 7F 02 80 00 [18927.903316] EtherCAT DEBUG: 1E 00 01 00 10 00 64 00 [18927.911286] EtherCAT DEBUG 0-1: Download response: [18927.911287] EtherCAT DEBUG: 00 30 60 00 F8 00 0E 00 00 00 [18927.911293] EtherCAT DEBUG 0-1: Downloading SDO 0x8000. [18927.911294] EtherCAT DEBUG: 2B 00 20 00 00 00 00 00 00 00 00 00 00 00 00 00 [18927.911301] EtherCAT DEBUG: 00 00 00 00 91 01 0F 00 75 01 00 00 00 00 10 00 [18927.911308] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [18927.911315] EtherCAT DEBUG: 00 00 00 00 64 00 03 00 D0 07 00 00 02 03 4B 00 [18927.911322] EtherCAT DEBUG: 0A 00 [18927.911324] EtherCAT DEBUG 0-1: Normal download request: [18927.911325] EtherCAT DEBUG: 00 20 31 00 80 00 42 00 00 00 2B 00 20 00 00 00 [18927.911332] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 91 01 [18927.911339] EtherCAT DEBUG: 0F 00 75 01 00 00 00 00 10 00 00 00 00 00 00 00 [18927.911346] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00 [18927.911354] EtherCAT DEBUG: 03 00 D0 07 00 00 02 03 4B 00 0A 00 [18927.914284] EtherCAT DEBUG 0-1: Download response: [18927.914284] EtherCAT DEBUG: 00 30 60 00 80 00 42 00 00 00 [18927.914290] EtherCAT DEBUG 0-1: Downloading SDO 0x8001. [18927.914291] EtherCAT DEBUG: 03 00 01 00 00 00 FF 01 C0 01 00 00 00 00 00 18 [18927.914298] EtherCAT DEBUG: 01 00 00 00 FF 05 C0 02 00 00 00 00 01 18 01 00 [18927.914305] EtherCAT DEBUG: 00 00 FF 05 C0 03 00 00 00 00 02 18 [18927.914311] EtherCAT DEBUG 0-1: Normal download request: [18927.914312] EtherCAT DEBUG: 00 20 31 01 80 00 2C 00 00 00 03 00 01 00 00 00 [18927.914319] EtherCAT DEBUG: FF 01 C0 01 00 00 00 00 00 18 01 00 00 00 FF 05 [18927.914326] EtherCAT DEBUG: C0 02 00 00 00 00 01 18 01 00 00 00 FF 05 C0 03 [18927.914333] EtherCAT DEBUG: 00 00 00 00 02 18 [18927.916781] EtherCAT DEBUG 0-1: Download response: [18927.916782] EtherCAT DEBUG: 00 30 60 01 80 00 2C 00 00 00 [18927.916787] EtherCAT DEBUG 0-1: Downloading SDO 0x8002. [18927.916788] EtherCAT DEBUG: 02 00 00 00 00 00 FF 01 40 02 00 00 00 00 00 14 [18927.916795] EtherCAT DEBUG: 00 00 00 00 FF 05 40 03 00 00 00 00 01 14 [18927.916802] EtherCAT DEBUG 0-1: Normal download request: [18927.916803] EtherCAT DEBUG: 00 20 31 02 80 00 1E 00 00 00 02 00 00 00 00 00 [18927.916810] EtherCAT DEBUG: FF 01 40 02 00 00 00 00 00 14 00 00 00 00 FF 05 [18927.916817] EtherCAT DEBUG: 40 03 00 00 00 00 01 14 [18927.919279] EtherCAT DEBUG 0-1: Download response: [18927.919280] EtherCAT DEBUG: 00 30 60 02 80 00 1E 00 00 00 [18927.919285] EtherCAT DEBUG 0-1: Downloading SDO 0x8003. [18927.919286] EtherCAT DEBUG: 0A 00 00 18 01 04 00 C0 01 00 00 00 18 02 01 00 [18927.919294] EtherCAT DEBUG: FF 01 18 01 04 00 C0 02 00 00 01 18 02 01 00 FF [18927.919301] EtherCAT DEBUG: 02 18 01 04 00 C0 03 00 00 02 18 02 01 00 FF 00 [18927.919308] EtherCAT DEBUG: 14 01 04 00 40 02 00 00 00 14 02 01 00 FF 01 14 [18927.919315] EtherCAT DEBUG: 01 04 00 40 03 00 00 01 14 02 01 00 FF [18927.919321] EtherCAT DEBUG 0-1: Normal download request: [18927.919322] EtherCAT DEBUG: 00 20 31 03 80 00 4D 00 00 00 0A 00 00 18 01 04 [18927.919329] EtherCAT DEBUG: 00 C0 01 00 00 00 18 02 01 00 FF 01 18 01 04 00 [18927.919337] EtherCAT DEBUG: C0 02 00 00 01 18 02 01 00 FF 02 18 01 04 00 C0 [18927.919344] EtherCAT DEBUG: 03 00 00 02 18 02 01 00 FF 00 14 01 04 00 40 02 [18927.919351] EtherCAT DEBUG: 00 00 00 14 02 01 00 FF 01 14 01 04 00 40 03 00 [18927.919358] EtherCAT DEBUG: 00 01 14 02 01 00 FF [18927.921776] EtherCAT DEBUG 0-1: Download response: [18927.921777] EtherCAT DEBUG: 00 30 60 03 80 00 4D 00 00 00 [18927.921784] EtherCAT DEBUG 0-1: SM2: Addr 0x1000, Size 0, Ctrl 0x26, En 0 [18927.921785] EtherCAT DEBUG 0-1: SM3: Addr 0x1400, Size 0, Ctrl 0x22, En 0 [18927.930268] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [18927.930768] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration". [18927.931767] EtherCAT 0-1: Acknowledged state PREOP. [18927.933199] EtherCAT 0: Slave states: PREOP, OP.
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Description: S/MIME cryptographic signature
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