Hello,

I can not solve this problem and I hope someone can give me a clue to continue.


I have some modules from Gantner (Q.bloxx-EC A107, Q.bloxx-EC A101), but I can not read any value with my application working with the Etherlab master (1.5.2). For the configuration I used the ESI file from Gantner, mixed with the configuration from the TwinCAT (config file attached at the end of this mail). When I start my application, all modules goes to OPerational mode, but I can not read any value with my application (I don't have any problem with a lot of Beckhoff modules), but if try to read an instant value with the 'ethercat' tool I'm able to do it:

ethercat upload -p 1 -t [uint32/int32/float] 0x6000 0x01

Any idea about what is happening?

Thank you in advance

Log starting master:
[  845.121468] EtherCAT: Requesting master 0...
[  845.121547] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  845.121550] EtherCAT: Successfully requested master 0.
[ 845.121641] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xf5532000)
[  845.121644] EtherCAT DEBUG 0: Created domain 0.
[ 845.121654] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 0, vendor_id = 0x0000050a, product_code = 0x00000043) [ 845.121658] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000050A/0x00000043.
[  845.121662] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 845.121673] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 1, vendor_id = 0x0000050a, product_code = 0x0000bb81) [ 845.121676] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x0000050A/0x0000BB81.
[  845.121679] EtherCAT DEBUG 0 0:1: Attached slave 1.
[ 845.121696] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xf7985800, sync_index = 0, dir = 1, watchdog_mode = 1701275503) [ 845.121704] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xf7985800, sync_index = 1, dir = 1, watchdog_mode = 1734831980) [ 845.121712] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xf7985800, sync_index = 2, dir = 1, watchdog_mode = 1042434369) [ 845.121721] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xf7985800, sync_index = 2) [ 845.121731] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 2, pdo_index = 0x1600) [ 845.121734] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600. [ 845.121737] EtherCAT DEBUG 0 0:1: Found PDO name "OutMap: Variable 1". [ 845.121745] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 2, pdo_index = 0x1601) [ 845.121748] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1601. [ 845.121751] EtherCAT DEBUG 0 0:1: Found PDO name "OutMap: Variable 2". [ 845.121758] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 2, pdo_index = 0x1602) [ 845.121761] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1602. [ 845.121764] EtherCAT DEBUG 0 0:1: Found PDO name "OutMap: Variable 3". [ 845.121772] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 2, pdo_index = 0x1603) [ 845.121775] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1603. [ 845.121777] EtherCAT DEBUG 0 0:1: Found PDO name "OutMap: Variable 4". [ 845.121785] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0xf7985800, sync_index = 3, dir = 2, watchdog_mode = 1162093117) [ 845.121792] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0xf7985800, sync_index = 3) [ 845.121802] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 3, pdo_index = 0x1A00) [ 845.121805] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00.
[  845.121807] EtherCAT DEBUG 0 0:1: Found PDO name "InMap: Variable 1".
[  845.121810] EtherCAT DEBUG 0 0:1: Entry 0x6000:01.
[ 845.121819] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985800, pdo_index = 0x1A00) [ 845.121828] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985800, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 32) [ 845.121837] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 3, pdo_index = 0x1A01) [ 845.121840] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A01.
[  845.121843] EtherCAT DEBUG 0 0:1: Found PDO name "InMap: Variable 2".
[  845.121846] EtherCAT DEBUG 0 0:1: Entry 0x6010:01.
[ 845.121853] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985800, pdo_index = 0x1A01) [ 845.121862] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985800, pdo_index = 0x1A01, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 32) [ 845.121870] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 3, pdo_index = 0x1A02) [ 845.121873] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A02.
[  845.121875] EtherCAT DEBUG 0 0:1: Found PDO name "InMap: Variable 3".
[  845.121878] EtherCAT DEBUG 0 0:1: Entry 0x6020:01.
[ 845.121885] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985800, pdo_index = 0x1A02) [ 845.121893] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985800, pdo_index = 0x1A02, entry_index = 0x6020, entry_subindex = 0x01, entry_bit_length = 32) [ 845.121902] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0xf7985800, sync_index = 3, pdo_index = 0x1A03) [ 845.121905] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A03.
[  845.121908] EtherCAT DEBUG 0 0:1: Found PDO name "InMap: Variable 4".
[  845.121911] EtherCAT DEBUG 0 0:1: Entry 0x6030:01.
[ 845.121918] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985800, pdo_index = 0x1A03) [ 845.121926] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985800, pdo_index = 0x1A03, entry_index = 0x6030, entry_subindex = 0x01, entry_bit_length = 32) [ 845.121934] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 2, vendor_id = 0x0000050a, product_code = 0x0000a412) [ 845.121938] EtherCAT DEBUG 0: Creating slave configuration for 0:2, 0x0000050A/0x0000A412.
[  845.121941] EtherCAT DEBUG 0 0:2: Attached slave 2.
[ 845.121951] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0xf7985c00, sync_index = 0, dir = 1, watchdog_mode = 1635131500) [ 845.121959] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0xf7985c00, sync_index = 1, dir = 1, watchdog_mode = 1735355439) [ 845.121967] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0xf7985c00, sync_index = 2, dir = 1, watchdog_mode = 574449005) [ 845.121975] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0xf7985c00, sync_index = 2) [ 845.121983] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0xf7985c00, sync_index = 2, pdo_index = 0x1600) [ 845.121986] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1600. [ 845.121989] EtherCAT DEBUG 0 0:2: Found PDO name "OutMap: Variable 1". [ 845.121996] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0xf7985c00, sync_index = 2, pdo_index = 0x1601) [ 845.121999] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1601. [ 845.122002] EtherCAT DEBUG 0 0:2: Found PDO name "OutMap: Variable 2". [ 845.122009] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0xf7985c00, sync_index = 3, dir = 2, watchdog_mode = 171844173) [ 845.122017] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0xf7985c00, sync_index = 3) [ 845.122025] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0xf7985c00, sync_index = 3, pdo_index = 0x1A00) [ 845.122028] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1A00.
[  845.122031] EtherCAT DEBUG 0 0:2: Found PDO name "InMap: Variable 1".
[  845.122034] EtherCAT DEBUG 0 0:2: Entry 0x6000:01.
[ 845.122041] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985c00, pdo_index = 0x1A00) [ 845.122049] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985c00, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 32) [ 845.122057] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0xf7985c00, sync_index = 3, pdo_index = 0x1A01) [ 845.122060] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1A01.
[  845.122063] EtherCAT DEBUG 0 0:2: Found PDO name "InMap: Variable 2".
[  845.122066] EtherCAT DEBUG 0 0:2: Entry 0x6010:01.
[ 845.122072] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0xf7985c00, pdo_index = 0x1A01) [ 845.122081] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0xf7985c00, pdo_index = 0x1A01, entry_index = 0x6010, entry_subindex = 0x01, entry_bit_length = 32) [ 845.122090] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 1, vendor_id = 0x0000050a, product_code = 0x0000bb81) [ 845.122100] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985800, index = 0x6000, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c)
[  845.122105] EtherCAT DEBUG 0: Domain 0: Added 16 bytes, total 16.
[ 845.122112] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 1, vendor_id = 0x0000050a, product_code = 0x0000bb81) [ 845.122120] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985800, index = 0x6010, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c) [ 845.122128] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 1, vendor_id = 0x0000050a, product_code = 0x0000bb81) [ 845.122136] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985800, index = 0x6020, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c) [ 845.122144] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 1, vendor_id = 0x0000050a, product_code = 0x0000bb81) [ 845.122152] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985800, index = 0x6030, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c) [ 845.122160] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 2, vendor_id = 0x0000050a, product_code = 0x0000a412) [ 845.122168] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985c00, index = 0x6000, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c)
[  845.122171] EtherCAT DEBUG 0: Domain 0: Added 8 bytes, total 24.
[ 845.122176] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xf5532000, alias = 0, position = 2, vendor_id = 0x0000050a, product_code = 0x0000a412) [ 845.122183] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0xf7985c00, index = 0x6010, subindex = 0x01, domain = 0xf65b5a00, bit_position = 0xf7b25d7c) [ 845.122193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0xf7985800, assign_activate = 0x0300, sync0_cycle = 0, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0 [ 845.122200] EtherCAT DEBUG 0 0:2: ecrt_slave_config_dc(sc = 0xf7985c00, assign_activate = 0x0300, sync0_cycle = 0, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0 [ 845.124256] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xf65b5a00, mem = 0xf8ba6000) [ 845.124268] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xf5532000) [ 845.124271] EtherCAT DEBUG 0: Adding datagram pair with expected WC 2. [ 845.124274] EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected working counter 2. [ 845.124385] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 24 byte, type LRD.
[  845.124494] EtherCAT DEBUG 0: Stopping master thread.
[  845.128377] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  845.128391] EtherCAT 0: Master thread exited.
[  845.128480] EtherCAT DEBUG 0: FSM datagram is f5532428.
[  845.128482] EtherCAT 0: Starting EtherCAT-OP thread.
[ 845.128583] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[  845.128586] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  845.133933] First master diff: -11256.
[ 845.141645] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[  845.141647] EtherCAT DEBUG 0-0: Checking system time offset.
[ 845.145662] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=856575053619 (corrected with 4000000), app_time=856568127194, diff=-6926425 [ 845.145665] EtherCAT DEBUG 0-0: Setting time offset to 18446741316326709440 (was 18446741316333635865)
[  845.149661] EtherCAT DEBUG 0-1: Checking system time offset.
[ 845.153645] EtherCAT DEBUG 0-1: DC 64 bit system time offset calculation: system_time=856583055754 (corrected with 4000000), app_time=856576127060, diff=-6928694 [ 845.153648] EtherCAT DEBUG 0-1: Setting time offset to 18446741322924508602 (was 18446741322931437296)
[  845.157656] EtherCAT DEBUG 0-2: Checking system time offset.
[ 845.161641] EtherCAT DEBUG 0-2: DC 64 bit system time offset calculation: system_time=856591057745 (corrected with 4000000), app_time=856584127256, diff=-6930489 [ 845.161644] EtherCAT DEBUG 0-2: Setting time offset to 18446741322688027783 (was 18446741322694958272)
[  845.165652] EtherCAT DEBUG 0: Requesting OP...
[  845.173606] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  845.173610] EtherCAT DEBUG 0-0: Configuring...
[  845.174852] EtherCAT DEBUG 0-0: Now in INIT.
[  845.174854] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 845.175852] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  845.176352] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 845.176852] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[  845.176854] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[  845.178851] EtherCAT DEBUG 0-0: Now in PREOP.
[ 845.178853] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[  845.181350] EtherCAT DEBUG 0-0: Now in SAFEOP.
[  845.182349] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[  845.189597] EtherCAT DEBUG 0-1: Changing state from PREOP to OP.
[  845.189601] EtherCAT DEBUG 0-1: Configuring...
[  845.190845] EtherCAT DEBUG 0-1: Now in INIT.
[  845.190847] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[ 845.191345] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[  845.191844] EtherCAT DEBUG 0-1: Clearing DC assignment...
[  845.192344] EtherCAT DEBUG 0-1: Configuring mailbox sync managers...
[ 845.192347] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 64, Ctrl 0x26, En 1 [ 845.192350] EtherCAT DEBUG 0-1: SM1: Addr 0x1080, Size 64, Ctrl 0x22, En 1
[  845.193345] EtherCAT DEBUG 0-1: Assigning SII access to PDI.
[  845.194844] EtherCAT DEBUG 0-1: Now in PREOP.
[ 845.194845] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT.
[  845.195846] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1600.
[  845.195849] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:00.
[  845.195850] EtherCAT DEBUG 0-1: Upload request:
[  845.195852] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[  845.197842] EtherCAT DEBUG 0-1: Upload response:
[  845.197844] EtherCAT DEBUG: 00 30 4F 00 16 00 00 00 00 00
[  845.197852] EtherCAT DEBUG 0-1: Uploaded data:
[  845.197854] EtherCAT DEBUG: 00
[  845.197856] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[  845.197858] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1601.
[  845.197860] EtherCAT DEBUG 0-1: Uploading SDO 0x1601:00.
[  845.197862] EtherCAT DEBUG 0-1: Upload request:
[  845.197863] EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00
[  845.199841] EtherCAT DEBUG 0-1: Upload response:
[  845.199842] EtherCAT DEBUG: 00 30 4F 01 16 00 00 00 00 00
[  845.199850] EtherCAT DEBUG 0-1: Uploaded data:
[  845.199852] EtherCAT DEBUG: 00
[  845.199854] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[  845.199856] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1602.
[  845.199858] EtherCAT DEBUG 0-1: Uploading SDO 0x1602:00.
[  845.199859] EtherCAT DEBUG 0-1: Upload request:
[  845.199861] EtherCAT DEBUG: 00 20 40 02 16 00 00 00 00 00
[  845.201840] EtherCAT DEBUG 0-1: Upload response:
[  845.201841] EtherCAT DEBUG: 00 30 4F 02 16 00 00 00 00 00
[  845.201849] EtherCAT DEBUG 0-1: Uploaded data:
[  845.201850] EtherCAT DEBUG: 00
[  845.201853] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[  845.201855] EtherCAT DEBUG 0-1: Reading mapping of PDO 0x1603.
[  845.201857] EtherCAT DEBUG 0-1: Uploading SDO 0x1603:00.
[  845.201858] EtherCAT DEBUG 0-1: Upload request:
[  845.201860] EtherCAT DEBUG: 00 20 40 03 16 00 00 00 00 00
[  845.203839] EtherCAT DEBUG 0-1: Upload response:
[  845.203841] EtherCAT DEBUG: 00 30 4F 03 16 00 00 00 00 00
[  845.203848] EtherCAT DEBUG 0-1: Uploaded data:
[  845.203850] EtherCAT DEBUG: 00
[  845.203852] EtherCAT DEBUG 0-1: 0 PDO entries mapped.
[ 845.203861] EtherCAT DEBUG 0-1: SM2: Addr 0x1100, Size 0, Ctrl 0x04, En 0 [ 845.203863] EtherCAT DEBUG 0-1: SM3: Addr 0x207E, Size 16, Ctrl 0x00, En 1 [ 845.204840] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000000, Size 16, PhysAddr 0x207E, SM3, Dir in
[  845.205839] EtherCAT DEBUG 0-1: Setting DC cycle times to 0 / 0.
[  845.206338] EtherCAT DEBUG 0-1: Checking for synchrony.
[  845.206838] EtherCAT DEBUG 0-1: 4013 ns difference after 0 ms.
[ 845.206840] EtherCAT DEBUG 0-1: Setting DC cyclic operation start time to 856729123745.
[  845.207838] EtherCAT DEBUG 0-1: Setting DC AssignActivate to 0x0300.
[  845.209837] EtherCAT DEBUG 0-1: Now in SAFEOP.
[  845.210836] EtherCAT DEBUG 0-1: Now in OP. Finished configuration.
[  845.217584] EtherCAT DEBUG 0-2: Changing state from PREOP to OP.
[  845.217588] EtherCAT DEBUG 0-2: Configuring...
[  845.218832] EtherCAT DEBUG 0-2: Now in INIT.
[  845.218834] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[ 845.219332] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[  845.219831] EtherCAT DEBUG 0-2: Clearing DC assignment...
[  845.220331] EtherCAT DEBUG 0-2: Configuring mailbox sync managers...
[ 845.220334] EtherCAT DEBUG 0-2: SM0: Addr 0x1000, Size 64, Ctrl 0x26, En 1 [ 845.220336] EtherCAT DEBUG 0-2: SM1: Addr 0x1080, Size 64, Ctrl 0x22, En 1
[  845.221331] EtherCAT DEBUG 0-2: Assigning SII access to PDI.
[  845.222830] EtherCAT DEBUG 0-2: Now in PREOP.
[ 845.222831] EtherCAT DEBUG 0-2: Assigning SII access back to EtherCAT.
[  845.223831] EtherCAT DEBUG 0-2: Reading mapping of PDO 0x1600.
[  845.223833] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:00.
[  845.223835] EtherCAT DEBUG 0-2: Upload request:
[  845.223836] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[  845.225829] EtherCAT DEBUG 0-2: Upload response:
[  845.225830] EtherCAT DEBUG: 00 30 4F 00 16 00 00 00 00 00
[  845.225838] EtherCAT DEBUG 0-2: Uploaded data:
[  845.225840] EtherCAT DEBUG: 00
[  845.225842] EtherCAT DEBUG 0-2: 0 PDO entries mapped.
[  845.225844] EtherCAT DEBUG 0-2: Reading mapping of PDO 0x1601.
[  845.225846] EtherCAT DEBUG 0-2: Uploading SDO 0x1601:00.
[  845.225848] EtherCAT DEBUG 0-2: Upload request:
[  845.225849] EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00
[  845.227828] EtherCAT DEBUG 0-2: Upload response:
[  845.227829] EtherCAT DEBUG: 00 30 4F 01 16 00 00 00 00 00
[  845.227837] EtherCAT DEBUG 0-2: Uploaded data:
[  845.227839] EtherCAT DEBUG: 00
[  845.227841] EtherCAT DEBUG 0-2: 0 PDO entries mapped.
[ 845.227846] EtherCAT DEBUG 0-2: SM2: Addr 0x1100, Size 0, Ctrl 0x04, En 0 [ 845.227849] EtherCAT DEBUG 0-2: SM3: Addr 0x207E, Size 8, Ctrl 0x00, En 1 [ 845.228828] EtherCAT DEBUG 0 0:2: FMMU: LogAddr 0x00000010, Size 8, PhysAddr 0x207E, SM3, Dir in
[  845.229828] EtherCAT DEBUG 0-2: Setting DC cycle times to 0 / 0.
[  845.230327] EtherCAT DEBUG 0-2: Checking for synchrony.
[  845.230827] EtherCAT DEBUG 0-2: 1087 ns difference after 0 ms.
[ 845.230828] EtherCAT DEBUG 0-2: Setting DC cyclic operation start time to 856753124040.
[  845.231826] EtherCAT DEBUG 0-2: Setting DC AssignActivate to 0x0300.
[  845.233326] EtherCAT DEBUG 0-2: Now in SAFEOP.
[  845.234325] EtherCAT DEBUG 0-2: Now in OP. Finished configuration.
[  845.241573] EtherCAT 0: Slave states on main device: OP.

Configuration File:
<?xml version="1.0" ?>
<EtherCATInfoList>
  <EtherCATInfo>
    <!-- Slave 0 -->
    <Vendor>
      <Id>1290</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
<Type ProductCode="#x00000043" RevisionNo="#x00030000">Q.bloxx-EC BC</Type>
          <Name><![CDATA[Q.bloxx-EC BC]]></Name>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 1 -->
    <Vendor>
      <Id>1290</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
<Type ProductCode="#x0000bb81" RevisionNo="#x00030000">Q.bloxx-EC A107</Type>
          <Name><![CDATA[Q.bloxx-EC A107]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" /> <Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="64" /> <Sm Enable="1" StartAddress="#x1100" ControlByte="#x4" DefaultSize="0" /> <Sm Enable="1" StartAddress="#x207e" ControlByte="#x0" DefaultSize="0" />
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>OutMap: Variable 1</Name>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1601</Index>
            <Name>OutMap: Variable 2</Name>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1602</Index>
            <Name>OutMap: Variable 3</Name>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1603</Index>
            <Name>OutMap: Variable 4</Name>
          </RxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>InMap: Variable 1</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a01</Index>
            <Name>InMap: Variable 2</Name>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a02</Index>
            <Name>InMap: Variable 3</Name>
            <Entry>
              <Index>#x6020</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a03</Index>
            <Name>InMap: Variable 4</Name>
            <Entry>
              <Index>#x6030</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
                  <DC>
<PotentialReferenceClock>0</PotentialReferenceClock>
                        <ReferenceClock>1</ReferenceClock>
                        <CycleTime0>1000000</CycleTime0>
                        <CycleTime1>0</CycleTime1>
                        <ShiftTime>0</ShiftTime>
                        <OpMode Selected="1">
                          <Name>DcOn</Name>
                          <Desc>DC active</Desc>
                          <AssignActivate>#x0300</AssignActivate>
                          <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                          <ShiftTimeSync0>0</ShiftTimeSync0>
                          <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
                          <ShiftTimeSync1>0</ShiftTimeSync1>
                        </OpMode>
                  </DC>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 2 -->
    <Vendor>
      <Id>1290</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
<Type ProductCode="#x0000a412" RevisionNo="#x00030000">Q.bloxx-EC A101</Type>
          <Name><![CDATA[Q.bloxx-EC A101]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" /> <Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="64" /> <Sm Enable="1" StartAddress="#x1100" ControlByte="#x4" DefaultSize="0" /> <Sm Enable="1" StartAddress="#x207e" ControlByte="#x0" DefaultSize="0" />
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>OutMap: Variable 1</Name>
          </RxPdo>
          <RxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1601</Index>
            <Name>OutMap: Variable 2</Name>
          </RxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>InMap: Variable 1</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="3" Fixed="1" Mandatory="1">
            <Index>#x1a01</Index>
            <Name>InMap: Variable 2</Name>
            <Entry>
              <Index>#x6010</Index>
              <SubIndex>1</SubIndex>
              <BitLen>32</BitLen>
              <Name>Vari_0</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
                  <DC>
<PotentialReferenceClock>0</PotentialReferenceClock>
                        <ReferenceClock>0</ReferenceClock>
                        <CycleTime0>1000000</CycleTime0>
                        <CycleTime1>0</CycleTime1>
                        <ShiftTime>0</ShiftTime>
                        <OpMode Selected="1">
                          <Name>DcOn</Name>
                          <Desc>DC active</Desc>
                          <AssignActivate>#x0300</AssignActivate>
                          <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                          <ShiftTimeSync0>0</ShiftTimeSync0>
                          <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
                          <ShiftTimeSync1>0</ShiftTimeSync1>
                        </OpMode>
                  </DC>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
</EtherCATInfoList>

--
Carlos Jiménez

ENCOPIM S.L.
Ctra. Santiga, 104, P.I. Els Pinetons
E-08291 RIPOLLET (Barcelona)
Tel: (+34) 935 94 23 47
Fax: (+34) 935 94 64 15

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