Hello, we are using the etherlab master 1.5.2 and face a problem when nodes restart (here: after a firmware update). It looks like the fsm_master statemachine hangs while waiting for any kind of reply (at least this is what I could figure out).
For the firmware update we change to BOOTSTRAP mode, this resets the device to receive the firmware via FoE. After the firmware is installed the device is reset and starts operation (which we could verify). At this point the EtherCAT master does not recognises all or sometimes some of the slaves on the bus. I could verify this problem with two nodes, with more nodes it becomes more serious. We also faced a issue that the master requested the SDO dictionary during the FoE transfer. This led to a interruption of the FoE transmission, with this patch: https://github.com/synapticon/Etherlab_EtherCAT_Master/commit/085c278816730397eb9df6d808228c66dc09ccd6 we could avoid the problem (AFAIK is no other mailbox communication allowed in BOOTSTRAP mode). During debugging I found out that the Master FSM stopped working when slaves where not recognised, but I was not able to locate the cause of the hang. All devices start the firmware and if we restart the master all nodes are recognised and are fully functional. Does anybody here has a idea how to solve this behavior? Please find in the attachement the EtherCAT logs from the syslog file, I think the last few lines are most important. You can see that the link goes down and the slaves are cleared, but after the link comes up again nothing is recognised. Thanks, Frank
Nov 24 18:24:30 syncat kernel: [802062.596670] EtherCAT 0: Link state of ecm0 changed to UP. Nov 24 18:24:30 syncat kernel: [802062.600784] EtherCAT 0: 2 slave(s) responding on main device. Nov 24 18:24:30 syncat kernel: [802062.600788] EtherCAT 0: Slave states on main device: INIT. Nov 24 18:24:30 syncat kernel: [802062.601587] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. Nov 24 18:24:30 syncat kernel: [802062.602759] EtherCAT DEBUG 0: 2 slaves responded to delay measuring on main link. Nov 24 18:24:30 syncat kernel: [802062.602761] EtherCAT 0: Scanning bus. Nov 24 18:24:30 syncat kernel: [802062.602762] EtherCAT DEBUG 0: Scanning slave 0 on main link. Nov 24 18:24:30 syncat kernel: [802062.607646] EtherCAT DEBUG 0-0: Slave has the System Time register. Nov 24 18:24:30 syncat kernel: [802062.609894] EtherCAT DEBUG 0-0: Port 0 link status changed to up. Nov 24 18:24:30 syncat kernel: [802062.609896] EtherCAT DEBUG 0-0: Port 0 loop status changed to open. Nov 24 18:24:30 syncat kernel: [802062.609896] EtherCAT DEBUG 0-0: Port 0 signal status changed to yes. Nov 24 18:24:30 syncat kernel: [802062.609897] EtherCAT DEBUG 0-0: Port 1 link status changed to up. Nov 24 18:24:30 syncat kernel: [802062.609898] EtherCAT DEBUG 0-0: Port 1 loop status changed to open. Nov 24 18:24:30 syncat kernel: [802062.609898] EtherCAT DEBUG 0-0: Port 1 signal status changed to yes. Nov 24 18:24:30 syncat kernel: [802062.609899] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT. Nov 24 18:24:31 syncat kernel: [802063.066662] EtherCAT DEBUG 0-0: Unknown category type 0x003C. Nov 24 18:24:31 syncat kernel: [802063.066666] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP. Nov 24 18:24:31 syncat kernel: [802063.066667] EtherCAT DEBUG 0-0: Configuring... Nov 24 18:24:31 syncat kernel: [802063.069030] EtherCAT DEBUG 0-0: Now in INIT. Nov 24 18:24:31 syncat kernel: [802063.069032] EtherCAT DEBUG 0-0: Clearing FMMU configurations... Nov 24 18:24:31 syncat kernel: [802063.070190] EtherCAT DEBUG 0-0: Clearing sync manager configurations... Nov 24 18:24:31 syncat kernel: [802063.071296] EtherCAT DEBUG 0-0: Clearing DC assignment... Nov 24 18:24:31 syncat kernel: [802063.072442] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... Nov 24 18:24:31 syncat kernel: [802063.072444] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:31 syncat kernel: [802063.072445] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:31 syncat kernel: [802063.073657] EtherCAT DEBUG 0-0: Assigning SII access to PDI. Nov 24 18:24:31 syncat kernel: [802063.077151] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR). Nov 24 18:24:31 syncat kernel: [802063.078334] EtherCAT ERROR 0-0: AL status message 0x0014: "No valid firmware". Nov 24 18:24:31 syncat kernel: [802063.084178] EtherCAT 0-0: Acknowledged state INIT. Nov 24 18:24:31 syncat kernel: [802063.084181] EtherCAT DEBUG 0: Scanning slave 1 on main link. Nov 24 18:24:31 syncat kernel: [802063.088734] EtherCAT DEBUG 0-1: Slave has the System Time register. Nov 24 18:24:31 syncat kernel: [802063.091046] EtherCAT DEBUG 0-1: Port 0 link status changed to up. Nov 24 18:24:31 syncat kernel: [802063.091047] EtherCAT DEBUG 0-1: Port 0 loop status changed to open. Nov 24 18:24:31 syncat kernel: [802063.091048] EtherCAT DEBUG 0-1: Port 0 signal status changed to yes. Nov 24 18:24:31 syncat kernel: [802063.091049] EtherCAT DEBUG 0-1: Assigning SII access to EtherCAT. Nov 24 18:24:31 syncat kernel: [802063.542844] EtherCAT DEBUG 0-1: Unknown category type 0x003C. Nov 24 18:24:31 syncat kernel: [802063.542847] EtherCAT DEBUG 0-1: Slave is not in the state to do mailbox com (INIT), setting to PREOP. Nov 24 18:24:31 syncat kernel: [802063.542847] EtherCAT DEBUG 0-1: Configuring... Nov 24 18:24:31 syncat kernel: [802063.545099] EtherCAT DEBUG 0-1: Now in INIT. Nov 24 18:24:31 syncat kernel: [802063.545101] EtherCAT DEBUG 0-1: Clearing FMMU configurations... Nov 24 18:24:31 syncat kernel: [802063.546280] EtherCAT DEBUG 0-1: Clearing sync manager configurations... Nov 24 18:24:31 syncat kernel: [802063.547398] EtherCAT DEBUG 0-1: Clearing DC assignment... Nov 24 18:24:31 syncat kernel: [802063.548574] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... Nov 24 18:24:31 syncat kernel: [802063.548576] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:31 syncat kernel: [802063.548577] EtherCAT DEBUG 0-1: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:31 syncat kernel: [802063.549703] EtherCAT DEBUG 0-1: Assigning SII access to PDI. Nov 24 18:24:31 syncat kernel: [802063.553206] EtherCAT ERROR 0-1: Failed to set PREOP state, slave refused state change (INIT + ERROR). Nov 24 18:24:31 syncat kernel: [802063.554288] EtherCAT ERROR 0-1: AL status message 0x0014: "No valid firmware". Nov 24 18:24:31 syncat kernel: [802063.556643] EtherCAT 0-1: Acknowledged state INIT. Nov 24 18:24:31 syncat kernel: [802063.556645] EtherCAT 0: Bus scanning completed in 956 ms. Nov 24 18:24:31 syncat kernel: [802063.556647] EtherCAT 0: Using slave 0 as DC reference clock. Nov 24 18:24:31 syncat kernel: [802063.556648] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) Nov 24 18:24:31 syncat kernel: [802063.556649] EtherCAT DEBUG 0-1: ec_slave_calc_transmission_delays_rec(delay = 580 ns) Nov 24 18:24:31 syncat kernel: [802063.556650] EtherCAT DEBUG 0: No app_time received up to now. Nov 24 18:24:31 syncat kernel: [802063.568705] EtherCAT DEBUG 0-0: Ready for requests. Nov 24 18:24:31 syncat kernel: [802063.568707] EtherCAT DEBUG 0-1: Ready for requests. Nov 24 18:24:32 syncat kernel: [802064.732026] EtherCAT 0: 1 slave(s) responding on main device. Nov 24 18:24:32 syncat kernel: [802064.733033] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. Nov 24 18:24:32 syncat kernel: [802064.734121] EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link. Nov 24 18:24:32 syncat kernel: [802064.734123] EtherCAT 0: Scanning bus. Nov 24 18:24:32 syncat kernel: [802064.734124] EtherCAT DEBUG 0: Scanning slave 0 on main link. Nov 24 18:24:32 syncat kernel: [802064.738672] EtherCAT DEBUG 0-0: Slave has the System Time register. Nov 24 18:24:32 syncat kernel: [802064.740969] EtherCAT DEBUG 0-0: Port 0 link status changed to up. Nov 24 18:24:32 syncat kernel: [802064.740970] EtherCAT DEBUG 0-0: Port 0 loop status changed to open. Nov 24 18:24:32 syncat kernel: [802064.740971] EtherCAT DEBUG 0-0: Port 0 signal status changed to yes. Nov 24 18:24:32 syncat kernel: [802064.740972] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT. Nov 24 18:24:33 syncat kernel: [802065.022196] EtherCAT 0: Link state of ecm0 changed to DOWN. Nov 24 18:24:33 syncat kernel: [802065.024739] EtherCAT ERROR 0-0: Failed to receive SII read datagram: Datagram error. Nov 24 18:24:33 syncat kernel: [802065.024742] EtherCAT ERROR 0-0: Failed to fetch SII contents. Nov 24 18:24:33 syncat kernel: [802065.024743] EtherCAT 0: Bus scanning completed in 292 ms. Nov 24 18:24:33 syncat kernel: [802065.024745] EtherCAT 0: Using slave 0 as DC reference clock. Nov 24 18:24:33 syncat kernel: [802065.024746] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) Nov 24 18:24:33 syncat kernel: [802065.024747] EtherCAT DEBUG 0: No app_time received up to now. Nov 24 18:24:33 syncat kernel: [802065.028763] EtherCAT 0: 0 slave(s) responding on main device. Nov 24 18:24:33 syncat kernel: [802065.028765] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list. Nov 24 18:24:34 syncat kernel: [802066.698938] EtherCAT 0: Link state of ecm0 changed to UP. Nov 24 18:24:34 syncat kernel: [802066.703166] EtherCAT 0: 2 slave(s) responding on main device. Nov 24 18:24:34 syncat kernel: [802066.703170] EtherCAT 0: Slave states on main device: INIT. Nov 24 18:24:34 syncat kernel: [802066.703816] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. Nov 24 18:24:34 syncat kernel: [802066.704259] EtherCAT DEBUG 0: 2 slaves responded to delay measuring on main link. Nov 24 18:24:34 syncat kernel: [802066.704261] EtherCAT 0: Scanning bus. Nov 24 18:24:34 syncat kernel: [802066.704262] EtherCAT DEBUG 0: Scanning slave 0 on main link. Nov 24 18:24:34 syncat kernel: [802066.708567] EtherCAT DEBUG 0-0: Slave has the System Time register. Nov 24 18:24:34 syncat kernel: [802066.711002] EtherCAT DEBUG 0-0: Port 0 link status changed to up. Nov 24 18:24:34 syncat kernel: [802066.711003] EtherCAT DEBUG 0-0: Port 0 loop status changed to open. Nov 24 18:24:34 syncat kernel: [802066.711004] EtherCAT DEBUG 0-0: Port 0 signal status changed to yes. Nov 24 18:24:34 syncat kernel: [802066.711005] EtherCAT DEBUG 0-0: Port 1 link status changed to up. Nov 24 18:24:34 syncat kernel: [802066.711006] EtherCAT DEBUG 0-0: Port 1 loop status changed to open. Nov 24 18:24:34 syncat kernel: [802066.711006] EtherCAT DEBUG 0-0: Port 1 signal status changed to yes. Nov 24 18:24:34 syncat kernel: [802066.711007] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT. Nov 24 18:24:35 syncat kernel: [802067.160656] EtherCAT DEBUG 0-0: Unknown category type 0x003C. Nov 24 18:24:35 syncat kernel: [802067.160659] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP. Nov 24 18:24:35 syncat kernel: [802067.160660] EtherCAT DEBUG 0-0: Configuring... Nov 24 18:24:35 syncat kernel: [802067.163000] EtherCAT DEBUG 0-0: Now in INIT. Nov 24 18:24:35 syncat kernel: [802067.163002] EtherCAT DEBUG 0-0: Clearing FMMU configurations... Nov 24 18:24:35 syncat kernel: [802067.164129] EtherCAT DEBUG 0-0: Clearing sync manager configurations... Nov 24 18:24:35 syncat kernel: [802067.165382] EtherCAT DEBUG 0-0: Clearing DC assignment... Nov 24 18:24:35 syncat kernel: [802067.166492] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... Nov 24 18:24:35 syncat kernel: [802067.166493] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:35 syncat kernel: [802067.166494] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:35 syncat kernel: [802067.167604] EtherCAT DEBUG 0-0: Assigning SII access to PDI. Nov 24 18:24:35 syncat kernel: [802067.171105] EtherCAT DEBUG 0-0: Now in PREOP. Nov 24 18:24:35 syncat kernel: [802067.171106] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. Nov 24 18:24:35 syncat kernel: [802067.172213] EtherCAT DEBUG 0-0: Finished configuration. Nov 24 18:24:35 syncat kernel: [802067.172214] EtherCAT DEBUG 0-0: Scanning PDO assignment and mapping. Nov 24 18:24:35 syncat kernel: [802067.172215] EtherCAT DEBUG 0-0: Reading PDO assignment of SM2. Nov 24 18:24:35 syncat kernel: [802067.172216] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:00. Nov 24 18:24:35 syncat kernel: [802067.172217] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.172218] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.176970] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.176971] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.176974] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.176974] EtherCAT DEBUG: 01 Nov 24 18:24:35 syncat kernel: [802067.176975] EtherCAT DEBUG 0-0: 1 PDOs assigned. Nov 24 18:24:35 syncat kernel: [802067.176976] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:01. Nov 24 18:24:35 syncat kernel: [802067.176976] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.176977] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.181551] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.181552] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 Nov 24 18:24:35 syncat kernel: [802067.181555] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.181555] EtherCAT DEBUG: 00 16 Nov 24 18:24:35 syncat kernel: [802067.181556] EtherCAT DEBUG 0-0: PDO 0x1600. Nov 24 18:24:35 syncat kernel: [802067.181557] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00. Nov 24 18:24:35 syncat kernel: [802067.181558] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.181558] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.186213] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.186216] EtherCAT DEBUG: 00 30 4F 00 16 00 09 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.186219] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.186220] EtherCAT DEBUG: 09 Nov 24 18:24:35 syncat kernel: [802067.186221] EtherCAT DEBUG 0-0: 9 PDO entries mapped. Nov 24 18:24:35 syncat kernel: [802067.186223] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01. Nov 24 18:24:35 syncat kernel: [802067.186223] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.186224] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.190790] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.190792] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 Nov 24 18:24:35 syncat kernel: [802067.190797] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.190798] EtherCAT DEBUG: 10 00 40 60 Nov 24 18:24:35 syncat kernel: [802067.190800] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.190801] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02. Nov 24 18:24:35 syncat kernel: [802067.190802] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.190802] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.195365] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.195367] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60 Nov 24 18:24:35 syncat kernel: [802067.195370] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.195370] EtherCAT DEBUG: 08 00 60 60 Nov 24 18:24:35 syncat kernel: [802067.195372] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.195373] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03. Nov 24 18:24:35 syncat kernel: [802067.195374] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.195374] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.199831] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.199832] EtherCAT DEBUG: 00 30 43 00 16 03 10 00 71 60 Nov 24 18:24:35 syncat kernel: [802067.199835] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.199835] EtherCAT DEBUG: 10 00 71 60 Nov 24 18:24:35 syncat kernel: [802067.199837] EtherCAT DEBUG 0-0: PDO entry 0x6071:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.199838] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04. Nov 24 18:24:35 syncat kernel: [802067.199839] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.199839] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.206811] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.206813] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 7A 60 Nov 24 18:24:35 syncat kernel: [802067.206816] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.206817] EtherCAT DEBUG: 20 00 7A 60 Nov 24 18:24:35 syncat kernel: [802067.206819] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.206820] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:05. Nov 24 18:24:35 syncat kernel: [802067.206821] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.206821] EtherCAT DEBUG: 00 20 40 00 16 05 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.211346] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.211348] EtherCAT DEBUG: 00 30 43 00 16 05 20 00 FF 60 Nov 24 18:24:35 syncat kernel: [802067.211350] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.211350] EtherCAT DEBUG: 20 00 FF 60 Nov 24 18:24:35 syncat kernel: [802067.211352] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.211353] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:06. Nov 24 18:24:35 syncat kernel: [802067.211354] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.211354] EtherCAT DEBUG: 00 20 40 00 16 06 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.215952] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.215954] EtherCAT DEBUG: 00 30 43 00 16 06 20 00 10 40 Nov 24 18:24:35 syncat kernel: [802067.215956] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.215957] EtherCAT DEBUG: 20 00 10 40 Nov 24 18:24:35 syncat kernel: [802067.215959] EtherCAT DEBUG 0-0: PDO entry 0x4010:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.215960] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:07. Nov 24 18:24:35 syncat kernel: [802067.215961] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.215961] EtherCAT DEBUG: 00 20 40 00 16 07 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.220596] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.220597] EtherCAT DEBUG: 00 30 43 00 16 07 20 00 20 40 Nov 24 18:24:35 syncat kernel: [802067.220600] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.220601] EtherCAT DEBUG: 20 00 20 40 Nov 24 18:24:35 syncat kernel: [802067.220603] EtherCAT DEBUG 0-0: PDO entry 0x4020:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.220604] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:08. Nov 24 18:24:35 syncat kernel: [802067.220604] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.220605] EtherCAT DEBUG: 00 20 40 00 16 08 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.225116] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.225117] EtherCAT DEBUG: 00 30 43 00 16 08 20 00 30 40 Nov 24 18:24:35 syncat kernel: [802067.225119] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.225120] EtherCAT DEBUG: 20 00 30 40 Nov 24 18:24:35 syncat kernel: [802067.225122] EtherCAT DEBUG 0-0: PDO entry 0x4030:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.225122] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:09. Nov 24 18:24:35 syncat kernel: [802067.225123] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.225123] EtherCAT DEBUG: 00 20 40 00 16 09 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.229731] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.229732] EtherCAT DEBUG: 00 30 43 00 16 09 20 00 40 40 Nov 24 18:24:35 syncat kernel: [802067.229735] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.229735] EtherCAT DEBUG: 20 00 40 40 Nov 24 18:24:35 syncat kernel: [802067.229737] EtherCAT DEBUG 0-0: PDO entry 0x4040:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.229741] EtherCAT DEBUG 0-0: Reading PDO assignment of SM3. Nov 24 18:24:35 syncat kernel: [802067.229741] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:00. Nov 24 18:24:35 syncat kernel: [802067.229742] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.229742] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.234317] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.234319] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.234321] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.234322] EtherCAT DEBUG: 01 Nov 24 18:24:35 syncat kernel: [802067.234323] EtherCAT DEBUG 0-0: 1 PDOs assigned. Nov 24 18:24:35 syncat kernel: [802067.234324] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:01. Nov 24 18:24:35 syncat kernel: [802067.234324] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.234325] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.238893] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.238894] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 Nov 24 18:24:35 syncat kernel: [802067.238897] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.238897] EtherCAT DEBUG: 00 1A Nov 24 18:24:35 syncat kernel: [802067.238899] EtherCAT DEBUG 0-0: PDO 0x1A00. Nov 24 18:24:35 syncat kernel: [802067.238900] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00. Nov 24 18:24:35 syncat kernel: [802067.238900] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.238900] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.243548] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.243549] EtherCAT DEBUG: 00 30 4F 00 1A 00 09 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.243552] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.243553] EtherCAT DEBUG: 09 Nov 24 18:24:35 syncat kernel: [802067.243554] EtherCAT DEBUG 0-0: 9 PDO entries mapped. Nov 24 18:24:35 syncat kernel: [802067.243555] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01. Nov 24 18:24:35 syncat kernel: [802067.243555] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.243556] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.248245] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.248248] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 Nov 24 18:24:35 syncat kernel: [802067.248251] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.248251] EtherCAT DEBUG: 10 00 41 60 Nov 24 18:24:35 syncat kernel: [802067.248253] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.248255] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02. Nov 24 18:24:35 syncat kernel: [802067.248255] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.248256] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.252862] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.252864] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60 Nov 24 18:24:35 syncat kernel: [802067.252867] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.252868] EtherCAT DEBUG: 08 00 61 60 Nov 24 18:24:35 syncat kernel: [802067.252870] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.252871] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03. Nov 24 18:24:35 syncat kernel: [802067.252872] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.252872] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.257491] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.257493] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60 Nov 24 18:24:35 syncat kernel: [802067.257496] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.257497] EtherCAT DEBUG: 20 00 64 60 Nov 24 18:24:35 syncat kernel: [802067.257499] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.257500] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:04. Nov 24 18:24:35 syncat kernel: [802067.257501] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.257501] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.262071] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.262073] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 6C 60 Nov 24 18:24:35 syncat kernel: [802067.262075] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.262076] EtherCAT DEBUG: 20 00 6C 60 Nov 24 18:24:35 syncat kernel: [802067.262078] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.262079] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:05. Nov 24 18:24:35 syncat kernel: [802067.262080] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.262080] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.266730] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.266731] EtherCAT DEBUG: 00 30 43 00 1A 05 10 00 77 60 Nov 24 18:24:35 syncat kernel: [802067.266734] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.266735] EtherCAT DEBUG: 10 00 77 60 Nov 24 18:24:35 syncat kernel: [802067.266737] EtherCAT DEBUG 0-0: PDO entry 0x6077:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.266738] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:06. Nov 24 18:24:35 syncat kernel: [802067.266738] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.266739] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.271376] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.271378] EtherCAT DEBUG: 00 30 43 00 1A 06 20 00 11 40 Nov 24 18:24:35 syncat kernel: [802067.271380] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.271381] EtherCAT DEBUG: 20 00 11 40 Nov 24 18:24:35 syncat kernel: [802067.271383] EtherCAT DEBUG 0-0: PDO entry 0x4011:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.271384] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:07. Nov 24 18:24:35 syncat kernel: [802067.271384] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.271385] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.276040] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.276041] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 21 40 Nov 24 18:24:35 syncat kernel: [802067.276044] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.276045] EtherCAT DEBUG: 20 00 21 40 Nov 24 18:24:35 syncat kernel: [802067.276047] EtherCAT DEBUG 0-0: PDO entry 0x4021:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.276047] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:08. Nov 24 18:24:35 syncat kernel: [802067.276048] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.276048] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.280659] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.280661] EtherCAT DEBUG: 00 30 43 00 1A 08 20 00 31 40 Nov 24 18:24:35 syncat kernel: [802067.280663] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.280664] EtherCAT DEBUG: 20 00 31 40 Nov 24 18:24:35 syncat kernel: [802067.280666] EtherCAT DEBUG 0-0: PDO entry 0x4031:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.280667] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:09. Nov 24 18:24:35 syncat kernel: [802067.280668] EtherCAT DEBUG 0-0: Upload request: Nov 24 18:24:35 syncat kernel: [802067.280668] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.285259] EtherCAT DEBUG 0-0: Upload response: Nov 24 18:24:35 syncat kernel: [802067.285261] EtherCAT DEBUG: 00 30 43 00 1A 09 20 00 41 40 Nov 24 18:24:35 syncat kernel: [802067.285272] EtherCAT DEBUG 0-0: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.285273] EtherCAT DEBUG: 20 00 41 40 Nov 24 18:24:35 syncat kernel: [802067.285274] EtherCAT DEBUG 0-0: PDO entry 0x4041:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.285278] EtherCAT DEBUG 0-0: Reading of PDO configuration finished. Nov 24 18:24:35 syncat kernel: [802067.285279] EtherCAT DEBUG 0: Scanning slave 1 on main link. Nov 24 18:24:35 syncat kernel: [802067.289650] EtherCAT DEBUG 0-1: Slave has the System Time register. Nov 24 18:24:35 syncat kernel: [802067.291908] EtherCAT DEBUG 0-1: Port 0 link status changed to up. Nov 24 18:24:35 syncat kernel: [802067.291909] EtherCAT DEBUG 0-1: Port 0 loop status changed to open. Nov 24 18:24:35 syncat kernel: [802067.291910] EtherCAT DEBUG 0-1: Port 0 signal status changed to yes. Nov 24 18:24:35 syncat kernel: [802067.291910] EtherCAT DEBUG 0-1: Assigning SII access to EtherCAT. Nov 24 18:24:35 syncat kernel: [802067.742311] EtherCAT DEBUG 0-1: Unknown category type 0x003C. Nov 24 18:24:35 syncat kernel: [802067.742315] EtherCAT DEBUG 0-1: Slave is not in the state to do mailbox com (INIT), setting to PREOP. Nov 24 18:24:35 syncat kernel: [802067.742316] EtherCAT DEBUG 0-1: Configuring... Nov 24 18:24:35 syncat kernel: [802067.744607] EtherCAT DEBUG 0-1: Now in INIT. Nov 24 18:24:35 syncat kernel: [802067.744609] EtherCAT DEBUG 0-1: Clearing FMMU configurations... Nov 24 18:24:35 syncat kernel: [802067.745781] EtherCAT DEBUG 0-1: Clearing sync manager configurations... Nov 24 18:24:35 syncat kernel: [802067.746953] EtherCAT DEBUG 0-1: Clearing DC assignment... Nov 24 18:24:35 syncat kernel: [802067.748037] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... Nov 24 18:24:35 syncat kernel: [802067.748038] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:35 syncat kernel: [802067.748039] EtherCAT DEBUG 0-1: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:35 syncat kernel: [802067.749319] EtherCAT DEBUG 0-1: Assigning SII access to PDI. Nov 24 18:24:35 syncat kernel: [802067.752590] EtherCAT DEBUG 0-1: Now in PREOP. Nov 24 18:24:35 syncat kernel: [802067.752591] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT. Nov 24 18:24:35 syncat kernel: [802067.753679] EtherCAT DEBUG 0-1: Finished configuration. Nov 24 18:24:35 syncat kernel: [802067.753680] EtherCAT DEBUG 0-1: Scanning PDO assignment and mapping. Nov 24 18:24:35 syncat kernel: [802067.753681] EtherCAT DEBUG 0-1: Reading PDO assignment of SM2. Nov 24 18:24:35 syncat kernel: [802067.753682] EtherCAT DEBUG 0-1: Uploading SDO 0x1C12:00. Nov 24 18:24:35 syncat kernel: [802067.753683] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.753683] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.758385] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.758386] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.758389] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.758389] EtherCAT DEBUG: 01 Nov 24 18:24:35 syncat kernel: [802067.758390] EtherCAT DEBUG 0-1: 1 PDOs assigned. Nov 24 18:24:35 syncat kernel: [802067.758391] EtherCAT DEBUG 0-1: Uploading SDO 0x1C12:01. Nov 24 18:24:35 syncat kernel: [802067.758392] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.758392] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.763050] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.763052] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 Nov 24 18:24:35 syncat kernel: [802067.763055] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.763055] EtherCAT DEBUG: 00 16 Nov 24 18:24:35 syncat kernel: [802067.763057] EtherCAT DEBUG 0-1: PDO 0x1600. Nov 24 18:24:35 syncat kernel: [802067.763058] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:00. Nov 24 18:24:35 syncat kernel: [802067.763058] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.763059] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.767648] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.767649] EtherCAT DEBUG: 00 30 4F 00 16 00 09 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.767652] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.767653] EtherCAT DEBUG: 09 Nov 24 18:24:35 syncat kernel: [802067.767654] EtherCAT DEBUG 0-1: 9 PDO entries mapped. Nov 24 18:24:35 syncat kernel: [802067.767655] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:01. Nov 24 18:24:35 syncat kernel: [802067.767655] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.767656] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.772235] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.772236] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 Nov 24 18:24:35 syncat kernel: [802067.772239] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.772239] EtherCAT DEBUG: 10 00 40 60 Nov 24 18:24:35 syncat kernel: [802067.772241] EtherCAT DEBUG 0-1: PDO entry 0x6040:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.772242] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:02. Nov 24 18:24:35 syncat kernel: [802067.772243] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.772243] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.776822] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.776824] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60 Nov 24 18:24:35 syncat kernel: [802067.776826] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.776827] EtherCAT DEBUG: 08 00 60 60 Nov 24 18:24:35 syncat kernel: [802067.776829] EtherCAT DEBUG 0-1: PDO entry 0x6060:00, 8 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.776830] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:03. Nov 24 18:24:35 syncat kernel: [802067.776830] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.776831] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.781417] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.781419] EtherCAT DEBUG: 00 30 43 00 16 03 10 00 71 60 Nov 24 18:24:35 syncat kernel: [802067.781423] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.781424] EtherCAT DEBUG: 10 00 71 60 Nov 24 18:24:35 syncat kernel: [802067.781426] EtherCAT DEBUG 0-1: PDO entry 0x6071:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.781427] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:04. Nov 24 18:24:35 syncat kernel: [802067.781428] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.781429] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.786033] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.786035] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 7A 60 Nov 24 18:24:35 syncat kernel: [802067.786037] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.786038] EtherCAT DEBUG: 20 00 7A 60 Nov 24 18:24:35 syncat kernel: [802067.786040] EtherCAT DEBUG 0-1: PDO entry 0x607A:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.786040] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:05. Nov 24 18:24:35 syncat kernel: [802067.786041] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.786041] EtherCAT DEBUG: 00 20 40 00 16 05 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.790621] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.790622] EtherCAT DEBUG: 00 30 43 00 16 05 20 00 FF 60 Nov 24 18:24:35 syncat kernel: [802067.790625] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.790625] EtherCAT DEBUG: 20 00 FF 60 Nov 24 18:24:35 syncat kernel: [802067.790627] EtherCAT DEBUG 0-1: PDO entry 0x60FF:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.790628] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:06. Nov 24 18:24:35 syncat kernel: [802067.790628] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.790629] EtherCAT DEBUG: 00 20 40 00 16 06 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.795097] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.795099] EtherCAT DEBUG: 00 30 43 00 16 06 20 00 10 40 Nov 24 18:24:35 syncat kernel: [802067.795102] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.795102] EtherCAT DEBUG: 20 00 10 40 Nov 24 18:24:35 syncat kernel: [802067.795104] EtherCAT DEBUG 0-1: PDO entry 0x4010:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.795105] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:07. Nov 24 18:24:35 syncat kernel: [802067.795105] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.795114] EtherCAT DEBUG: 00 20 40 00 16 07 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.800858] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.800859] EtherCAT DEBUG: 00 30 43 00 16 07 20 00 20 40 Nov 24 18:24:35 syncat kernel: [802067.800862] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.800863] EtherCAT DEBUG: 20 00 20 40 Nov 24 18:24:35 syncat kernel: [802067.800864] EtherCAT DEBUG 0-1: PDO entry 0x4020:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.800866] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:08. Nov 24 18:24:35 syncat kernel: [802067.800866] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.800867] EtherCAT DEBUG: 00 20 40 00 16 08 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.806124] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.806126] EtherCAT DEBUG: 00 30 43 00 16 08 20 00 30 40 Nov 24 18:24:35 syncat kernel: [802067.806129] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.806129] EtherCAT DEBUG: 20 00 30 40 Nov 24 18:24:35 syncat kernel: [802067.806131] EtherCAT DEBUG 0-1: PDO entry 0x4030:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.806132] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:09. Nov 24 18:24:35 syncat kernel: [802067.806133] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.806133] EtherCAT DEBUG: 00 20 40 00 16 09 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.810111] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.810112] EtherCAT DEBUG: 00 30 43 00 16 09 20 00 40 40 Nov 24 18:24:35 syncat kernel: [802067.810115] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.810115] EtherCAT DEBUG: 20 00 40 40 Nov 24 18:24:35 syncat kernel: [802067.810123] EtherCAT DEBUG 0-1: PDO entry 0x4040:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.810126] EtherCAT DEBUG 0-1: Reading PDO assignment of SM3. Nov 24 18:24:35 syncat kernel: [802067.810127] EtherCAT DEBUG 0-1: Uploading SDO 0x1C13:00. Nov 24 18:24:35 syncat kernel: [802067.810128] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.810128] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.816499] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.816501] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.816504] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.816505] EtherCAT DEBUG: 01 Nov 24 18:24:35 syncat kernel: [802067.816506] EtherCAT DEBUG 0-1: 1 PDOs assigned. Nov 24 18:24:35 syncat kernel: [802067.816507] EtherCAT DEBUG 0-1: Uploading SDO 0x1C13:01. Nov 24 18:24:35 syncat kernel: [802067.816508] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.816508] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.820379] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.820381] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 Nov 24 18:24:35 syncat kernel: [802067.820384] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.820385] EtherCAT DEBUG: 00 1A Nov 24 18:24:35 syncat kernel: [802067.820386] EtherCAT DEBUG 0-1: PDO 0x1A00. Nov 24 18:24:35 syncat kernel: [802067.820387] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:00. Nov 24 18:24:35 syncat kernel: [802067.820388] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.820388] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.824976] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.824978] EtherCAT DEBUG: 00 30 4F 00 1A 00 09 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.824980] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.824980] EtherCAT DEBUG: 09 Nov 24 18:24:35 syncat kernel: [802067.824981] EtherCAT DEBUG 0-1: 9 PDO entries mapped. Nov 24 18:24:35 syncat kernel: [802067.824982] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:01. Nov 24 18:24:35 syncat kernel: [802067.824983] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.824983] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.829587] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.829589] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 Nov 24 18:24:35 syncat kernel: [802067.829592] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.829592] EtherCAT DEBUG: 10 00 41 60 Nov 24 18:24:35 syncat kernel: [802067.829595] EtherCAT DEBUG 0-1: PDO entry 0x6041:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.829596] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:02. Nov 24 18:24:35 syncat kernel: [802067.829596] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.829597] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.834210] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.834211] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60 Nov 24 18:24:35 syncat kernel: [802067.834214] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.834215] EtherCAT DEBUG: 08 00 61 60 Nov 24 18:24:35 syncat kernel: [802067.834217] EtherCAT DEBUG 0-1: PDO entry 0x6061:00, 8 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.834218] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:03. Nov 24 18:24:35 syncat kernel: [802067.834219] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.834220] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.837555] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.837557] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60 Nov 24 18:24:35 syncat kernel: [802067.837559] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.837560] EtherCAT DEBUG: 20 00 64 60 Nov 24 18:24:35 syncat kernel: [802067.837562] EtherCAT DEBUG 0-1: PDO entry 0x6064:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.837563] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:04. Nov 24 18:24:35 syncat kernel: [802067.837563] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.837564] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.842045] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.842047] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 6C 60 Nov 24 18:24:35 syncat kernel: [802067.842049] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.842050] EtherCAT DEBUG: 20 00 6C 60 Nov 24 18:24:35 syncat kernel: [802067.842052] EtherCAT DEBUG 0-1: PDO entry 0x606C:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.842053] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:05. Nov 24 18:24:35 syncat kernel: [802067.842053] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.842054] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.846606] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.846607] EtherCAT DEBUG: 00 30 43 00 1A 05 10 00 77 60 Nov 24 18:24:35 syncat kernel: [802067.846610] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.846610] EtherCAT DEBUG: 10 00 77 60 Nov 24 18:24:35 syncat kernel: [802067.846612] EtherCAT DEBUG 0-1: PDO entry 0x6077:00, 16 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.846613] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:06. Nov 24 18:24:35 syncat kernel: [802067.846614] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.846614] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.851168] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.851170] EtherCAT DEBUG: 00 30 43 00 1A 06 20 00 11 40 Nov 24 18:24:35 syncat kernel: [802067.851172] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.851173] EtherCAT DEBUG: 20 00 11 40 Nov 24 18:24:35 syncat kernel: [802067.851180] EtherCAT DEBUG 0-1: PDO entry 0x4011:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.851181] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:07. Nov 24 18:24:35 syncat kernel: [802067.851182] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.851182] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 Nov 24 18:24:35 syncat kernel: [802067.855699] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:35 syncat kernel: [802067.855701] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 21 40 Nov 24 18:24:35 syncat kernel: [802067.855704] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:35 syncat kernel: [802067.855704] EtherCAT DEBUG: 20 00 21 40 Nov 24 18:24:35 syncat kernel: [802067.855706] EtherCAT DEBUG 0-1: PDO entry 0x4021:00, 32 bit, "???". Nov 24 18:24:35 syncat kernel: [802067.855707] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:08. Nov 24 18:24:35 syncat kernel: [802067.855708] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:35 syncat kernel: [802067.855708] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 Nov 24 18:24:36 syncat kernel: [802067.860274] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:36 syncat kernel: [802067.860275] EtherCAT DEBUG: 00 30 43 00 1A 08 20 00 31 40 Nov 24 18:24:36 syncat kernel: [802067.860278] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:36 syncat kernel: [802067.860279] EtherCAT DEBUG: 20 00 31 40 Nov 24 18:24:36 syncat kernel: [802067.860280] EtherCAT DEBUG 0-1: PDO entry 0x4031:00, 32 bit, "???". Nov 24 18:24:36 syncat kernel: [802067.860281] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:09. Nov 24 18:24:36 syncat kernel: [802067.860282] EtherCAT DEBUG 0-1: Upload request: Nov 24 18:24:36 syncat kernel: [802067.860282] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 Nov 24 18:24:36 syncat kernel: [802067.864821] EtherCAT DEBUG 0-1: Upload response: Nov 24 18:24:36 syncat kernel: [802067.864822] EtherCAT DEBUG: 00 30 43 00 1A 09 20 00 41 40 Nov 24 18:24:36 syncat kernel: [802067.864825] EtherCAT DEBUG 0-1: Uploaded data: Nov 24 18:24:36 syncat kernel: [802067.864825] EtherCAT DEBUG: 20 00 41 40 Nov 24 18:24:36 syncat kernel: [802067.864827] EtherCAT DEBUG 0-1: PDO entry 0x4041:00, 32 bit, "???". Nov 24 18:24:36 syncat kernel: [802067.864831] EtherCAT DEBUG 0-1: Reading of PDO configuration finished. Nov 24 18:24:36 syncat kernel: [802067.864832] EtherCAT 0: Bus scanning completed in 1160 ms. Nov 24 18:24:36 syncat kernel: [802067.864833] EtherCAT 0: Using slave 0 as DC reference clock. Nov 24 18:24:36 syncat kernel: [802067.864835] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) Nov 24 18:24:36 syncat kernel: [802067.864836] EtherCAT DEBUG 0-1: ec_slave_calc_transmission_delays_rec(delay = 600 ns) Nov 24 18:24:36 syncat kernel: [802067.864837] EtherCAT DEBUG 0: No app_time received up to now. Nov 24 18:24:36 syncat kernel: [802067.868853] EtherCAT 0: Slave states on main device: PREOP. Nov 24 18:24:36 syncat kernel: [802067.872873] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced). Nov 24 18:24:36 syncat kernel: [802067.872875] EtherCAT DEBUG 0-0: Configuring... Nov 24 18:24:36 syncat kernel: [802067.874983] EtherCAT DEBUG 0-0: Now in INIT. Nov 24 18:24:36 syncat kernel: [802067.874985] EtherCAT DEBUG 0-0: Clearing FMMU configurations... Nov 24 18:24:36 syncat kernel: [802067.876159] EtherCAT DEBUG 0-0: Clearing sync manager configurations... Nov 24 18:24:36 syncat kernel: [802067.877376] EtherCAT DEBUG 0-0: Clearing DC assignment... Nov 24 18:24:36 syncat kernel: [802067.878541] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... Nov 24 18:24:36 syncat kernel: [802067.878543] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:36 syncat kernel: [802067.878544] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:36 syncat kernel: [802067.879766] EtherCAT DEBUG 0-0: Assigning SII access to PDI. Nov 24 18:24:36 syncat kernel: [802067.883092] EtherCAT DEBUG 0-0: Now in PREOP. Nov 24 18:24:36 syncat kernel: [802067.883093] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. Nov 24 18:24:36 syncat kernel: [802067.884238] EtherCAT DEBUG 0-0: Finished configuration. Nov 24 18:24:36 syncat kernel: [802067.888261] EtherCAT DEBUG 0-1: Changing state from PREOP to PREOP (forced). Nov 24 18:24:36 syncat kernel: [802067.888263] EtherCAT DEBUG 0-1: Configuring... Nov 24 18:24:36 syncat kernel: [802067.890071] EtherCAT DEBUG 0-1: Now in INIT. Nov 24 18:24:36 syncat kernel: [802067.890072] EtherCAT DEBUG 0-1: Clearing FMMU configurations... Nov 24 18:24:36 syncat kernel: [802067.891185] EtherCAT DEBUG 0-1: Clearing sync manager configurations... Nov 24 18:24:36 syncat kernel: [802067.892356] EtherCAT DEBUG 0-1: Clearing DC assignment... Nov 24 18:24:36 syncat kernel: [802067.893522] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... Nov 24 18:24:36 syncat kernel: [802067.893524] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:24:36 syncat kernel: [802067.893525] EtherCAT DEBUG 0-1: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:24:36 syncat kernel: [802067.894650] EtherCAT DEBUG 0-1: Assigning SII access to PDI. Nov 24 18:24:36 syncat kernel: [802067.898124] EtherCAT DEBUG 0-1: Now in PREOP. Nov 24 18:24:36 syncat kernel: [802067.898126] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT. Nov 24 18:24:36 syncat kernel: [802067.899261] EtherCAT DEBUG 0-1: Finished configuration. Nov 24 18:24:36 syncat kernel: [802067.899262] EtherCAT DEBUG 0-0: Ready for requests. Nov 24 18:24:36 syncat kernel: [802067.899262] EtherCAT DEBUG 0-1: Ready for requests. Nov 24 18:24:39 syncat kernel: [802070.888941] EtherCAT DEBUG 0-0: Fetching SDO dictionary. Nov 24 18:24:39 syncat kernel: [802071.759260] EtherCAT DEBUG 0-0: Fetched 68 SDOs and 116 entries. Nov 24 18:24:39 syncat kernel: [802071.776486] EtherCAT DEBUG 0-1: Fetching SDO dictionary. Nov 24 18:24:40 syncat kernel: [802072.636092] EtherCAT DEBUG 0-1: Fetched 68 SDOs and 116 entries. Nov 24 18:25:01 syncat kernel: [802092.983279] EtherCAT DEBUG 0-0: Changing state from PREOP to BOOT. Nov 24 18:25:01 syncat kernel: [802092.983282] EtherCAT DEBUG 0-0: Configuring... Nov 24 18:25:01 syncat kernel: [802092.985369] EtherCAT DEBUG 0-0: Now in INIT. Nov 24 18:25:01 syncat kernel: [802092.985371] EtherCAT DEBUG 0-0: Clearing FMMU configurations... Nov 24 18:25:01 syncat kernel: [802092.986639] EtherCAT DEBUG 0-0: Clearing sync manager configurations... Nov 24 18:25:01 syncat kernel: [802092.987748] EtherCAT DEBUG 0-0: Clearing DC assignment... Nov 24 18:25:01 syncat kernel: [802092.988940] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... Nov 24 18:25:01 syncat kernel: [802092.988942] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1 Nov 24 18:25:01 syncat kernel: [802092.988943] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1 Nov 24 18:25:01 syncat kernel: [802093.354726] EtherCAT 0: Link state of ecm0 changed to DOWN. Nov 24 18:25:01 syncat kernel: [802093.354736] EtherCAT ERROR 0-0: Failed to receive state checking datagram: Datagram error. Nov 24 18:25:01 syncat kernel: [802093.358833] EtherCAT ERROR 0-1: Failed to receive AL state datagram: Datagram error. Nov 24 18:25:01 syncat kernel: [802093.362948] EtherCAT 0: 0 slave(s) responding on main device. Nov 24 18:25:01 syncat kernel: [802093.362951] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list. Nov 24 18:25:03 syncat kernel: [802094.892944] EtherCAT 0: Link state of ecm0 changed to UP.
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