I've developed an application using etherlab to control an 8-axis robot
prototype. Everything works fine but dmesg return a long list of messages like
the ones below (the complete output is attached in the txt file) for all the
pdo entries of each slave. These messages are returned once only when the
realtime cycle starts and ethercat data begins to be received, processed and
sent.
[ 304.761920] EtherCAT ERROR 0-0: SDO download 0x160A:00 (1 bytes) aborted.
[ 304.761923] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.761924] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.761925] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 304.761928] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160A.
[.....]
I followed the "user example" to develop my application and I'm using Elmo
Drives with this pdo configuration:
ec_pdo_entry_info_t slave_pdo_entries[] = {
{0x6040, 0x00, 16}, /* Controlword */
{0x6060, 0x00, 8}, /* Modes of operation */
{0x0000, 0x00, 8}, /* Gap */
{0x6071, 0x00, 16}, /* Target torque */
{0x607a, 0x00, 32}, /* Target position */
{0x60b1, 0x00, 32}, /* Offset velocity */
{0x60fe, 0x01, 32}, /* Physical outputs */
{0x6041, 0x00, 16}, /* Statusword */
{0x6061, 0x00, 8}, /* Modes of operation display */
{0x0000, 0x00, 8}, /* Gap */
{0x6064, 0x00, 32}, /* Position actual value */
{0x6069, 0x00, 32}, /* Velocity sensor actual value */
{0x6077, 0x00, 16}, /* Torque value */
{0x60f4, 0x00, 32}, /* Following error actual value */
{0x60fd, 0x00, 32}, /* Digital inputs */
};
ec_pdo_info_t slave_pdos[] = {
{0x160a, 1, slave_pdo_entries + 0}, /* RPDO_160A Mapping */
{0x160b, 2, slave_pdo_entries + 1}, /* RPDO_160B Mapping */
{0x160c, 1, slave_pdo_entries + 3}, /* RPDO_160C Mapping */
{0x160f, 1, slave_pdo_entries + 4}, /* RPDO_160F Mapping */
{0x1617, 1, slave_pdo_entries + 5}, /* RPDO_1617 Mapping */
{0x161d, 1, slave_pdo_entries + 6}, /* RPDO_161D Mapping */
{0x1a0a, 1, slave_pdo_entries + 7}, /* TPD0A Mapping */
{0x1a0b, 2, slave_pdo_entries + 8}, /* TPD0B Mapping */
{0x1a0e, 1, slave_pdo_entries + 10}, /* TPD0E Mapping */
{0x1a0f, 1, slave_pdo_entries + 11}, /* TPD0F Mapping */
{0x1a13, 1, slave_pdo_entries + 12}, /* TPD13 Mapping */
{0x1a19, 1, slave_pdo_entries + 13}, /* TPD19 Mapping */
{0x1a1c, 1, slave_pdo_entries + 14}, /* TPD1C Mapping */
};
ec_sync_info_t slave_syncs[] = {
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
{2, EC_DIR_OUTPUT, 6, slave_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 7, slave_pdos + 6, EC_WD_DISABLE},
{0xff}
};
How can I solve this issue?
Thank you,
Alessandro
[ 286.003997] EtherCAT: Requesting master 0...
[ 286.004000] EtherCAT: Successfully requested master 0.
[ 304.671244] EtherCAT 0: Domain0: Logical address 0x00000000, 320 byte,
expected working counter 24.
[ 304.671247] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 320 byte, type LRW at ffff880262890d98.
[ 304.673643] EtherCAT 0: Master thread exited.
[ 304.673650] EtherCAT 0: Stopping EoE thread.
[ 304.673673] EtherCAT 0: EoE thread exited.
[ 304.673677] EtherCAT 0: Starting EoE thread.
[ 304.673725] EtherCAT 0: Starting EtherCAT-OP thread.
[ 304.677804] EtherCAT WARNING 0: No app_time received up to now, but master
already active.
[ 304.761920] EtherCAT ERROR 0-0: SDO download 0x160A:00 (1 bytes) aborted.
[ 304.761923] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.761924] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.761925] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 304.761928] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160A.
[ 304.809975] EtherCAT ERROR 0-0: SDO download 0x160B:00 (1 bytes) aborted.
[ 304.809976] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.809977] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.809978] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 304.809982] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160B.
[ 304.846054] EtherCAT ERROR 0-0: SDO download 0x160C:00 (1 bytes) aborted.
[ 304.846074] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.846075] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.846076] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 304.846079] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160C.
[ 304.882247] EtherCAT ERROR 0-0: SDO download 0x160F:00 (1 bytes) aborted.
[ 304.882250] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.882251] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.882251] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 304.882254] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160F.
[ 304.918302] EtherCAT ERROR 0-0: SDO download 0x1617:00 (1 bytes) aborted.
[ 304.918304] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.918305] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.918306] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 304.918309] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1617.
[ 304.954351] EtherCAT ERROR 0-0: SDO download 0x161D:00 (1 bytes) aborted.
[ 304.954353] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 304.954354] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 304.954355] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 304.954357] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x161D.
[ 305.086785] EtherCAT ERROR 0-0: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 305.086789] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.086790] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.086791] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 305.086794] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A0A.
[ 305.134847] EtherCAT ERROR 0-0: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 305.134849] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.134850] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.134851] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 305.134855] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A0B.
[ 305.170892] EtherCAT ERROR 0-0: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 305.170894] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.170894] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.170895] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 305.170898] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A0E.
[ 305.206983] EtherCAT ERROR 0-0: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 305.206987] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.206988] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.206988] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 305.206992] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A0F.
[ 305.243156] EtherCAT ERROR 0-0: SDO download 0x1A13:00 (1 bytes) aborted.
[ 305.243164] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.243167] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.243170] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 305.243182] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A13.
[ 305.279391] EtherCAT ERROR 0-0: SDO download 0x1A19:00 (1 bytes) aborted.
[ 305.279401] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.279406] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.279409] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 305.279421] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A19.
[ 305.315633] EtherCAT ERROR 0-0: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 305.315641] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.315646] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 305.315648] EtherCAT WARNING 0-0: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 305.315659] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A1C.
[ 305.434624] EtherCAT 0: Domain 0: Working counter changed to 1/24.
[ 305.528106] EtherCAT ERROR 0-1: SDO download 0x160A:00 (1 bytes) aborted.
[ 305.528115] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.528120] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.528123] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 305.528135] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x160A.
[ 305.576376] EtherCAT ERROR 0-1: SDO download 0x160B:00 (1 bytes) aborted.
[ 305.576384] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.576388] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.576391] EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 305.576408] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x160B.
[ 305.612582] EtherCAT ERROR 0-1: SDO download 0x160C:00 (1 bytes) aborted.
[ 305.612595] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.612600] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.612605] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 305.612620] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x160C.
[ 305.648677] EtherCAT ERROR 0-1: SDO download 0x160F:00 (1 bytes) aborted.
[ 305.648678] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.648679] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.648680] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 305.648682] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x160F.
[ 305.684723] EtherCAT ERROR 0-1: SDO download 0x1617:00 (1 bytes) aborted.
[ 305.684728] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.684729] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.684730] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 305.684734] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1617.
[ 305.720793] EtherCAT ERROR 0-1: SDO download 0x161D:00 (1 bytes) aborted.
[ 305.720797] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.720798] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.720799] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 305.720802] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x161D.
[ 305.853326] EtherCAT ERROR 0-1: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 305.853336] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.853341] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.853344] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 305.853357] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A0A.
[ 305.901590] EtherCAT ERROR 0-1: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 305.901593] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.901594] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.901595] EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 305.901599] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A0B.
[ 305.937632] EtherCAT ERROR 0-1: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 305.937633] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.937634] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.937635] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 305.937637] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A0E.
[ 305.973670] EtherCAT ERROR 0-1: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 305.973671] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 305.973672] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 305.973673] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 305.973675] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A0F.
[ 306.009720] EtherCAT ERROR 0-1: SDO download 0x1A13:00 (1 bytes) aborted.
[ 306.009723] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.009724] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 306.009724] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 306.009727] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A13.
[ 306.045761] EtherCAT ERROR 0-1: SDO download 0x1A19:00 (1 bytes) aborted.
[ 306.045763] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.045764] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 306.045764] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 306.045767] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A19.
[ 306.081953] EtherCAT ERROR 0-1: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 306.081961] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.081965] EtherCAT WARNING 0-1: Failed to clear PDO mapping.
[ 306.081968] EtherCAT WARNING 0-1: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 306.081992] EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1A1C.
[ 306.294333] EtherCAT ERROR 0-2: SDO download 0x160A:00 (1 bytes) aborted.
[ 306.294343] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.294348] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.294351] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 306.294363] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x160A.
[ 306.342527] EtherCAT ERROR 0-2: SDO download 0x160B:00 (1 bytes) aborted.
[ 306.342528] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.342529] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.342529] EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 306.342533] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x160B.
[ 306.378564] EtherCAT ERROR 0-2: SDO download 0x160C:00 (1 bytes) aborted.
[ 306.378567] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.378568] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.378569] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 306.378571] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x160C.
[ 306.414609] EtherCAT ERROR 0-2: SDO download 0x160F:00 (1 bytes) aborted.
[ 306.414611] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.414612] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.414613] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 306.414615] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x160F.
[ 306.438416] EtherCAT 0: Domain 0: 3 working counter changes - now 6/24.
[ 306.450645] EtherCAT ERROR 0-2: SDO download 0x1617:00 (1 bytes) aborted.
[ 306.450646] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.450647] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.450648] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 306.450650] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1617.
[ 306.486686] EtherCAT ERROR 0-2: SDO download 0x161D:00 (1 bytes) aborted.
[ 306.486689] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.486690] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.486691] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 306.486694] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x161D.
[ 306.619293] EtherCAT ERROR 0-2: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 306.619303] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.619307] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.619310] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 306.619322] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A0A.
[ 306.667462] EtherCAT ERROR 0-2: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 306.667464] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.667464] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.667465] EtherCAT WARNING 0-2: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 306.667468] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A0B.
[ 306.703509] EtherCAT ERROR 0-2: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 306.703512] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.703513] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.703514] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 306.703516] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A0E.
[ 306.739550] EtherCAT ERROR 0-2: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 306.739551] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.739552] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.739553] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 306.739555] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A0F.
[ 306.775592] EtherCAT ERROR 0-2: SDO download 0x1A13:00 (1 bytes) aborted.
[ 306.775594] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.775595] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.775596] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 306.775599] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A13.
[ 306.811720] EtherCAT ERROR 0-2: SDO download 0x1A19:00 (1 bytes) aborted.
[ 306.811727] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.811731] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.811734] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 306.811744] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A19.
[ 306.847904] EtherCAT ERROR 0-2: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 306.847912] EtherCAT ERROR 0-2: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 306.847916] EtherCAT WARNING 0-2: Failed to clear PDO mapping.
[ 306.847919] EtherCAT WARNING 0-2: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 306.847930] EtherCAT WARNING 0-2: Failed to configure mapping of PDO 0x1A1C.
[ 307.060497] EtherCAT ERROR 0-3: SDO download 0x160A:00 (1 bytes) aborted.
[ 307.060500] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.060501] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.060502] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 307.060505] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x160A.
[ 307.108653] EtherCAT ERROR 0-3: SDO download 0x160B:00 (1 bytes) aborted.
[ 307.108672] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.108677] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.108681] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 307.108698] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x160B.
[ 307.144902] EtherCAT ERROR 0-3: SDO download 0x160C:00 (1 bytes) aborted.
[ 307.144912] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.144916] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.144919] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 307.144932] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x160C.
[ 307.181089] EtherCAT ERROR 0-3: SDO download 0x160F:00 (1 bytes) aborted.
[ 307.181100] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.181104] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.181108] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 307.181120] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x160F.
[ 307.217319] EtherCAT ERROR 0-3: SDO download 0x1617:00 (1 bytes) aborted.
[ 307.217324] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.217325] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.217326] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 307.217329] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1617.
[ 307.253384] EtherCAT ERROR 0-3: SDO download 0x161D:00 (1 bytes) aborted.
[ 307.253387] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.253388] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.253389] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 307.253392] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x161D.
[ 307.385712] EtherCAT ERROR 0-3: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 307.385717] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.385718] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.385719] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 307.385723] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A0A.
[ 307.433778] EtherCAT ERROR 0-3: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 307.433782] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.433783] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.433783] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 307.433787] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A0B.
[ 307.442212] EtherCAT 0: Domain 0: 2 working counter changes - now 9/24.
[ 307.469821] EtherCAT ERROR 0-3: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 307.469823] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.469824] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.469825] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 307.469828] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A0E.
[ 307.505870] EtherCAT ERROR 0-3: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 307.505872] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.505873] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.505873] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 307.505876] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A0F.
[ 307.542027] EtherCAT ERROR 0-3: SDO download 0x1A13:00 (1 bytes) aborted.
[ 307.542034] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.542038] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.542041] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 307.542052] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A13.
[ 307.578247] EtherCAT ERROR 0-3: SDO download 0x1A19:00 (1 bytes) aborted.
[ 307.578249] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.578250] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.578251] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 307.578253] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A19.
[ 307.614295] EtherCAT ERROR 0-3: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 307.614297] EtherCAT ERROR 0-3: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.614298] EtherCAT WARNING 0-3: Failed to clear PDO mapping.
[ 307.614299] EtherCAT WARNING 0-3: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 307.614301] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A1C.
[ 307.826817] EtherCAT ERROR 0-4: SDO download 0x160A:00 (1 bytes) aborted.
[ 307.826827] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.826831] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 307.826834] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 307.826845] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x160A.
[ 307.875074] EtherCAT ERROR 0-4: SDO download 0x160B:00 (1 bytes) aborted.
[ 307.875082] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.875085] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 307.875088] EtherCAT WARNING 0-4: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 307.875108] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x160B.
[ 307.911208] EtherCAT ERROR 0-4: SDO download 0x160C:00 (1 bytes) aborted.
[ 307.911211] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.911211] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 307.911212] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 307.911215] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x160C.
[ 307.947250] EtherCAT ERROR 0-4: SDO download 0x160F:00 (1 bytes) aborted.
[ 307.947252] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.947253] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 307.947253] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 307.947256] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x160F.
[ 307.983291] EtherCAT ERROR 0-4: SDO download 0x1617:00 (1 bytes) aborted.
[ 307.983293] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 307.983294] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 307.983295] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 307.983298] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1617.
[ 308.019333] EtherCAT ERROR 0-4: SDO download 0x161D:00 (1 bytes) aborted.
[ 308.019335] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.019336] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.019337] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 308.019339] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x161D.
[ 308.151870] EtherCAT ERROR 0-4: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 308.151879] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.151883] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.151887] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 308.151898] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A0A.
[ 308.200125] EtherCAT ERROR 0-4: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 308.200127] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.200128] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.200129] EtherCAT WARNING 0-4: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 308.200133] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A0B.
[ 308.236168] EtherCAT ERROR 0-4: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 308.236170] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.236170] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.236171] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 308.236173] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A0E.
[ 308.272207] EtherCAT ERROR 0-4: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 308.272209] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.272209] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.272210] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 308.272212] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A0F.
[ 308.308257] EtherCAT ERROR 0-4: SDO download 0x1A13:00 (1 bytes) aborted.
[ 308.308259] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.308260] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.308261] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 308.308263] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A13.
[ 308.344295] EtherCAT ERROR 0-4: SDO download 0x1A19:00 (1 bytes) aborted.
[ 308.344297] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.344298] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.344298] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 308.344301] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A19.
[ 308.380480] EtherCAT ERROR 0-4: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 308.380487] EtherCAT ERROR 0-4: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.380490] EtherCAT WARNING 0-4: Failed to clear PDO mapping.
[ 308.380493] EtherCAT WARNING 0-4: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 308.380503] EtherCAT WARNING 0-4: Failed to configure mapping of PDO 0x1A1C.
[ 308.446008] EtherCAT 0: Domain 0: 2 working counter changes - now 12/24.
[ 308.593153] EtherCAT ERROR 0-5: SDO download 0x160A:00 (1 bytes) aborted.
[ 308.593156] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.593157] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.593157] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 308.593160] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x160A.
[ 308.641202] EtherCAT ERROR 0-5: SDO download 0x160B:00 (1 bytes) aborted.
[ 308.641204] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.641205] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.641205] EtherCAT WARNING 0-5: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 308.641209] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x160B.
[ 308.677286] EtherCAT ERROR 0-5: SDO download 0x160C:00 (1 bytes) aborted.
[ 308.677296] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.677300] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.677303] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 308.677323] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x160C.
[ 308.713472] EtherCAT ERROR 0-5: SDO download 0x160F:00 (1 bytes) aborted.
[ 308.713474] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.713475] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.713476] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 308.713478] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x160F.
[ 308.749513] EtherCAT ERROR 0-5: SDO download 0x1617:00 (1 bytes) aborted.
[ 308.749515] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.749516] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.749517] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 308.749519] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1617.
[ 308.785562] EtherCAT ERROR 0-5: SDO download 0x161D:00 (1 bytes) aborted.
[ 308.785566] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.785568] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.785568] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 308.785571] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x161D.
[ 308.918004] EtherCAT ERROR 0-5: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 308.918008] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.918009] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.918009] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 308.918012] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A0A.
[ 308.966078] EtherCAT ERROR 0-5: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 308.966081] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 308.966082] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 308.966082] EtherCAT WARNING 0-5: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 308.966086] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A0B.
[ 309.002159] EtherCAT ERROR 0-5: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 309.002163] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.002164] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 309.002165] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 309.002167] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A0E.
[ 309.038359] EtherCAT ERROR 0-5: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 309.038369] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.038374] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 309.038377] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 309.038389] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A0F.
[ 309.074556] EtherCAT ERROR 0-5: SDO download 0x1A13:00 (1 bytes) aborted.
[ 309.074565] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.074569] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 309.074572] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 309.074583] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A13.
[ 309.110767] EtherCAT ERROR 0-5: SDO download 0x1A19:00 (1 bytes) aborted.
[ 309.110776] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.110780] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 309.110784] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 309.110796] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A19.
[ 309.146945] EtherCAT ERROR 0-5: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 309.146946] EtherCAT ERROR 0-5: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.146947] EtherCAT WARNING 0-5: Failed to clear PDO mapping.
[ 309.146947] EtherCAT WARNING 0-5: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 309.146950] EtherCAT WARNING 0-5: Failed to configure mapping of PDO 0x1A1C.
[ 309.359358] EtherCAT ERROR 0-6: SDO download 0x160A:00 (1 bytes) aborted.
[ 309.359366] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.359371] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.359374] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 309.359384] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x160A.
[ 309.407616] EtherCAT ERROR 0-6: SDO download 0x160B:00 (1 bytes) aborted.
[ 309.407624] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.407628] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.407631] EtherCAT WARNING 0-6: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 309.407647] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x160B.
[ 309.443823] EtherCAT ERROR 0-6: SDO download 0x160C:00 (1 bytes) aborted.
[ 309.443831] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.443836] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.443839] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 309.443850] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x160C.
[ 309.449803] EtherCAT 0: Domain 0: 4 working counter changes - now 18/24.
[ 309.479902] EtherCAT ERROR 0-6: SDO download 0x160F:00 (1 bytes) aborted.
[ 309.479904] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.479905] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.479906] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 309.479908] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x160F.
[ 309.515949] EtherCAT ERROR 0-6: SDO download 0x1617:00 (1 bytes) aborted.
[ 309.515951] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.515952] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.515953] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 309.515955] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1617.
[ 309.551990] EtherCAT ERROR 0-6: SDO download 0x161D:00 (1 bytes) aborted.
[ 309.551992] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.551993] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.551993] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 309.551996] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x161D.
[ 309.684516] EtherCAT ERROR 0-6: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 309.684521] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.684522] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.684523] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 309.684527] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A0A.
[ 309.732778] EtherCAT ERROR 0-6: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 309.732784] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.732788] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.732791] EtherCAT WARNING 0-6: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 309.732810] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A0B.
[ 309.768845] EtherCAT ERROR 0-6: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 309.768846] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.768847] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.768848] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 309.768851] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A0E.
[ 309.804892] EtherCAT ERROR 0-6: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 309.804895] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.804896] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.804897] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 309.804899] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A0F.
[ 309.840932] EtherCAT ERROR 0-6: SDO download 0x1A13:00 (1 bytes) aborted.
[ 309.840933] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.840934] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.840935] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 309.840937] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A13.
[ 309.876971] EtherCAT ERROR 0-6: SDO download 0x1A19:00 (1 bytes) aborted.
[ 309.876973] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.876974] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.876975] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 309.876978] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A19.
[ 309.913144] EtherCAT ERROR 0-6: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 309.913146] EtherCAT ERROR 0-6: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 309.913147] EtherCAT WARNING 0-6: Failed to clear PDO mapping.
[ 309.913148] EtherCAT WARNING 0-6: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 309.913151] EtherCAT WARNING 0-6: Failed to configure mapping of PDO 0x1A1C.
[ 310.125668] EtherCAT ERROR 0-7: SDO download 0x160A:00 (1 bytes) aborted.
[ 310.125678] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.125683] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.125687] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6040:00/16. Entries to map: 0x6040:00/16
[ 310.125699] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x160A.
[ 310.173784] EtherCAT ERROR 0-7: SDO download 0x160B:00 (1 bytes) aborted.
[ 310.173788] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.173788] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.173789] EtherCAT WARNING 0-7: Currently mapped PDO entries: 0x6060:00/8
0x0000:00/8. Entries to map: 0x6060:00/8 0x0000:00/8
[ 310.173793] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x160B.
[ 310.209852] EtherCAT ERROR 0-7: SDO download 0x160C:00 (1 bytes) aborted.
[ 310.209856] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.209857] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.209857] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6071:00/16. Entries to map: 0x6071:00/16
[ 310.209860] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x160C.
[ 310.245891] EtherCAT ERROR 0-7: SDO download 0x160F:00 (1 bytes) aborted.
[ 310.245893] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.245893] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.245894] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x607A:00/32. Entries to map: 0x607A:00/32
[ 310.245897] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x160F.
[ 310.282064] EtherCAT ERROR 0-7: SDO download 0x1617:00 (1 bytes) aborted.
[ 310.282072] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.282076] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.282079] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x60B1:00/32. Entries to map: 0x60B1:00/32
[ 310.282091] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1617.
[ 310.318246] EtherCAT ERROR 0-7: SDO download 0x161D:00 (1 bytes) aborted.
[ 310.318253] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.318256] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.318259] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x60FE:01/32. Entries to map: 0x60FE:01/32
[ 310.318271] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x161D.
[ 310.450723] EtherCAT ERROR 0-7: SDO download 0x1A0A:00 (1 bytes) aborted.
[ 310.450734] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.450735] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.450736] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6041:00/16. Entries to map: 0x6041:00/16
[ 310.450739] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A0A.
[ 310.453602] EtherCAT 0: Domain 0: 2 working counter changes - now 21/24.
[ 310.498788] EtherCAT ERROR 0-7: SDO download 0x1A0B:00 (1 bytes) aborted.
[ 310.498791] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.498791] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.498792] EtherCAT WARNING 0-7: Currently mapped PDO entries: 0x6061:00/8
0x0000:00/8. Entries to map: 0x6061:00/8 0x0000:00/8
[ 310.498796] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A0B.
[ 310.534831] EtherCAT ERROR 0-7: SDO download 0x1A0E:00 (1 bytes) aborted.
[ 310.534832] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.534833] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.534834] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6064:00/32. Entries to map: 0x6064:00/32
[ 310.534836] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A0E.
[ 310.570975] EtherCAT ERROR 0-7: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 310.570982] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.570985] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.570988] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6069:00/32. Entries to map: 0x6069:00/32
[ 310.570998] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A0F.
[ 310.607189] EtherCAT ERROR 0-7: SDO download 0x1A13:00 (1 bytes) aborted.
[ 310.607197] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.607201] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.607204] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x6077:00/16. Entries to map: 0x6077:00/16
[ 310.607215] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A13.
[ 310.643374] EtherCAT ERROR 0-7: SDO download 0x1A19:00 (1 bytes) aborted.
[ 310.643381] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.643384] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.643387] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x60F4:00/32. Entries to map: 0x60F4:00/32
[ 310.643398] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A19.
[ 310.679582] EtherCAT ERROR 0-7: SDO download 0x1A1C:00 (1 bytes) aborted.
[ 310.679585] EtherCAT ERROR 0-7: SDO abort message 0x06010002: "Attempt to
write a read-only object".
[ 310.679586] EtherCAT WARNING 0-7: Failed to clear PDO mapping.
[ 310.679587] EtherCAT WARNING 0-7: Currently mapped PDO entries:
0x60FD:00/32. Entries to map: 0x60FD:00/32
[ 310.679590] EtherCAT WARNING 0-7: Failed to configure mapping of PDO 0x1A1C.
[ 310.815746] EtherCAT 0: Slave states on main device: OP.
[ 311.457395] EtherCAT 0: Domain 0: 2 working counter changes - now 24/24.
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