- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- EtherCAT and Rexroth Servodrives Issues / help needed
EtherCAT and Rexroth Servodrives Issues / help needed
- jc2ktr
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18 Sep 2022 20:08 - 22 Sep 2022 04:47 #252296
by jc2ktr
EtherCAT and Rexroth Servodrives Issues / help needed was created by jc2ktr
Hi,
i have a little problem with my CNC Machine. A couple of weeks ago died my old Harddrive from my LinuxCNC Machine, where the EtherCAT-BUS, LinuxCNC and the connected peripherals Worked without issues.
So i bought an SSD , mounted it and restored the supposedly working backup from my old Machine.
There my problems began, the Machine didn´t boot, all attempts to recover it failed ;( .
I only was able to recover the config files from it. After installing LinuxCNC on Debian 11 and the EtherCAT-Master from the Pinned Forum thread and copying my config to the PC. I noticed that the PC freezes randomly, my Servodrives then show me the "F4009 Busausfall" Errormessage, sometimes it is after 1 minute and sometimes after 2 hours. The PC must then be restarted by pulling the Power plug, because it reacts to no input from mouse or keyboard.
The old config used the EtherCAT SOE Profile for my Rexroth servodrives due to the lack of support from COE from Rexroth side since now.
Now they Support COE and i try to build a Config from scratch, but i don´t get it to work correct.
I can start the machine, the drive (for testpurpose only one drive is connected) will be configured and is then ready to enable. The Position feedback is displayed Correctly and when i turn the shaft of the servo the readout changes correctly.
But i can´t enable the drive to lock the shaft and jog it around.
when i do a sudo dmesg following is printed:
[ 1865.397573] r8169 0000:03:00.0 enp3s0f0: Link is Down
[ 1865.398503] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 1865.398513] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1865.398516] EtherCAT DEBUG 0: Datagram 00000000637b1315 already queued (skipping).
[ 1865.398518] EtherCAT DEBUG 0: Datagram 00000000fb53ca76 already queued (skipping).
[ 1865.488862] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.
[ 1865.685498] EtherCAT 0: Domain 0: 15 working counter changes - now 0/3.
[ 1865.716874] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 1865.913501] EtherCAT WARNING: Datagram 00000000c853cef3 (domain0-0-main) was SKIPPED 65 times.
[ 1891.881755] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[ 1891.882502] EtherCAT 0: Link state of ecm0 changed to UP.
[ 1891.883532] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.884535] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.885549] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.886538] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.887536] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.888522] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.889521] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.890515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.891506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.892510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.893510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.894517] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.895502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.896504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.897500] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index E9 waited 8000 us.
[ 1891.897509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.898503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.899507] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.900512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.901515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.902503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.903514] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.904505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.905510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.906514] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.907515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.908503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.909511] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.910509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.911510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.912506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.913506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.914498] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.915513] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.916508] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.917510] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index FE waited 8000 us.
[ 1891.917520] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.918512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.919507] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.920506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.921510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.922510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.923506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.924505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.925504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.926503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.927505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.928504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.929504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.930504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.931504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.932512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.933500] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 0F waited 8000 us.
[ 1891.933509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.934502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.935504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.936506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.937506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.938508] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.939505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.940505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.941504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.942505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.943503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.944503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.945501] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 1C waited 8000 us.
[ 1891.945511] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.946503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.947503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.948502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.949517] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.950504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.951499] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.952506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.953510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.954502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.955504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.956504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.961502] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 2D waited 8000 us.
[ 1891.980868] EtherCAT 0: 1 slave(s) responding on main device.
[ 1891.980872] EtherCAT 0: Slave states on main device: INIT.
[ 1891.982500] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link.
[ 1891.983500] EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link.
[ 1891.983501] EtherCAT 0: Scanning bus.
[ 1891.983502] EtherCAT DEBUG 0: Scanning slave 0 on main link.
[ 1891.987515] EtherCAT DEBUG 0-0: Slave has the System Time register.
[ 1891.989514] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT.
[ 1891.990502] EtherCAT DEBUG 0-0: Determining SII size.
[ 1891.992503] EtherCAT DEBUG 0-0: Found category type 30 with size 16. Proceeding to offset 82.
[ 1891.994499] EtherCAT DEBUG 0-0: Found category type 40 with size 2. Proceeding to offset 86.
[ 1891.996499] EtherCAT DEBUG 0-0: Found category type 41 with size 16. Proceeding to offset 104.
[ 1892.017500] EtherCAT WARNING: Datagram 00000000c853cef3 (domain0-0-main) was SKIPPED 74 times.
[ 1892.104498] EtherCAT DEBUG 0-0: Slave announces to support CoE, FoE.
[ 1892.104503] EtherCAT DEBUG 0-0: Slave announces to support unknown mailbox protocols 0x0002.
[ 1892.104506] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP.
[ 1892.104510] EtherCAT DEBUG 0-0: Configuring...
[ 1892.107498] EtherCAT DEBUG 0-0: Now in INIT.
[ 1892.107500] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1892.108512] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1892.109499] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1892.110498] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1892.110500] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 234, Ctrl 0x26, En 1
[ 1892.110503] EtherCAT DEBUG 0-0: SM1: Addr 0x1A00, Size 234, Ctrl 0x22, En 1
[ 1892.111500] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1892.120501] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1892.120504] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1892.121498] EtherCAT DEBUG 0-0: Finished configuration.
[ 1892.121500] EtherCAT DEBUG 0-0: Scanning PDO assignment and mapping.
[ 1892.121501] EtherCAT DEBUG 0-0: Reading PDO assignment of SM2.
[ 1892.121502] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:00.
[ 1892.121505] EtherCAT DEBUG 0-0: Upload request:
[ 1892.121506] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00
[ 1892.126500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.126502] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00
[ 1892.126507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.126508] EtherCAT DEBUG: 01
[ 1892.126509] EtherCAT DEBUG 0-0: 1 PDOs assigned.
[ 1892.126510] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:01.
[ 1892.126511] EtherCAT DEBUG 0-0: Upload request:
[ 1892.126512] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00
[ 1892.132504] EtherCAT DEBUG 0-0: Upload response:
[ 1892.132505] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00
[ 1892.132510] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.132511] EtherCAT DEBUG: 00 16
[ 1892.132513] EtherCAT DEBUG 0-0: PDO 0x1600.
[ 1892.132514] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[ 1892.132515] EtherCAT DEBUG 0-0: Upload request:
[ 1892.132516] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[ 1892.138498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.138502] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00
[ 1892.138507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.138508] EtherCAT DEBUG: 04
[ 1892.138509] EtherCAT DEBUG 0-0: 4 PDO entries mapped.
[ 1892.138511] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01.
[ 1892.138512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.138513] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00
[ 1892.144498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.144500] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60
[ 1892.144505] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.144506] EtherCAT DEBUG: 10 00 40 60
[ 1892.144508] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 1892.144510] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02.
[ 1892.144511] EtherCAT DEBUG 0-0: Upload request:
[ 1892.144512] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00
[ 1892.150515] EtherCAT DEBUG 0-0: Upload response:
[ 1892.150519] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60
[ 1892.150528] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.150529] EtherCAT DEBUG: 08 00 60 60
[ 1892.150531] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???".
[ 1892.150533] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03.
[ 1892.150535] EtherCAT DEBUG 0-0: Upload request:
[ 1892.150535] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00
[ 1892.156500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.156501] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60
[ 1892.156506] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.156507] EtherCAT DEBUG: 20 00 7A 60
[ 1892.156509] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".
[ 1892.156511] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04.
[ 1892.156512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.156512] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00
[ 1892.162496] EtherCAT DEBUG 0-0: Upload response:
[ 1892.162498] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60
[ 1892.162504] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.162505] EtherCAT DEBUG: 20 00 FF 60
[ 1892.162507] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 1892.162512] EtherCAT DEBUG 0-0: Reading PDO assignment of SM3.
[ 1892.162513] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:00.
[ 1892.162514] EtherCAT DEBUG 0-0: Upload request:
[ 1892.162515] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00
[ 1892.168500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.168503] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00
[ 1892.168508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.168509] EtherCAT DEBUG: 01
[ 1892.168510] EtherCAT DEBUG 0-0: 1 PDOs assigned.
[ 1892.168511] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:01.
[ 1892.168512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.168513] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00
[ 1892.174502] EtherCAT DEBUG 0-0: Upload response:
[ 1892.174503] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00
[ 1892.174508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.174508] EtherCAT DEBUG: 00 1A
[ 1892.174510] EtherCAT DEBUG 0-0: PDO 0x1A00.
[ 1892.174512] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[ 1892.174512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.174513] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[ 1892.180500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.180503] EtherCAT DEBUG: 00 30 4F 00 1A 00 03 00 00 00
[ 1892.180508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.180509] EtherCAT DEBUG: 03
[ 1892.180510] EtherCAT DEBUG 0-0: 3 PDO entries mapped.
[ 1892.180512] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01.
[ 1892.180516] EtherCAT DEBUG 0-0: Upload request:
[ 1892.180516] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00
[ 1892.186500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.186502] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60
[ 1892.186508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.186508] EtherCAT DEBUG: 10 00 41 60
[ 1892.186511] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 1892.186514] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02.
[ 1892.186515] EtherCAT DEBUG 0-0: Upload request:
[ 1892.186516] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00
[ 1892.192500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.192504] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60
[ 1892.192510] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.192511] EtherCAT DEBUG: 08 00 61 60
[ 1892.192514] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???".
[ 1892.192517] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03.
[ 1892.192518] EtherCAT DEBUG 0-0: Upload request:
[ 1892.192518] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00
[ 1892.198498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.198502] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60
[ 1892.198507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.198508] EtherCAT DEBUG: 20 00 64 60
[ 1892.198510] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 1892.198514] EtherCAT DEBUG 0-0: Reading of PDO configuration finished.
[ 1892.198719] EtherCAT 0: Bus scanning completed in 216 ms.
[ 1892.198722] EtherCAT 0: Using slave 0 as DC reference clock.
[ 1892.198723] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)
[ 1892.198726] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 1892.198727] EtherCAT 0: Starting EoE thread.
[ 1892.198798] EtherCAT DEBUG 0-0: Checking system time offset.
[ 1892.198800] EtherCAT DEBUG 0: EoE thread running.
[ 1892.200509] EtherCAT DEBUG 0-0: DC 32 bit system time offset calculation: system_time=3513417244 (corrected with 0), app_time=716835515890554058, diff=-1113598290
[ 1892.200516] EtherCAT DEBUG 0-0: Setting time offset to 3181369006 (was 0)
[ 1892.201514] EtherCAT DEBUG 0: Requesting OP...
[ 1892.208865] EtherCAT 0: Slave states on main device: PREOP.
[ 1892.220873] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 1892.220878] EtherCAT DEBUG 0-0: Configuring...
[ 1892.229504] EtherCAT DEBUG 0-0: Now in INIT.
[ 1892.229509] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1892.230504] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1892.231501] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1892.232500] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1892.232501] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 234, Ctrl 0x26, En 1
[ 1892.232504] EtherCAT DEBUG 0-0: SM1: Addr 0x1A00, Size 234, Ctrl 0x22, En 1
[ 1892.232872] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1892.240498] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1892.240501] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1892.241500] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.241502] EtherCAT DEBUG: 00
[ 1892.241504] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.241505] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ 1892.246498] EtherCAT DEBUG 0-0: Download response:
[ 1892.246503] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.246509] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 1892.246513] EtherCAT DEBUG: 10 00 41 60
[ 1892.246516] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.246517] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[ 1892.252500] EtherCAT DEBUG 0-0: Download response:
[ 1892.252503] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00
[ 1892.252508] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 1892.252510] EtherCAT DEBUG: 20 00 64 60
[ 1892.252514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.252515] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60
[ 1892.258500] EtherCAT DEBUG 0-0: Download response:
[ 1892.258501] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00
[ 1892.258510] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 1892.258511] EtherCAT DEBUG: 10 00 77 60
[ 1892.258513] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.258514] EtherCAT DEBUG: 00 20 23 00 1A 03 10 00 77 60
[ 1892.264516] EtherCAT DEBUG 0-0: Download response:
[ 1892.264519] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00
[ 1892.264525] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[ 1892.264528] EtherCAT DEBUG: 08 00 61 60
[ 1892.264530] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.264531] EtherCAT DEBUG: 00 20 23 00 1A 04 08 00 61 60
[ 1892.269498] EtherCAT DEBUG 0-0: Download response:
[ 1892.269500] EtherCAT DEBUG: 00 30 60 00 1A 04 00 00 00 00
[ 1892.269508] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.269509] EtherCAT DEBUG: 04
[ 1892.269510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.269511] EtherCAT DEBUG: 00 20 2F 00 1A 00 04 00 00 00
[ 1892.276499] EtherCAT DEBUG 0-0: Download response:
[ 1892.276500] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.276506] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.276507] EtherCAT DEBUG: 00
[ 1892.276508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.276509] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ 1892.276931] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.276937] EtherCAT DEBUG:
[ 1892.276938] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.282502] EtherCAT DEBUG 0-0: Download response:
[ 1892.282504] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.282509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 1892.282510] EtherCAT DEBUG: 10 00 40 60
[ 1892.282512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.282513] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[ 1892.288514] EtherCAT DEBUG 0-0: Download response:
[ 1892.288517] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00
[ 1892.288522] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 1892.288524] EtherCAT DEBUG: 08 00 60 60
[ 1892.288526] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.288527] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60
[ 1892.294503] EtherCAT DEBUG 0-0: Download response:
[ 1892.294506] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00
[ 1892.294512] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 1892.294513] EtherCAT DEBUG: 20 00 7A 60
[ 1892.294516] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.294516] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60
[ 1892.300501] EtherCAT DEBUG 0-0: Download response:
[ 1892.300502] EtherCAT DEBUG: 00 30 60 00 16 03 00 00 00 00
[ 1892.300507] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 1892.300508] EtherCAT DEBUG: 20 00 FF 60
[ 1892.300511] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.300511] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60
[ 1892.306498] EtherCAT DEBUG 0-0: Download response:
[ 1892.306500] EtherCAT DEBUG: 00 30 60 00 16 04 00 00 00 00
[ 1892.306505] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.306506] EtherCAT DEBUG: 04
[ 1892.306507] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.306508] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00
[ 1892.312499] EtherCAT DEBUG 0-0: Download response:
[ 1892.312501] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.312506] EtherCAT DEBUG 0-0: Downloading SDO 0x6060:00.
[ 1892.312509] EtherCAT DEBUG: 08
[ 1892.312510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.312511] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00
[ 1892.317514] EtherCAT DEBUG 0-0: Download response:
[ 1892.317520] EtherCAT DEBUG: 00 30 60 60 60 00 00 00 00 00
[ 1892.317536] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[ 1892.317537] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32
[ 1892.317549] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1892.317550] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.317552] EtherCAT DEBUG: 00
[ 1892.317553] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.317554] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ 1892.324499] EtherCAT DEBUG 0-0: Download response:
[ 1892.324501] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.324507] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 1892.324509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 1892.324510] EtherCAT DEBUG: 10 00 40 60
[ 1892.324512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.324513] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[ 1892.324941] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.324945] EtherCAT DEBUG:
[ 1892.324946] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.330497] EtherCAT DEBUG 0-0: Download response:
[ 1892.330499] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00
[ 1892.330503] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[ 1892.330505] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 1892.330506] EtherCAT DEBUG: 08 00 60 60
[ 1892.330508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.330509] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60
[ 1892.336500] EtherCAT DEBUG 0-0: Download response:
[ 1892.336501] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00
[ 1892.336506] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 3.
[ 1892.336509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 1892.336510] EtherCAT DEBUG: 20 00 7A 60
[ 1892.336514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.336515] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60
[ 1892.342499] EtherCAT DEBUG 0-0: Download response:
[ 1892.342502] EtherCAT DEBUG: 00 30 60 00 16 03 00 00 00 00
[ 1892.342507] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 4.
[ 1892.342510] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 1892.342511] EtherCAT DEBUG: 20 00 FF 60
[ 1892.342514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.342514] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60
[ 1892.348499] EtherCAT DEBUG 0-0: Download response:
[ 1892.348500] EtherCAT DEBUG: 00 30 60 00 16 04 00 00 00 00
[ 1892.348505] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[ 1892.348506] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.348507] EtherCAT DEBUG: 04
[ 1892.348508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.348509] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00
[ 1892.353509] EtherCAT DEBUG 0-0: Download response:
[ 1892.353512] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.353516] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.
[ 1892.353522] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[ 1892.353523] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32
[ 1892.353530] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1892.353531] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.353532] EtherCAT DEBUG: 00
[ 1892.353533] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.353534] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ 1892.360501] EtherCAT DEBUG 0-0: Download response:
[ 1892.360503] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.360508] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 1892.360510] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 1892.360511] EtherCAT DEBUG: 10 00 41 60
[ 1892.360513] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.360514] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[ 1892.360950] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.360953] EtherCAT DEBUG:
[ 1892.360956] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.366498] EtherCAT DEBUG 0-0: Download response:
[ 1892.366500] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00
[ 1892.366504] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 2.
[ 1892.366506] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 1892.366507] EtherCAT DEBUG: 08 00 61 60
[ 1892.366510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.366511] EtherCAT DEBUG: 00 20 23 00 1A 02 08 00 61 60
[ 1892.372500] EtherCAT DEBUG 0-0: Download response:
[ 1892.372502] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00
[ 1892.372508] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 3.
[ 1892.372509] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 1892.372510] EtherCAT DEBUG: 20 00 64 60
[ 1892.372512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.372513] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60
[ 1892.378498] EtherCAT DEBUG 0-0: Download response:
[ 1892.378499] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00
[ 1892.378503] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 1892.378505] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.378505] EtherCAT DEBUG: 03
[ 1892.378507] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.378507] EtherCAT DEBUG: 00 20 2F 00 1A 00 03 00 00 00
[ 1892.384498] EtherCAT DEBUG 0-0: Download response:
[ 1892.384499] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.384506] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.
[ 1892.384510] EtherCAT DEBUG 0-0: Setting watchdog divider to 2498.
[ 1892.385505] EtherCAT DEBUG 0-0: Setting process data watchdog intervals to 1000.
[ 1892.386498] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 11, Ctrl 0x64, En 1
[ 1892.386500] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 7, Ctrl 0x62, En 1
[ 1892.387503] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 11, PhysAddr 0x1000, SM2, Dir out
[ 1892.387506] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000B, Size 7, PhysAddr 0x1100, SM3, Dir in
[ 1892.388508] EtherCAT DEBUG 0-0: Setting DC cycle times to 1000000 / 0.
[ 1892.389503] EtherCAT DEBUG 0-0: Checking for synchrony.
[ 1892.390508] EtherCAT DEBUG 0-0: Sync after 0 ms: 133608 ns
[ 1892.391499] EtherCAT DEBUG 0-0: Sync after 0 ms: 133608 ns
[ 1892.392506] EtherCAT DEBUG 0-0: Sync after 0 ms: 124198 ns
[ 1892.392872] EtherCAT DEBUG 0-0: Sync after 4 ms: 124198 ns
[ 1892.394510] EtherCAT DEBUG 0-0: Sync after 4 ms: 114667 ns
[ 1892.395513] EtherCAT DEBUG 0-0: Sync after 4 ms: 114667 ns
[ 1892.396499] EtherCAT DEBUG 0-0: Sync after 4 ms: 105876 ns
[ 1892.397506] EtherCAT DEBUG 0-0: Sync after 8 ms: 105876 ns
[ 1892.398505] EtherCAT DEBUG 0-0: Sync after 8 ms: 97572 ns
[ 1892.399497] EtherCAT DEBUG 0-0: Sync after 8 ms: 97572 ns
[ 1892.400503] EtherCAT DEBUG 0-0: Sync after 8 ms: 89708 ns
[ 1892.400860] EtherCAT DEBUG 0-0: Sync after 12 ms: 89708 ns
[ 1892.402504] EtherCAT DEBUG 0-0: Sync after 12 ms: 82259 ns
[ 1892.403498] EtherCAT DEBUG 0-0: Sync after 12 ms: 82259 ns
[ 1892.404497] EtherCAT DEBUG 0-0: Sync after 12 ms: 75272 ns
[ 1892.405508] EtherCAT DEBUG 0-0: Sync after 16 ms: 75272 ns
[ 1892.406498] EtherCAT DEBUG 0-0: Sync after 16 ms: 68647 ns
[ 1892.407498] EtherCAT DEBUG 0-0: Sync after 16 ms: 68647 ns
[ 1892.408498] EtherCAT DEBUG 0-0: Sync after 16 ms: 62629 ns
[ 1892.408864] EtherCAT DEBUG 0-0: Sync after 20 ms: 62629 ns
[ 1892.410499] EtherCAT DEBUG 0-0: Sync after 20 ms: 56807 ns
[ 1892.411502] EtherCAT DEBUG 0-0: Sync after 20 ms: 56807 ns
[ 1892.412507] EtherCAT DEBUG 0-0: Sync after 20 ms: 51376 ns
[ 1892.413501] EtherCAT DEBUG 0-0: Sync after 24 ms: 51376 ns
[ 1892.414498] EtherCAT DEBUG 0-0: Sync after 24 ms: 46230 ns
[ 1892.415509] EtherCAT DEBUG 0-0: Sync after 24 ms: 46230 ns
[ 1892.416503] EtherCAT DEBUG 0-0: Sync after 24 ms: 41500 ns
[ 1892.417503] EtherCAT DEBUG 0-0: Sync after 28 ms: 41500 ns
[ 1892.418502] EtherCAT DEBUG 0-0: Sync after 28 ms: 37061 ns
[ 1892.419502] EtherCAT DEBUG 0-0: Sync after 28 ms: 37061 ns
[ 1892.420499] EtherCAT DEBUG 0-0: Sync after 28 ms: 32863 ns
[ 1892.420879] EtherCAT DEBUG 0-0: Sync after 32 ms: 32863 ns
[ 1892.422503] EtherCAT DEBUG 0-0: Sync after 32 ms: 28897 ns
[ 1892.423502] EtherCAT DEBUG 0-0: Sync after 32 ms: 28897 ns
[ 1892.424505] EtherCAT DEBUG 0-0: Sync after 32 ms: 25164 ns
[ 1892.425501] EtherCAT DEBUG 0-0: Sync after 36 ms: 25164 ns
[ 1892.426508] EtherCAT DEBUG 0-0: Sync after 36 ms: 21779 ns
[ 1892.427498] EtherCAT DEBUG 0-0: Sync after 36 ms: 21779 ns
[ 1892.428499] EtherCAT DEBUG 0-0: Sync after 36 ms: 18493 ns
[ 1892.428865] EtherCAT DEBUG 0-0: Sync after 40 ms: 18493 ns
[ 1892.430499] EtherCAT DEBUG 0-0: Sync after 40 ms: 15401 ns
[ 1892.431499] EtherCAT DEBUG 0-0: Sync after 40 ms: 15401 ns
[ 1892.432498] EtherCAT DEBUG 0-0: Sync after 40 ms: 12475 ns
[ 1892.433499] EtherCAT DEBUG 0-0: Sync after 44 ms: 12475 ns
[ 1892.434499] EtherCAT DEBUG 0-0: 9797 ns difference after 44 ms.
[ 1892.434500] EtherCAT DEBUG 0-0: ref_time=716835424252170000
[ 1892.434502] EtherCAT DEBUG 0-0: app_time=716835516124478062
[ 1892.434503] EtherCAT DEBUG 0-0: start_time=716835516224478062
[ 1892.434504] EtherCAT DEBUG 0-0: cycle=1000000
[ 1892.434505] EtherCAT DEBUG 0-0: shift_time=250000
[ 1892.434506] EtherCAT DEBUG 0-0: remainder=308062
[ 1892.434507] EtherCAT DEBUG 0-0: start=716835516225420000
[ 1892.434508] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 716835516225420000.
[ 1892.436498] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0500.
[ 1892.446496] EtherCAT 0: Domain 0: Working counter changed to 1/3.
[ 1892.788847] EtherCAT WARNING 0: 5 datagrams TIMED OUT!
[ 1893.449501] EtherCAT 0: Domain 0: Working counter changed to 0/3.
[ 1897.436866] EtherCAT ERROR 0-0: Timeout while setting state SAFEOP.
[ 1897.436871] EtherCAT DEBUG 0-0: Ready for requests.
[ 1902.570501] EtherCAT 0: Domain 0: Working counter changed to 2/3.
[ 1902.584872] EtherCAT 0: Slave states on main device: SAFEOP.
[ 1902.592866] EtherCAT DEBUG 0-0: PREOP -> SAFEOP.
[ 1903.573502] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1904.577505] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1905.581499] EtherCAT 0: Domain 0: 4 working counter changes - now 1/3.
[ 1906.585502] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1907.589499] EtherCAT 0: Domain 0: 26 working counter changes - now 1/3.
[ 1908.593500] EtherCAT 0: Domain 0: 16 working counter changes - now 1/3.
[ 1909.597502] EtherCAT 0: Domain 0: 132 working counter changes - now 1/3.
[ 1910.601500] EtherCAT 0: Domain 0: 34 working counter changes - now 1/3.
[ 1911.605501] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1912.609500] EtherCAT 0: Domain 0: 68 working counter changes - now 1/3.
[ 1913.613499] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1914.617501] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1915.621506] EtherCAT 0: Domain 0: 76 working counter changes - now 1/3.
[ 1916.625497] EtherCAT 0: Domain 0: 94 working counter changes - now 1/3.
[ 1917.629499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1918.633501] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1919.637509] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1920.641515] EtherCAT 0: Domain 0: 64 working counter changes - now 1/3.
[ 1921.645502] EtherCAT 0: Domain 0: 76 working counter changes - now 1/3.
[ 1922.649512] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1923.653505] EtherCAT 0: Domain 0: 52 working counter changes - now 1/3.
[ 1924.657504] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1925.661498] EtherCAT 0: Domain 0: 24 working counter changes - now 1/3.
[ 1926.665506] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1927.669497] EtherCAT 0: Domain 0: 28 working counter changes - now 1/3.
[ 1928.673497] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1929.677499] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1930.681510] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1931.685498] EtherCAT 0: Domain 0: 26 working counter changes - now 1/3.
[ 1932.689502] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1933.693499] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1934.697499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1935.701501] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1936.705501] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1937.709502] EtherCAT 0: Domain 0: 82 working counter changes - now 1/3.
[ 1938.713508] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1939.717504] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1940.721501] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1941.725496] EtherCAT 0: Domain 0: 82 working counter changes - now 1/3.
[ 1942.729498] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1943.733502] EtherCAT 0: Domain 0: 38 working counter changes - now 1/3.
[ 1944.737511] EtherCAT 0: Domain 0: 144 working counter changes - now 1/3.
[ 1945.741507] EtherCAT 0: Domain 0: 16 working counter changes - now 1/3.
[ 1946.745499] EtherCAT 0: Domain 0: 8 working counter changes - now 1/3.
[ 1947.749503] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1948.753499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
I´ve added my config in a .rar file, i think it is a configuration error or something, but i don´t know what the dmesg output is trying to tell me.
thanks for the help
Update 22.09.2022
I´ve added the indradrive_pdo_config.xml to configure the drive at startup
and the ethercat_rexroth.xml with the pdo config
i have a little problem with my CNC Machine. A couple of weeks ago died my old Harddrive from my LinuxCNC Machine, where the EtherCAT-BUS, LinuxCNC and the connected peripherals Worked without issues.
So i bought an SSD , mounted it and restored the supposedly working backup from my old Machine.
There my problems began, the Machine didn´t boot, all attempts to recover it failed ;( .
I only was able to recover the config files from it. After installing LinuxCNC on Debian 11 and the EtherCAT-Master from the Pinned Forum thread and copying my config to the PC. I noticed that the PC freezes randomly, my Servodrives then show me the "F4009 Busausfall" Errormessage, sometimes it is after 1 minute and sometimes after 2 hours. The PC must then be restarted by pulling the Power plug, because it reacts to no input from mouse or keyboard.
The old config used the EtherCAT SOE Profile for my Rexroth servodrives due to the lack of support from COE from Rexroth side since now.
Now they Support COE and i try to build a Config from scratch, but i don´t get it to work correct.
I can start the machine, the drive (for testpurpose only one drive is connected) will be configured and is then ready to enable. The Position feedback is displayed Correctly and when i turn the shaft of the servo the readout changes correctly.
But i can´t enable the drive to lock the shaft and jog it around.
when i do a sudo dmesg following is printed:
Warning: Spoiler!
[ 1865.397573] r8169 0000:03:00.0 enp3s0f0: Link is Down
[ 1865.398503] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 1865.398513] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1865.398516] EtherCAT DEBUG 0: Datagram 00000000637b1315 already queued (skipping).
[ 1865.398518] EtherCAT DEBUG 0: Datagram 00000000fb53ca76 already queued (skipping).
[ 1865.488862] EtherCAT DEBUG 0: Master state machine detected link down on main device. Clearing slave list.
[ 1865.685498] EtherCAT 0: Domain 0: 15 working counter changes - now 0/3.
[ 1865.716874] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 1865.913501] EtherCAT WARNING: Datagram 00000000c853cef3 (domain0-0-main) was SKIPPED 65 times.
[ 1891.881755] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[ 1891.882502] EtherCAT 0: Link state of ecm0 changed to UP.
[ 1891.883532] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.884535] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.885549] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.886538] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.887536] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.888522] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.889521] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.890515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.891506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.892510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.893510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.894517] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.895502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.896504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.897500] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index E9 waited 8000 us.
[ 1891.897509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.898503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.899507] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.900512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.901515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.902503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.903514] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.904505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.905510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.906514] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.907515] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.908503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.909511] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.910509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.911510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.912506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.913506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.914498] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.915513] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.916508] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.917510] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index FE waited 8000 us.
[ 1891.917520] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.918512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.919507] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.920506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.921510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.922510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.923506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.924505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.925504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.926503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.927505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.928504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.929504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.930504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.931504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.932512] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.933500] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 0F waited 8000 us.
[ 1891.933509] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.934502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.935504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.936506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.937506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.938508] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.939505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.940505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.941504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.942505] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.943503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.944503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.945501] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 1C waited 8000 us.
[ 1891.945511] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.946503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.947503] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.948502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.949517] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.950504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.951499] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.952506] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.953510] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.954502] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.955504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.956504] EtherCAT DEBUG 0: Datagram 00000000c853cef3 already queued (skipping).
[ 1891.961502] EtherCAT DEBUG 0: TIMED OUT datagram 00000000ae16d012, index 2D waited 8000 us.
[ 1891.980868] EtherCAT 0: 1 slave(s) responding on main device.
[ 1891.980872] EtherCAT 0: Slave states on main device: INIT.
[ 1891.982500] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link.
[ 1891.983500] EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link.
[ 1891.983501] EtherCAT 0: Scanning bus.
[ 1891.983502] EtherCAT DEBUG 0: Scanning slave 0 on main link.
[ 1891.987515] EtherCAT DEBUG 0-0: Slave has the System Time register.
[ 1891.989514] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT.
[ 1891.990502] EtherCAT DEBUG 0-0: Determining SII size.
[ 1891.992503] EtherCAT DEBUG 0-0: Found category type 30 with size 16. Proceeding to offset 82.
[ 1891.994499] EtherCAT DEBUG 0-0: Found category type 40 with size 2. Proceeding to offset 86.
[ 1891.996499] EtherCAT DEBUG 0-0: Found category type 41 with size 16. Proceeding to offset 104.
[ 1892.017500] EtherCAT WARNING: Datagram 00000000c853cef3 (domain0-0-main) was SKIPPED 74 times.
[ 1892.104498] EtherCAT DEBUG 0-0: Slave announces to support CoE, FoE.
[ 1892.104503] EtherCAT DEBUG 0-0: Slave announces to support unknown mailbox protocols 0x0002.
[ 1892.104506] EtherCAT DEBUG 0-0: Slave is not in the state to do mailbox com (INIT), setting to PREOP.
[ 1892.104510] EtherCAT DEBUG 0-0: Configuring...
[ 1892.107498] EtherCAT DEBUG 0-0: Now in INIT.
[ 1892.107500] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1892.108512] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1892.109499] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1892.110498] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1892.110500] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 234, Ctrl 0x26, En 1
[ 1892.110503] EtherCAT DEBUG 0-0: SM1: Addr 0x1A00, Size 234, Ctrl 0x22, En 1
[ 1892.111500] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1892.120501] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1892.120504] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1892.121498] EtherCAT DEBUG 0-0: Finished configuration.
[ 1892.121500] EtherCAT DEBUG 0-0: Scanning PDO assignment and mapping.
[ 1892.121501] EtherCAT DEBUG 0-0: Reading PDO assignment of SM2.
[ 1892.121502] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:00.
[ 1892.121505] EtherCAT DEBUG 0-0: Upload request:
[ 1892.121506] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00
[ 1892.126500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.126502] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00
[ 1892.126507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.126508] EtherCAT DEBUG: 01
[ 1892.126509] EtherCAT DEBUG 0-0: 1 PDOs assigned.
[ 1892.126510] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:01.
[ 1892.126511] EtherCAT DEBUG 0-0: Upload request:
[ 1892.126512] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00
[ 1892.132504] EtherCAT DEBUG 0-0: Upload response:
[ 1892.132505] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00
[ 1892.132510] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.132511] EtherCAT DEBUG: 00 16
[ 1892.132513] EtherCAT DEBUG 0-0: PDO 0x1600.
[ 1892.132514] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[ 1892.132515] EtherCAT DEBUG 0-0: Upload request:
[ 1892.132516] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[ 1892.138498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.138502] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00
[ 1892.138507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.138508] EtherCAT DEBUG: 04
[ 1892.138509] EtherCAT DEBUG 0-0: 4 PDO entries mapped.
[ 1892.138511] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01.
[ 1892.138512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.138513] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00
[ 1892.144498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.144500] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60
[ 1892.144505] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.144506] EtherCAT DEBUG: 10 00 40 60
[ 1892.144508] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 1892.144510] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02.
[ 1892.144511] EtherCAT DEBUG 0-0: Upload request:
[ 1892.144512] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00
[ 1892.150515] EtherCAT DEBUG 0-0: Upload response:
[ 1892.150519] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60
[ 1892.150528] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.150529] EtherCAT DEBUG: 08 00 60 60
[ 1892.150531] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???".
[ 1892.150533] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03.
[ 1892.150535] EtherCAT DEBUG 0-0: Upload request:
[ 1892.150535] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00
[ 1892.156500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.156501] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60
[ 1892.156506] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.156507] EtherCAT DEBUG: 20 00 7A 60
[ 1892.156509] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".
[ 1892.156511] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04.
[ 1892.156512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.156512] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00
[ 1892.162496] EtherCAT DEBUG 0-0: Upload response:
[ 1892.162498] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60
[ 1892.162504] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.162505] EtherCAT DEBUG: 20 00 FF 60
[ 1892.162507] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 1892.162512] EtherCAT DEBUG 0-0: Reading PDO assignment of SM3.
[ 1892.162513] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:00.
[ 1892.162514] EtherCAT DEBUG 0-0: Upload request:
[ 1892.162515] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00
[ 1892.168500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.168503] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00
[ 1892.168508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.168509] EtherCAT DEBUG: 01
[ 1892.168510] EtherCAT DEBUG 0-0: 1 PDOs assigned.
[ 1892.168511] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:01.
[ 1892.168512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.168513] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00
[ 1892.174502] EtherCAT DEBUG 0-0: Upload response:
[ 1892.174503] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00
[ 1892.174508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.174508] EtherCAT DEBUG: 00 1A
[ 1892.174510] EtherCAT DEBUG 0-0: PDO 0x1A00.
[ 1892.174512] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[ 1892.174512] EtherCAT DEBUG 0-0: Upload request:
[ 1892.174513] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[ 1892.180500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.180503] EtherCAT DEBUG: 00 30 4F 00 1A 00 03 00 00 00
[ 1892.180508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.180509] EtherCAT DEBUG: 03
[ 1892.180510] EtherCAT DEBUG 0-0: 3 PDO entries mapped.
[ 1892.180512] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01.
[ 1892.180516] EtherCAT DEBUG 0-0: Upload request:
[ 1892.180516] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00
[ 1892.186500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.186502] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60
[ 1892.186508] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.186508] EtherCAT DEBUG: 10 00 41 60
[ 1892.186511] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 1892.186514] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02.
[ 1892.186515] EtherCAT DEBUG 0-0: Upload request:
[ 1892.186516] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00
[ 1892.192500] EtherCAT DEBUG 0-0: Upload response:
[ 1892.192504] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60
[ 1892.192510] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.192511] EtherCAT DEBUG: 08 00 61 60
[ 1892.192514] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???".
[ 1892.192517] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03.
[ 1892.192518] EtherCAT DEBUG 0-0: Upload request:
[ 1892.192518] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00
[ 1892.198498] EtherCAT DEBUG 0-0: Upload response:
[ 1892.198502] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60
[ 1892.198507] EtherCAT DEBUG 0-0: Uploaded data:
[ 1892.198508] EtherCAT DEBUG: 20 00 64 60
[ 1892.198510] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 1892.198514] EtherCAT DEBUG 0-0: Reading of PDO configuration finished.
[ 1892.198719] EtherCAT 0: Bus scanning completed in 216 ms.
[ 1892.198722] EtherCAT 0: Using slave 0 as DC reference clock.
[ 1892.198723] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)
[ 1892.198726] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 1892.198727] EtherCAT 0: Starting EoE thread.
[ 1892.198798] EtherCAT DEBUG 0-0: Checking system time offset.
[ 1892.198800] EtherCAT DEBUG 0: EoE thread running.
[ 1892.200509] EtherCAT DEBUG 0-0: DC 32 bit system time offset calculation: system_time=3513417244 (corrected with 0), app_time=716835515890554058, diff=-1113598290
[ 1892.200516] EtherCAT DEBUG 0-0: Setting time offset to 3181369006 (was 0)
[ 1892.201514] EtherCAT DEBUG 0: Requesting OP...
[ 1892.208865] EtherCAT 0: Slave states on main device: PREOP.
[ 1892.220873] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 1892.220878] EtherCAT DEBUG 0-0: Configuring...
[ 1892.229504] EtherCAT DEBUG 0-0: Now in INIT.
[ 1892.229509] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1892.230504] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1892.231501] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1892.232500] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1892.232501] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 234, Ctrl 0x26, En 1
[ 1892.232504] EtherCAT DEBUG 0-0: SM1: Addr 0x1A00, Size 234, Ctrl 0x22, En 1
[ 1892.232872] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1892.240498] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1892.240501] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1892.241500] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.241502] EtherCAT DEBUG: 00
[ 1892.241504] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.241505] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ 1892.246498] EtherCAT DEBUG 0-0: Download response:
[ 1892.246503] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.246509] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 1892.246513] EtherCAT DEBUG: 10 00 41 60
[ 1892.246516] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.246517] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[ 1892.252500] EtherCAT DEBUG 0-0: Download response:
[ 1892.252503] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00
[ 1892.252508] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 1892.252510] EtherCAT DEBUG: 20 00 64 60
[ 1892.252514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.252515] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60
[ 1892.258500] EtherCAT DEBUG 0-0: Download response:
[ 1892.258501] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00
[ 1892.258510] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 1892.258511] EtherCAT DEBUG: 10 00 77 60
[ 1892.258513] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.258514] EtherCAT DEBUG: 00 20 23 00 1A 03 10 00 77 60
[ 1892.264516] EtherCAT DEBUG 0-0: Download response:
[ 1892.264519] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00
[ 1892.264525] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[ 1892.264528] EtherCAT DEBUG: 08 00 61 60
[ 1892.264530] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.264531] EtherCAT DEBUG: 00 20 23 00 1A 04 08 00 61 60
[ 1892.269498] EtherCAT DEBUG 0-0: Download response:
[ 1892.269500] EtherCAT DEBUG: 00 30 60 00 1A 04 00 00 00 00
[ 1892.269508] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.269509] EtherCAT DEBUG: 04
[ 1892.269510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.269511] EtherCAT DEBUG: 00 20 2F 00 1A 00 04 00 00 00
[ 1892.276499] EtherCAT DEBUG 0-0: Download response:
[ 1892.276500] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.276506] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.276507] EtherCAT DEBUG: 00
[ 1892.276508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.276509] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ 1892.276931] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.276937] EtherCAT DEBUG:
[ 1892.276938] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.282502] EtherCAT DEBUG 0-0: Download response:
[ 1892.282504] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.282509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 1892.282510] EtherCAT DEBUG: 10 00 40 60
[ 1892.282512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.282513] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[ 1892.288514] EtherCAT DEBUG 0-0: Download response:
[ 1892.288517] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00
[ 1892.288522] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 1892.288524] EtherCAT DEBUG: 08 00 60 60
[ 1892.288526] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.288527] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60
[ 1892.294503] EtherCAT DEBUG 0-0: Download response:
[ 1892.294506] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00
[ 1892.294512] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 1892.294513] EtherCAT DEBUG: 20 00 7A 60
[ 1892.294516] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.294516] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60
[ 1892.300501] EtherCAT DEBUG 0-0: Download response:
[ 1892.300502] EtherCAT DEBUG: 00 30 60 00 16 03 00 00 00 00
[ 1892.300507] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 1892.300508] EtherCAT DEBUG: 20 00 FF 60
[ 1892.300511] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.300511] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60
[ 1892.306498] EtherCAT DEBUG 0-0: Download response:
[ 1892.306500] EtherCAT DEBUG: 00 30 60 00 16 04 00 00 00 00
[ 1892.306505] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.306506] EtherCAT DEBUG: 04
[ 1892.306507] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.306508] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00
[ 1892.312499] EtherCAT DEBUG 0-0: Download response:
[ 1892.312501] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.312506] EtherCAT DEBUG 0-0: Downloading SDO 0x6060:00.
[ 1892.312509] EtherCAT DEBUG: 08
[ 1892.312510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.312511] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00
[ 1892.317514] EtherCAT DEBUG 0-0: Download response:
[ 1892.317520] EtherCAT DEBUG: 00 30 60 60 60 00 00 00 00 00
[ 1892.317536] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[ 1892.317537] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32
[ 1892.317549] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1892.317550] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.317552] EtherCAT DEBUG: 00
[ 1892.317553] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.317554] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[ 1892.324499] EtherCAT DEBUG 0-0: Download response:
[ 1892.324501] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.324507] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 1892.324509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 1892.324510] EtherCAT DEBUG: 10 00 40 60
[ 1892.324512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.324513] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[ 1892.324941] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.324945] EtherCAT DEBUG:
[ 1892.324946] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.330497] EtherCAT DEBUG 0-0: Download response:
[ 1892.330499] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00
[ 1892.330503] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[ 1892.330505] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 1892.330506] EtherCAT DEBUG: 08 00 60 60
[ 1892.330508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.330509] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60
[ 1892.336500] EtherCAT DEBUG 0-0: Download response:
[ 1892.336501] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00
[ 1892.336506] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 3.
[ 1892.336509] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 1892.336510] EtherCAT DEBUG: 20 00 7A 60
[ 1892.336514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.336515] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60
[ 1892.342499] EtherCAT DEBUG 0-0: Download response:
[ 1892.342502] EtherCAT DEBUG: 00 30 60 00 16 03 00 00 00 00
[ 1892.342507] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 4.
[ 1892.342510] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 1892.342511] EtherCAT DEBUG: 20 00 FF 60
[ 1892.342514] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.342514] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60
[ 1892.348499] EtherCAT DEBUG 0-0: Download response:
[ 1892.348500] EtherCAT DEBUG: 00 30 60 00 16 04 00 00 00 00
[ 1892.348505] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[ 1892.348506] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1892.348507] EtherCAT DEBUG: 04
[ 1892.348508] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.348509] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00
[ 1892.353509] EtherCAT DEBUG 0-0: Download response:
[ 1892.353512] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[ 1892.353516] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.
[ 1892.353522] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[ 1892.353523] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32
[ 1892.353530] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1892.353531] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.353532] EtherCAT DEBUG: 00
[ 1892.353533] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.353534] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[ 1892.360501] EtherCAT DEBUG 0-0: Download response:
[ 1892.360503] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.360508] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 1892.360510] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 1892.360511] EtherCAT DEBUG: 10 00 41 60
[ 1892.360513] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.360514] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[ 1892.360950] EtherCAT ERROR 0-0: Mailbox error response received - Unknown error reply code 0x0000.
[ 1892.360953] EtherCAT DEBUG:
[ 1892.360956] EtherCAT WARNING 0-0: Invalid mailbox response for eoe0a20.
[ 1892.366498] EtherCAT DEBUG 0-0: Download response:
[ 1892.366500] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00
[ 1892.366504] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 2.
[ 1892.366506] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 1892.366507] EtherCAT DEBUG: 08 00 61 60
[ 1892.366510] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.366511] EtherCAT DEBUG: 00 20 23 00 1A 02 08 00 61 60
[ 1892.372500] EtherCAT DEBUG 0-0: Download response:
[ 1892.372502] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00
[ 1892.372508] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 3.
[ 1892.372509] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 1892.372510] EtherCAT DEBUG: 20 00 64 60
[ 1892.372512] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.372513] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60
[ 1892.378498] EtherCAT DEBUG 0-0: Download response:
[ 1892.378499] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00
[ 1892.378503] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[ 1892.378505] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1892.378505] EtherCAT DEBUG: 03
[ 1892.378507] EtherCAT DEBUG 0-0: Expedited download request:
[ 1892.378507] EtherCAT DEBUG: 00 20 2F 00 1A 00 03 00 00 00
[ 1892.384498] EtherCAT DEBUG 0-0: Download response:
[ 1892.384499] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[ 1892.384506] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.
[ 1892.384510] EtherCAT DEBUG 0-0: Setting watchdog divider to 2498.
[ 1892.385505] EtherCAT DEBUG 0-0: Setting process data watchdog intervals to 1000.
[ 1892.386498] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 11, Ctrl 0x64, En 1
[ 1892.386500] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 7, Ctrl 0x62, En 1
[ 1892.387503] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 11, PhysAddr 0x1000, SM2, Dir out
[ 1892.387506] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000B, Size 7, PhysAddr 0x1100, SM3, Dir in
[ 1892.388508] EtherCAT DEBUG 0-0: Setting DC cycle times to 1000000 / 0.
[ 1892.389503] EtherCAT DEBUG 0-0: Checking for synchrony.
[ 1892.390508] EtherCAT DEBUG 0-0: Sync after 0 ms: 133608 ns
[ 1892.391499] EtherCAT DEBUG 0-0: Sync after 0 ms: 133608 ns
[ 1892.392506] EtherCAT DEBUG 0-0: Sync after 0 ms: 124198 ns
[ 1892.392872] EtherCAT DEBUG 0-0: Sync after 4 ms: 124198 ns
[ 1892.394510] EtherCAT DEBUG 0-0: Sync after 4 ms: 114667 ns
[ 1892.395513] EtherCAT DEBUG 0-0: Sync after 4 ms: 114667 ns
[ 1892.396499] EtherCAT DEBUG 0-0: Sync after 4 ms: 105876 ns
[ 1892.397506] EtherCAT DEBUG 0-0: Sync after 8 ms: 105876 ns
[ 1892.398505] EtherCAT DEBUG 0-0: Sync after 8 ms: 97572 ns
[ 1892.399497] EtherCAT DEBUG 0-0: Sync after 8 ms: 97572 ns
[ 1892.400503] EtherCAT DEBUG 0-0: Sync after 8 ms: 89708 ns
[ 1892.400860] EtherCAT DEBUG 0-0: Sync after 12 ms: 89708 ns
[ 1892.402504] EtherCAT DEBUG 0-0: Sync after 12 ms: 82259 ns
[ 1892.403498] EtherCAT DEBUG 0-0: Sync after 12 ms: 82259 ns
[ 1892.404497] EtherCAT DEBUG 0-0: Sync after 12 ms: 75272 ns
[ 1892.405508] EtherCAT DEBUG 0-0: Sync after 16 ms: 75272 ns
[ 1892.406498] EtherCAT DEBUG 0-0: Sync after 16 ms: 68647 ns
[ 1892.407498] EtherCAT DEBUG 0-0: Sync after 16 ms: 68647 ns
[ 1892.408498] EtherCAT DEBUG 0-0: Sync after 16 ms: 62629 ns
[ 1892.408864] EtherCAT DEBUG 0-0: Sync after 20 ms: 62629 ns
[ 1892.410499] EtherCAT DEBUG 0-0: Sync after 20 ms: 56807 ns
[ 1892.411502] EtherCAT DEBUG 0-0: Sync after 20 ms: 56807 ns
[ 1892.412507] EtherCAT DEBUG 0-0: Sync after 20 ms: 51376 ns
[ 1892.413501] EtherCAT DEBUG 0-0: Sync after 24 ms: 51376 ns
[ 1892.414498] EtherCAT DEBUG 0-0: Sync after 24 ms: 46230 ns
[ 1892.415509] EtherCAT DEBUG 0-0: Sync after 24 ms: 46230 ns
[ 1892.416503] EtherCAT DEBUG 0-0: Sync after 24 ms: 41500 ns
[ 1892.417503] EtherCAT DEBUG 0-0: Sync after 28 ms: 41500 ns
[ 1892.418502] EtherCAT DEBUG 0-0: Sync after 28 ms: 37061 ns
[ 1892.419502] EtherCAT DEBUG 0-0: Sync after 28 ms: 37061 ns
[ 1892.420499] EtherCAT DEBUG 0-0: Sync after 28 ms: 32863 ns
[ 1892.420879] EtherCAT DEBUG 0-0: Sync after 32 ms: 32863 ns
[ 1892.422503] EtherCAT DEBUG 0-0: Sync after 32 ms: 28897 ns
[ 1892.423502] EtherCAT DEBUG 0-0: Sync after 32 ms: 28897 ns
[ 1892.424505] EtherCAT DEBUG 0-0: Sync after 32 ms: 25164 ns
[ 1892.425501] EtherCAT DEBUG 0-0: Sync after 36 ms: 25164 ns
[ 1892.426508] EtherCAT DEBUG 0-0: Sync after 36 ms: 21779 ns
[ 1892.427498] EtherCAT DEBUG 0-0: Sync after 36 ms: 21779 ns
[ 1892.428499] EtherCAT DEBUG 0-0: Sync after 36 ms: 18493 ns
[ 1892.428865] EtherCAT DEBUG 0-0: Sync after 40 ms: 18493 ns
[ 1892.430499] EtherCAT DEBUG 0-0: Sync after 40 ms: 15401 ns
[ 1892.431499] EtherCAT DEBUG 0-0: Sync after 40 ms: 15401 ns
[ 1892.432498] EtherCAT DEBUG 0-0: Sync after 40 ms: 12475 ns
[ 1892.433499] EtherCAT DEBUG 0-0: Sync after 44 ms: 12475 ns
[ 1892.434499] EtherCAT DEBUG 0-0: 9797 ns difference after 44 ms.
[ 1892.434500] EtherCAT DEBUG 0-0: ref_time=716835424252170000
[ 1892.434502] EtherCAT DEBUG 0-0: app_time=716835516124478062
[ 1892.434503] EtherCAT DEBUG 0-0: start_time=716835516224478062
[ 1892.434504] EtherCAT DEBUG 0-0: cycle=1000000
[ 1892.434505] EtherCAT DEBUG 0-0: shift_time=250000
[ 1892.434506] EtherCAT DEBUG 0-0: remainder=308062
[ 1892.434507] EtherCAT DEBUG 0-0: start=716835516225420000
[ 1892.434508] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 716835516225420000.
[ 1892.436498] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0500.
[ 1892.446496] EtherCAT 0: Domain 0: Working counter changed to 1/3.
[ 1892.788847] EtherCAT WARNING 0: 5 datagrams TIMED OUT!
[ 1893.449501] EtherCAT 0: Domain 0: Working counter changed to 0/3.
[ 1897.436866] EtherCAT ERROR 0-0: Timeout while setting state SAFEOP.
[ 1897.436871] EtherCAT DEBUG 0-0: Ready for requests.
[ 1902.570501] EtherCAT 0: Domain 0: Working counter changed to 2/3.
[ 1902.584872] EtherCAT 0: Slave states on main device: SAFEOP.
[ 1902.592866] EtherCAT DEBUG 0-0: PREOP -> SAFEOP.
[ 1903.573502] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1904.577505] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1905.581499] EtherCAT 0: Domain 0: 4 working counter changes - now 1/3.
[ 1906.585502] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1907.589499] EtherCAT 0: Domain 0: 26 working counter changes - now 1/3.
[ 1908.593500] EtherCAT 0: Domain 0: 16 working counter changes - now 1/3.
[ 1909.597502] EtherCAT 0: Domain 0: 132 working counter changes - now 1/3.
[ 1910.601500] EtherCAT 0: Domain 0: 34 working counter changes - now 1/3.
[ 1911.605501] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1912.609500] EtherCAT 0: Domain 0: 68 working counter changes - now 1/3.
[ 1913.613499] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1914.617501] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1915.621506] EtherCAT 0: Domain 0: 76 working counter changes - now 1/3.
[ 1916.625497] EtherCAT 0: Domain 0: 94 working counter changes - now 1/3.
[ 1917.629499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1918.633501] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1919.637509] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1920.641515] EtherCAT 0: Domain 0: 64 working counter changes - now 1/3.
[ 1921.645502] EtherCAT 0: Domain 0: 76 working counter changes - now 1/3.
[ 1922.649512] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1923.653505] EtherCAT 0: Domain 0: 52 working counter changes - now 1/3.
[ 1924.657504] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1925.661498] EtherCAT 0: Domain 0: 24 working counter changes - now 1/3.
[ 1926.665506] EtherCAT 0: Domain 0: 20 working counter changes - now 1/3.
[ 1927.669497] EtherCAT 0: Domain 0: 28 working counter changes - now 1/3.
[ 1928.673497] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1929.677499] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1930.681510] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1931.685498] EtherCAT 0: Domain 0: 26 working counter changes - now 1/3.
[ 1932.689502] EtherCAT 0: Domain 0: 22 working counter changes - now 1/3.
[ 1933.693499] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1934.697499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1935.701501] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1936.705501] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1937.709502] EtherCAT 0: Domain 0: 82 working counter changes - now 1/3.
[ 1938.713508] EtherCAT 0: Domain 0: 10 working counter changes - now 1/3.
[ 1939.717504] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
[ 1940.721501] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1941.725496] EtherCAT 0: Domain 0: 82 working counter changes - now 1/3.
[ 1942.729498] EtherCAT 0: Domain 0: 18 working counter changes - now 1/3.
[ 1943.733502] EtherCAT 0: Domain 0: 38 working counter changes - now 1/3.
[ 1944.737511] EtherCAT 0: Domain 0: 144 working counter changes - now 1/3.
[ 1945.741507] EtherCAT 0: Domain 0: 16 working counter changes - now 1/3.
[ 1946.745499] EtherCAT 0: Domain 0: 8 working counter changes - now 1/3.
[ 1947.749503] EtherCAT 0: Domain 0: 14 working counter changes - now 1/3.
[ 1948.753499] EtherCAT 0: Domain 0: 12 working counter changes - now 1/3.
I´ve added my config in a .rar file, i think it is a configuration error or something, but i don´t know what the dmesg output is trying to tell me.
thanks for the help
Update 22.09.2022
I´ve added the indradrive_pdo_config.xml to configure the drive at startup
and the ethercat_rexroth.xml with the pdo config
Attachments:
Last edit: 22 Sep 2022 04:47 by jc2ktr. Reason: updated attachments
The following user(s) said Thank You: rodw
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- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- EtherCAT and Rexroth Servodrives Issues / help needed
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