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Trouble with Cia402 drive configuration

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29 Sep 2025 13:18 #335544 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration
lcec_conf:
<masters>
  <master idx="0">
    <slave idx="0" type="EK1100" name="D1"/>
    <slave idx="1" type="EL1008" name="D2"/>
    <slave idx="2" type="EL2008" name="D3"/>
    <slave idx="3" type="basic_cia402" vid="0x00000c96" pid="0x00000001" name="D4">
      <!--ClearPath EC (CoE Rev 2)-->
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enablePP" value="true"/>
      <modParam name="enablePV" value="true"/>
      <modParam name="enableTQ" value="true"/>
      <modParam name="enableHM" value="true"/>
      <modParam name="enableCSP" value="true"/>
      <modParam name="enableCSV" value="true"/>
      <modParam name="enableCST" value="true"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="enableActualVoltage" value="true"/>
      <modParam name="enableDigitalInput" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="enableDigitalOutput" value="true"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorTimeout" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableHomeAccel" value="true"/>
      <modParam name="enableInterpolationTimePeriod" value="true"/>
      <modParam name="enableMaximumMotorRPM" value="true"/>
      <modParam name="enableMaximumTorque" value="true"/>
      <modParam name="enablePolarity" value="true"/>
      <modParam name="enablePositionDemand" value="true"/>
      <modParam name="enablePositioningTime" value="true"/>
      <modParam name="enablePositioningWindow" value="true"/>
      <modParam name="enableProbeStatus" value="true"/>
      <modParam name="enableProfileAccel" value="true"/>
      <modParam name="enableProfileDecel" value="true"/>
      <modParam name="enableProfileVelocity" value="true"/>
      <modParam name="enableTargetTorque" value="true"/>
      <modParam name="enableTorqueDemand" value="true"/>
      <modParam name="enableTorqueSlope" value="true"/>
      <modParam name="enableVelocityDemand" value="true"/>
      <modParam name="enableVelocityErrorTime" value="true"/>
      <modParam name="enableVelocityErrorWindow" value="true"/>
    </slave>
  </master>
</masters>

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30 Sep 2025 07:55 #335606 by Hakan
Replied by Hakan on topic Trouble with Cia402 drive configuration
Well, you can try with that as your ethercat-conf.xml

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30 Sep 2025 14:57 #335625 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration 
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./ethercat.hal
LCEC: slave 0.D4: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.
Axis 1 has 13 PDO entries, vs a configured limit of 8.  You will need to edit your XML
configuration and either remove some <modParam name="enable*"> entries or increase 
<modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the
correct limit.

Enabled features that impact this limit are:

  -  <modParam name="enableActualFollowingError" value="true">
  -  <modParam name="enableActualTorque" value="true">
  -  <modParam name="enableActualVoltage" value="true">
  -  <modParam name="enableErrorCode" value="true">
  -  <modParam name="enablePositionDemand" value="true">
  -  <modParam name="enableProbeStatus" value="true">
  -  <modParam name="enableTorqueDemand" value="true">
  -  <modParam name="enableVelocityDemand" value="true">

In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries:

  -  <modParam name="enablePP" value="true">
  -  <modParam name="enablePV" value="true">
  -  <modParam name="enableCSP" value="true">
  -  <modParam name="enableCSV" value="true">
  -  <modParam name="enableCST" value="true">
  -  <modParam name="enableHM" value="true">
  -  <modParam name="enableTQ" value="true">
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).
LCEC: slave 0.D4: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.

Axis 1 has 13 PDO entries, vs a configured limit of 8.  You will need to edit your XML

configuration and either remove some <modParam name="enable*"> entries or increase 

<modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the

correct limit.


Enabled features that impact this limit are:


  -  <modParam name="enableActualFollowingError" value="true">

  -  <modParam name="enableActualTorque" value="true">

  -  <modParam name="enableActualVoltage" value="true">

  -  <modParam name="enableErrorCode" value="true">

  -  <modParam name="enablePositionDemand" value="true">

  -  <modParam name="enableProbeStatus" value="true">

  -  <modParam name="enableTorqueDemand" value="true">

  -  <modParam name="enableVelocityDemand" value="true">


In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries:


  -  <modParam name="enablePP" value="true">

  -  <modParam name="enablePV" value="true">

  -  <modParam name="enableCSP" value="true">

  -  <modParam name="enableCSV" value="true">

  -  <modParam name="enableCST" value="true">

  -  <modParam name="enableHM" value="true">

  -  <modParam name="enableTQ" value="true">

LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).

note: MAXV     max: 5.000 units/sec 300.000 units/min
note: LJOG     max: 5.000 units/sec 300.000 units/min
note: LJOG default: 0.250 units/sec 15.000 units/min
note: jog_order='X'
note: jog_invert=set()

When you say to try TwinCAT, do you mean hook it up on a windows system?

If I were to just get a different drive to make this easier for me, which lineup of drives would you recommend, so that I run into as few problems like this with lcec?

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02 Oct 2025 19:42 #335742 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration
I got the drive into OP mode by changing
<modParam name="ciaRxPDOEntryLimit" value="8"/>
<modParam name="ciaTxPDOEntryLimit" value="8"/>
to
<modParam name="ciaRxPDOEntryLimit" value="16"/>
<modParam name="ciaTxPDOEntryLimit" value="16"/>
but I still get a joint 0 following error in LinuxCNC

the dmesg looks completely different.
[709062.111140] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111142] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6064, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111144] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111146] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6077, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111148] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111150] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x606C, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111152] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111154] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6079, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111156] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111158] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x603F, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111160] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111162] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6061, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111165] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111166] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6062, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111169] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111170] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60B9, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111173] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111175] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6074, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111177] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111179] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x606B, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111181] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111183] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6060, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111185] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111187] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6081, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111189] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111191] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x607A, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111193] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111195] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x6071, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111197] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111199] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FF, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111202] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111203] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111205] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111207] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111209] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111211] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111213] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111215] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111218] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111220] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111222] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111224] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111226] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111227] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111230] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111231] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111234] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111235] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111238] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111239] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111242] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111243] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111246] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111247] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111250] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111251] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111254] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111255] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111258] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111259] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111262] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111263] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111266] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111267] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111270] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111271] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111273] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111275] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111278] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111280] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FD, subindex = 0x00, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111282] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111284] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111286] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111288] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111290] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111292] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111294] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111296] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111298] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111300] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111302] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111304] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111306] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111308] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111310] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111312] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111315] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111316] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111319] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111320] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111323] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111324] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111327] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111328] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111331] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111333] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111335] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111337] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111339] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111341] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111343] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111345] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111347] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000c2773ecf, alias = 0, position = 3, vendor_id = 0x00000c96, product_code = 0x00000001)
[709062.111349] EtherCAT DEBUG 0 0:3: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000575bea0c, index = 0x60FE, subindex = 0x01, domain = 0x0000000081d084eb, bit_position = 0x00000000bf2651d5)
[709062.111359] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x0000000081d084eb, mem = 0x00000000e22de36b)
[709062.111361] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000c2773ecf, send_cb = 0x000000003e2a9400, receive_cb = 0x0000000073cc9222, cb_data = 0x00000000c2773ecf)
[709062.111363] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000c2773ecf)
[709062.111366] EtherCAT DEBUG 0: Adding datagram pair with expected WC 6.
[709062.111367] EtherCAT 0: Domain0: Logical address 0x00000000, 64 byte, expected working counter 6.
[709062.111368] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 64 byte, type LRW.
[709062.111370] EtherCAT DEBUG 0: Stopping master thread.
[709062.111374] EtherCAT DEBUG 0: Master IDLE thread exiting...
[709062.111414] EtherCAT 0: Master thread exited.
[709062.111418] EtherCAT DEBUG 0: FSM datagram is 0000000070b69bf8.
[709062.111419] EtherCAT 0: Starting EtherCAT-OP thread.
[709062.111463] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[709062.111466] EtherCAT WARNING 0: 52 datagrams TIMED OUT!
[709062.111468] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[709062.111474] EtherCAT DEBUG 0: mmap()
[709062.111482] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 00000000f4640a0e
[709062.142918] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[709062.142924] EtherCAT DEBUG 0-0: Checking system time offset.
[709062.150927] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=6620944490 (corrected with 8000000), app_time=812748018482274627, diff=812748011861330137
[709062.150935] EtherCAT DEBUG 0-0: Setting time offset to 812748011861330137 (was 0)
[709062.158942] EtherCAT DEBUG 0-1: Checking system time offset.
[709062.166932] EtherCAT DEBUG 0-1: DC 64 bit system time offset calculation: system_time=6723729758 (corrected with 8000000), app_time=812748018498277605, diff=812748011774547847
[709062.166941] EtherCAT DEBUG 0-1: Setting time offset to 812748011774547847 (was 0)
[709062.174927] EtherCAT DEBUG 0-2: Checking system time offset.
[709062.182915] EtherCAT DEBUG 0-2: DC 64 bit system time offset calculation: system_time=6655523273 (corrected with 8000000), app_time=812748018514278324, diff=812748011858755051
[709062.182923] EtherCAT DEBUG 0-2: Setting time offset to 812748011858755051 (was 0)
[709062.190932] EtherCAT DEBUG 0-3: Checking system time offset.
[709062.198903] EtherCAT DEBUG 0-3: DC 64 bit system time offset calculation: system_time=9368500385 (corrected with 8000000), app_time=812748018530273858, diff=812748009161773473
[709062.198911] EtherCAT DEBUG 0-3: Setting time offset to 812748009161773473 (was 0)
[709062.206897] EtherCAT DEBUG 0: Requesting OP...
[709062.206900] EtherCAT DEBUG 0: After requesting OP, rescan_required is 0.
[709062.222911] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[709062.222917] EtherCAT DEBUG 0-0: Configuring...
[709062.225080] EtherCAT DEBUG 0-0: Now in INIT.
[709062.225081] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[709062.226134] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[709062.228081] EtherCAT DEBUG 0-0: Clearing DC assignment...
[709062.229080] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[709062.229082] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[709062.232080] EtherCAT DEBUG 0-0: Now in PREOP.
[709062.232082] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[709062.236080] EtherCAT DEBUG 0-0: Now in SAFEOP.
[709062.238080] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[709062.242929] EtherCAT DEBUG 0-1: Changing state from PREOP to OP.
[709062.242934] EtherCAT DEBUG 0-1: Configuring...
[709062.245082] EtherCAT DEBUG 0-1: Now in INIT.
[709062.245088] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[709062.247131] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[709062.249082] EtherCAT DEBUG 0-1: Clearing DC assignment...
[709062.251082] EtherCAT DEBUG 0-1: Slave does not support mailbox communication.
[709062.251085] EtherCAT DEBUG 0-1: Assigning SII access to PDI.
[709062.255081] EtherCAT DEBUG 0-1: Now in PREOP.
[709062.255085] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT.
[709062.257084] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size   1, Ctrl 0x00, En 1
[709062.259080] EtherCAT DEBUG 0 0:1: FMMU: LogAddr 0x00000000, Size   1, PhysAddr 0x1000, SM0, Dir in
[709062.262080] EtherCAT DEBUG 0-1: Now in SAFEOP.
[709062.264080] EtherCAT DEBUG 0-1: Now in OP. Finished configuration.
[709062.270898] EtherCAT DEBUG 0-2: Changing state from PREOP to OP.
[709062.270902] EtherCAT DEBUG 0-2: Configuring...
[709062.273081] EtherCAT DEBUG 0-2: Now in INIT.
[709062.273083] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[709062.274082] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[709062.275080] EtherCAT DEBUG 0-2: Clearing DC assignment...
[709062.276080] EtherCAT DEBUG 0-2: Slave does not support mailbox communication.
[709062.276082] EtherCAT DEBUG 0-2: Assigning SII access to PDI.
[709062.279080] EtherCAT DEBUG 0-2: Now in PREOP.
[709062.279082] EtherCAT DEBUG 0-2: Assigning SII access back to EtherCAT.
[709062.280084] EtherCAT DEBUG 0-2: SM0: Addr 0x0F00, Size   1, Ctrl 0x44, En 1
[709062.282080] EtherCAT DEBUG 0 0:2: FMMU: LogAddr 0x00000001, Size   1, PhysAddr 0x0F00, SM0, Dir out
[709062.285081] EtherCAT DEBUG 0-2: Now in SAFEOP.
[709062.287079] EtherCAT DEBUG 0-2: Now in OP. Finished configuration.
[709062.294901] EtherCAT DEBUG 0-3: Changing state from PREOP to OP.
[709062.294906] EtherCAT DEBUG 0-3: Configuring...
[709062.297079] EtherCAT DEBUG 0-3: Now in INIT.
[709062.297081] EtherCAT DEBUG 0-3: Clearing FMMU configurations...
[709062.298079] EtherCAT DEBUG 0-3: Clearing sync manager configurations...
[709062.299080] EtherCAT DEBUG 0-3: Clearing DC assignment...
[709062.300081] EtherCAT DEBUG 0-3: Configuring mailbox sync managers...
[709062.300083] EtherCAT DEBUG 0-3: SM0: Addr 0x1000, Size 246, Ctrl 0x26, En 1
[709062.300085] EtherCAT DEBUG 0-3: SM1: Addr 0x1400, Size 246, Ctrl 0x22, En 1
[709062.302079] EtherCAT DEBUG 0-3: Assigning SII access to PDI.
[709062.305081] EtherCAT DEBUG 0-3: Now in PREOP.
[709062.305085] EtherCAT DEBUG 0-3: Assigning SII access back to EtherCAT.
[709062.307088] EtherCAT DEBUG 0-3: Reading mapping of PDO 0x1600.
[709062.307091] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:00.
[709062.307093] EtherCAT DEBUG 0-3: Upload request:
[709062.307094] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00
[709062.311081] EtherCAT DEBUG 0-3: Upload response:
[709062.311083] EtherCAT DEBUG: 00 30 4F 00 16 00 08 08 FF FF
[709062.311089] EtherCAT DEBUG 0-3: Uploaded data:
[709062.311090] EtherCAT DEBUG: 08
[709062.311091] EtherCAT DEBUG 0-3: 8 PDO entries mapped.
[709062.311092] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:01.
[709062.311094] EtherCAT DEBUG 0-3: Upload request:
[709062.311094] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00
[709062.315080] EtherCAT DEBUG 0-3: Upload response:
[709062.315083] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60
[709062.315088] EtherCAT DEBUG 0-3: Uploaded data:
[709062.315088] EtherCAT DEBUG: 10 00 40 60
[709062.315092] EtherCAT DEBUG 0-3: PDO entry 0x6040:00, 16 bit, "???".
[709062.315094] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:02.
[709062.315095] EtherCAT DEBUG 0-3: Upload request:
[709062.315096] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00
[709062.319080] EtherCAT DEBUG 0-3: Upload response:
[709062.319082] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60
[709062.319087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.319087] EtherCAT DEBUG: 08 00 60 60
[709062.319090] EtherCAT DEBUG 0-3: PDO entry 0x6060:00, 8 bit, "???".
[709062.319092] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:03.
[709062.319093] EtherCAT DEBUG 0-3: Upload request:
[709062.319094] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00
[709062.323083] EtherCAT DEBUG 0-3: Upload response:
[709062.323087] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60
[709062.323093] EtherCAT DEBUG 0-3: Uploaded data:
[709062.323094] EtherCAT DEBUG: 20 00 7A 60
[709062.323098] EtherCAT DEBUG 0-3: PDO entry 0x607A:00, 32 bit, "???".
[709062.323101] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:04.
[709062.323102] EtherCAT DEBUG 0-3: Upload request:
[709062.323103] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00
[709062.327082] EtherCAT DEBUG 0-3: Upload response:
[709062.327084] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60
[709062.327089] EtherCAT DEBUG 0-3: Uploaded data:
[709062.327090] EtherCAT DEBUG: 20 00 FF 60
[709062.327093] EtherCAT DEBUG 0-3: PDO entry 0x60FF:00, 32 bit, "???".
[709062.327094] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:05.
[709062.327095] EtherCAT DEBUG 0-3: Upload request:
[709062.327096] EtherCAT DEBUG: 00 20 40 00 16 05 00 00 00 00
[709062.331081] EtherCAT DEBUG 0-3: Upload response:
[709062.331083] EtherCAT DEBUG: 00 30 43 00 16 05 10 00 71 60
[709062.331089] EtherCAT DEBUG 0-3: Uploaded data:
[709062.331090] EtherCAT DEBUG: 10 00 71 60
[709062.331093] EtherCAT DEBUG 0-3: PDO entry 0x6071:00, 16 bit, "???".
[709062.331095] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:06.
[709062.331096] EtherCAT DEBUG 0-3: Upload request:
[709062.331097] EtherCAT DEBUG: 00 20 40 00 16 06 00 00 00 00
[709062.335080] EtherCAT DEBUG 0-3: Upload response:
[709062.335082] EtherCAT DEBUG: 00 30 43 00 16 06 20 01 FE 60
[709062.335087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.335088] EtherCAT DEBUG: 20 01 FE 60
[709062.335090] EtherCAT DEBUG 0-3: PDO entry 0x60FE:01, 32 bit, "???".
[709062.335091] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:07.
[709062.335093] EtherCAT DEBUG 0-3: Upload request:
[709062.335093] EtherCAT DEBUG: 00 20 40 00 16 07 00 00 00 00
[709062.339085] EtherCAT DEBUG 0-3: Upload response:
[709062.339087] EtherCAT DEBUG: 00 30 43 00 16 07 00 00 00 00
[709062.339092] EtherCAT DEBUG 0-3: Uploaded data:
[709062.339093] EtherCAT DEBUG: 00 00 00 00
[709062.339098] EtherCAT DEBUG 0-3: PDO entry 0x0000:00, 0 bit, "Gap".
[709062.339100] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:08.
[709062.339101] EtherCAT DEBUG 0-3: Upload request:
[709062.339102] EtherCAT DEBUG: 00 20 40 00 16 08 00 00 00 00
[709062.343080] EtherCAT DEBUG 0-3: Upload response:
[709062.343083] EtherCAT DEBUG: 00 30 43 00 16 08 00 00 00 00
[709062.343087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.343088] EtherCAT DEBUG: 00 00 00 00
[709062.343091] EtherCAT DEBUG 0-3: PDO entry 0x0000:00, 0 bit, "Gap".
[709062.343093] EtherCAT DEBUG 0-3: Changing mapping of PDO 0x1600.
[709062.343094] EtherCAT DEBUG 0-3: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x6071:00/16 0x60FE:01/32 0x0000:00/0 0x0000:00/0. Entries to map: 0x6040:00/16 0x6060:00/8 0x6081:00/32 0x607A:00/32 0x6071:00/16 0x60FF:00/32 0x60FE:01/32
[709062.343110] EtherCAT DEBUG 0-3: Setting entry count to zero.
[709062.343122] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:00.
[709062.343124] EtherCAT DEBUG: 00
[709062.343125] EtherCAT DEBUG 0-3: Expedited download request:
[709062.343126] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00
[709062.347082] EtherCAT DEBUG 0-3: Download response:
[709062.347084] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[709062.347089] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[709062.347091] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:01.
[709062.347092] EtherCAT DEBUG: 10 00 40 60
[709062.347095] EtherCAT DEBUG 0-3: Expedited download request:
[709062.347096] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60
[709062.351080] EtherCAT DEBUG 0-3: Download response:
[709062.351082] EtherCAT DEBUG: 00 30 60 00 16 01 00 00 00 00
[709062.351087] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[709062.351089] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:02.
[709062.351090] EtherCAT DEBUG: 08 00 60 60
[709062.351093] EtherCAT DEBUG 0-3: Expedited download request:
[709062.351094] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60
[709062.355080] EtherCAT DEBUG 0-3: Download response:
[709062.355084] EtherCAT DEBUG: 00 30 60 00 16 02 00 00 00 00
[709062.355089] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6081:00 (32 bit) at position 3.
[709062.355091] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:03.
[709062.355093] EtherCAT DEBUG: 20 00 81 60
[709062.355096] EtherCAT DEBUG 0-3: Expedited download request:
[709062.355096] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 81 60
[709062.359080] EtherCAT DEBUG 0-3: Download response:
[709062.359082] EtherCAT DEBUG: 00 30 60 00 16 03 00 00 00 00
[709062.359087] EtherCAT DEBUG 0-3: Mapping PDO entry 0x607A:00 (32 bit) at position 4.
[709062.359089] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:04.
[709062.359091] EtherCAT DEBUG: 20 00 7A 60
[709062.359093] EtherCAT DEBUG 0-3: Expedited download request:
[709062.359094] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 7A 60
[709062.363080] EtherCAT DEBUG 0-3: Download response:
[709062.363081] EtherCAT DEBUG: 00 30 60 00 16 04 00 00 00 00
[709062.363086] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6071:00 (16 bit) at position 5.
[709062.363088] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:05.
[709062.363089] EtherCAT DEBUG: 10 00 71 60
[709062.363091] EtherCAT DEBUG 0-3: Expedited download request:
[709062.363092] EtherCAT DEBUG: 00 20 23 00 16 05 10 00 71 60
[709062.367079] EtherCAT DEBUG 0-3: Download response:
[709062.367081] EtherCAT DEBUG: 00 30 60 00 16 05 00 00 00 00
[709062.367085] EtherCAT DEBUG 0-3: Mapping PDO entry 0x60FF:00 (32 bit) at position 6.
[709062.367087] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:06.
[709062.367088] EtherCAT DEBUG: 20 00 FF 60
[709062.367090] EtherCAT DEBUG 0-3: Expedited download request:
[709062.367091] EtherCAT DEBUG: 00 20 23 00 16 06 20 00 FF 60
[709062.371080] EtherCAT DEBUG 0-3: Download response:
[709062.371082] EtherCAT DEBUG: 00 30 60 00 16 06 00 00 00 00
[709062.371086] EtherCAT DEBUG 0-3: Mapping PDO entry 0x60FE:01 (32 bit) at position 7.
[709062.371088] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:07.
[709062.371089] EtherCAT DEBUG: 20 01 FE 60
[709062.371091] EtherCAT DEBUG 0-3: Expedited download request:
[709062.371092] EtherCAT DEBUG: 00 20 23 00 16 07 20 01 FE 60
[709062.375080] EtherCAT DEBUG 0-3: Download response:
[709062.375081] EtherCAT DEBUG: 00 30 60 00 16 07 00 00 00 00
[709062.375086] EtherCAT DEBUG 0-3: Setting number of PDO entries to 7.
[709062.375088] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:00.
[709062.375089] EtherCAT DEBUG: 07
[709062.375090] EtherCAT DEBUG 0-3: Expedited download request:
[709062.375091] EtherCAT DEBUG: 00 20 2F 00 16 00 07 00 00 00
[709062.379080] EtherCAT DEBUG 0-3: Download response:
[709062.379081] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00
[709062.379085] EtherCAT DEBUG 0-3: Successfully configured mapping for PDO 0x1600.
[709062.379087] EtherCAT DEBUG 0-3: Setting PDO assignment of SM2:
[709062.379088] EtherCAT DEBUG 0-3: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1600
[709062.379091] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero.
[709062.379093] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:00.
[709062.379094] EtherCAT DEBUG: 00
[709062.379095] EtherCAT DEBUG 0-3: Expedited download request:
[709062.379096] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00
[709062.383080] EtherCAT DEBUG 0-3: Download response:
[709062.383081] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[709062.383089] EtherCAT DEBUG 0-3: Assigning PDO 0x1600 at position 1.
[709062.383090] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:01.
[709062.383091] EtherCAT DEBUG: 00 16
[709062.383093] EtherCAT DEBUG 0-3: Expedited download request:
[709062.383094] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00
[709062.387080] EtherCAT DEBUG 0-3: Download response:
[709062.387081] EtherCAT DEBUG: 00 30 60 12 1C 01 00 00 00 00
[709062.387086] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to 1.
[709062.387087] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:00.
[709062.387088] EtherCAT DEBUG: 01
[709062.387089] EtherCAT DEBUG 0-3: Expedited download request:
[709062.387090] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00
[709062.392125] EtherCAT DEBUG 0-3: Download response:
[709062.392129] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00
[709062.392137] EtherCAT DEBUG 0-3: Successfully configured PDO assignment of SM2.
[709062.392144] EtherCAT DEBUG 0-3: Reading mapping of PDO 0x1A00.
[709062.392146] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:00.
[709062.392147] EtherCAT DEBUG 0-3: Upload request:
[709062.392148] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00
[709062.397128] EtherCAT DEBUG 0-3: Upload response:
[709062.397133] EtherCAT DEBUG: 00 30 4F 00 1A 00 08 00 00 00
[709062.397138] EtherCAT DEBUG 0-3: Uploaded data:
[709062.397139] EtherCAT DEBUG: 08
[709062.397140] EtherCAT DEBUG 0-3: 8 PDO entries mapped.
[709062.397141] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:01.
[709062.397144] EtherCAT DEBUG 0-3: Upload request:
[709062.397145] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00
[709062.402083] EtherCAT DEBUG 0-3: Upload response:
[709062.402087] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60
[709062.402092] EtherCAT DEBUG 0-3: Uploaded data:
[709062.402093] EtherCAT DEBUG: 10 00 41 60
[709062.402096] EtherCAT DEBUG 0-3: PDO entry 0x6041:00, 16 bit, "???".
[709062.402099] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:02.
[709062.402101] EtherCAT DEBUG 0-3: Upload request:
[709062.402101] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00
[709062.406080] EtherCAT DEBUG 0-3: Upload response:
[709062.406083] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60
[709062.406088] EtherCAT DEBUG 0-3: Uploaded data:
[709062.406089] EtherCAT DEBUG: 08 00 61 60
[709062.406092] EtherCAT DEBUG 0-3: PDO entry 0x6061:00, 8 bit, "???".
[709062.406094] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:03.
[709062.406096] EtherCAT DEBUG 0-3: Upload request:
[709062.406097] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00
[709062.411108] EtherCAT DEBUG 0-3: Upload response:
[709062.411120] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60
[709062.411128] EtherCAT DEBUG 0-3: Uploaded data:
[709062.411129] EtherCAT DEBUG: 20 00 64 60
[709062.411131] EtherCAT DEBUG 0-3: PDO entry 0x6064:00, 32 bit, "???".
[709062.411134] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:04.
[709062.411135] EtherCAT DEBUG 0-3: Upload request:
[709062.411136] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00
[709062.415080] EtherCAT DEBUG 0-3: Upload response:
[709062.415082] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 6C 60
[709062.415087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.415088] EtherCAT DEBUG: 20 00 6C 60
[709062.415091] EtherCAT DEBUG 0-3: PDO entry 0x606C:00, 32 bit, "???".
[709062.415092] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:05.
[709062.415094] EtherCAT DEBUG 0-3: Upload request:
[709062.415095] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00
[709062.419079] EtherCAT DEBUG 0-3: Upload response:
[709062.419081] EtherCAT DEBUG: 00 30 43 00 1A 05 10 00 77 60
[709062.419086] EtherCAT DEBUG 0-3: Uploaded data:
[709062.419087] EtherCAT DEBUG: 10 00 77 60
[709062.419090] EtherCAT DEBUG 0-3: PDO entry 0x6077:00, 16 bit, "???".
[709062.419091] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:06.
[709062.419093] EtherCAT DEBUG 0-3: Upload request:
[709062.419093] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00
[709062.423080] EtherCAT DEBUG 0-3: Upload response:
[709062.423082] EtherCAT DEBUG: 00 30 43 00 1A 06 20 00 FD 60
[709062.423087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.423088] EtherCAT DEBUG: 20 00 FD 60
[709062.423090] EtherCAT DEBUG 0-3: PDO entry 0x60FD:00, 32 bit, "???".
[709062.423092] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:07.
[709062.423093] EtherCAT DEBUG 0-3: Upload request:
[709062.423094] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00
[709062.428079] EtherCAT DEBUG 0-3: Upload response:
[709062.428082] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 F4 60
[709062.428087] EtherCAT DEBUG 0-3: Uploaded data:
[709062.428087] EtherCAT DEBUG: 20 00 F4 60
[709062.428090] EtherCAT DEBUG 0-3: PDO entry 0x60F4:00, 32 bit, "???".
[709062.428092] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:08.
[709062.428093] EtherCAT DEBUG 0-3: Upload request:
[709062.428094] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00
[709062.432081] EtherCAT DEBUG 0-3: Upload response:
[709062.432084] EtherCAT DEBUG: 00 30 43 00 1A 08 10 00 3F 60
[709062.432089] EtherCAT DEBUG 0-3: Uploaded data:
[709062.432090] EtherCAT DEBUG: 10 00 3F 60
[709062.432093] EtherCAT DEBUG 0-3: PDO entry 0x603F:00, 16 bit, "???".
[709062.432095] EtherCAT DEBUG 0-3: Changing mapping of PDO 0x1A00.
[709062.432096] EtherCAT DEBUG 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x60FD:00/32 0x60F4:00/32 0x603F:00/16. Entries to map: 0x6041:00/16 0x60F4:00/32 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32
[709062.432126] EtherCAT DEBUG 0-3: Setting entry count to zero.
[709062.432128] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:00.
[709062.432129] EtherCAT DEBUG: 00
[709062.432130] EtherCAT DEBUG 0-3: Expedited download request:
[709062.432131] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00
[709062.437080] EtherCAT DEBUG 0-3: Download response:
[709062.437084] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00
[709062.437090] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[709062.437092] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:01.
[709062.437093] EtherCAT DEBUG: 10 00 41 60
[709062.437096] EtherCAT DEBUG 0-3: Expedited download request:
[709062.437096] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60
[709062.442081] EtherCAT DEBUG 0-3: Download response:
[709062.442084] EtherCAT DEBUG: 00 30 60 00 1A 01 00 00 00 00
[709062.442089] EtherCAT DEBUG 0-3: Mapping PDO entry 0x60F4:00 (32 bit) at position 2.
[709062.442092] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:02.
[709062.442093] EtherCAT DEBUG: 20 00 F4 60
[709062.442096] EtherCAT DEBUG 0-3: Expedited download request:
[709062.442097] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 F4 60
[709062.448081] EtherCAT DEBUG 0-3: Download response:
[709062.448084] EtherCAT DEBUG: 00 30 60 00 1A 02 00 00 00 00
[709062.448090] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6064:00 (32 bit) at position 3.
[709062.448092] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:03.
[709062.448094] EtherCAT DEBUG: 20 00 64 60
[709062.448096] EtherCAT DEBUG 0-3: Expedited download request:
[709062.448097] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60
[709062.453120] EtherCAT DEBUG 0-3: Download response:
[709062.453123] EtherCAT DEBUG: 00 30 60 00 1A 03 00 00 00 00
[709062.453128] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6077:00 (32 bit) at position 4.
[709062.453131] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:04.
[709062.453132] EtherCAT DEBUG: 20 00 77 60
[709062.453134] EtherCAT DEBUG 0-3: Expedited download request:
[709062.453135] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 77 60
[709062.458079] EtherCAT DEBUG 0-3: Download response:
[709062.458082] EtherCAT DEBUG: 00 30 60 00 1A 04 00 00 00 00
[709062.458087] EtherCAT DEBUG 0-3: Mapping PDO entry 0x606C:00 (32 bit) at position 5.
[709062.458089] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:05.
[709062.458090] EtherCAT DEBUG: 20 00 6C 60
[709062.458093] EtherCAT DEBUG 0-3: Expedited download request:
[709062.458094] EtherCAT DEBUG: 00 20 23 00 1A 05 20 00 6C 60
[709062.464084] EtherCAT DEBUG 0-3: Download response:
[709062.464087] EtherCAT DEBUG: 00 30 60 00 1A 05 00 00 00 00
[709062.464092] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6079:00 (32 bit) at position 6.
[709062.464094] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:06.
[709062.464095] EtherCAT DEBUG: 20 00 79 60
[709062.464098] EtherCAT DEBUG 0-3: Expedited download request:
[709062.464099] EtherCAT DEBUG: 00 20 23 00 1A 06 20 00 79 60
[709062.469079] EtherCAT DEBUG 0-3: Download response:
[709062.469082] EtherCAT DEBUG: 00 30 60 00 1A 06 00 00 00 00
[709062.469086] EtherCAT DEBUG 0-3: Mapping PDO entry 0x603F:00 (16 bit) at position 7.
[709062.469089] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:07.
[709062.469090] EtherCAT DEBUG: 10 00 3F 60
[709062.469092] EtherCAT DEBUG 0-3: Expedited download request:
[709062.469093] EtherCAT DEBUG: 00 20 23 00 1A 07 10 00 3F 60
[709062.473079] EtherCAT DEBUG 0-3: Download response:
[709062.473081] EtherCAT DEBUG: 00 30 60 00 1A 07 00 00 00 00
[709062.473086] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6061:00 (8 bit) at position 8.
[709062.473088] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:08.
[709062.473089] EtherCAT DEBUG: 08 00 61 60
[709062.473092] EtherCAT DEBUG 0-3: Expedited download request:
[709062.473092] EtherCAT DEBUG: 00 20 23 00 1A 08 08 00 61 60
[709062.477080] EtherCAT DEBUG 0-3: Download response:
[709062.477081] EtherCAT DEBUG: 00 30 60 00 1A 08 00 00 00 00
[709062.477086] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6062:00 (32 bit) at position 9.
[709062.477088] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:09.
[709062.477089] EtherCAT DEBUG: 20 00 62 60
[709062.477092] EtherCAT DEBUG 0-3: Expedited download request:
[709062.477092] EtherCAT DEBUG: 00 20 23 00 1A 09 20 00 62 60
[709062.481079] EtherCAT DEBUG 0-3: Download response:
[709062.481081] EtherCAT DEBUG: 00 20 80 00 1A 09 11 00 09 06
[709062.481085] EtherCAT ERROR 0-3: SDO download 0x1A00:09 (4 bytes) aborted.
[709062.481088] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[709062.481090] EtherCAT WARNING 0-3: Failed to map PDO entry 0x6062:00 (32 bit) to position 9.
[709062.481091] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x60FD:00/32 0x60F4:00/32 0x603F:00/16. Entries to map: 0x6041:00/16 0x60F4:00/32 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32
[709062.481121] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A00.
[709062.481122] EtherCAT DEBUG 0-3: Setting PDO assignment of SM3:
[709062.481123] EtherCAT DEBUG 0-3: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A00
[709062.481127] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero.
[709062.481128] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00.
[709062.481129] EtherCAT DEBUG: 00
[709062.481131] EtherCAT DEBUG 0-3: Expedited download request:
[709062.481131] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00
[709062.485079] EtherCAT DEBUG 0-3: Download response:
[709062.485081] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[709062.485088] EtherCAT DEBUG 0-3: Assigning PDO 0x1A00 at position 1.
[709062.485090] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:01.
[709062.485091] EtherCAT DEBUG: 00 1A
[709062.485093] EtherCAT DEBUG 0-3: Expedited download request:
[709062.485093] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00
[709062.489079] EtherCAT DEBUG 0-3: Download response:
[709062.489081] EtherCAT DEBUG: 00 30 60 13 1C 01 00 00 00 00
[709062.489086] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to 1.
[709062.489087] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00.
[709062.489088] EtherCAT DEBUG: 01
[709062.489089] EtherCAT DEBUG 0-3: Expedited download request:
[709062.489090] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00
[709062.493080] EtherCAT DEBUG 0-3: Download response:
[709062.493082] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00
[709062.493090] EtherCAT DEBUG 0-3: Successfully configured PDO assignment of SM3.
[709062.493095] EtherCAT DEBUG 0-3: SM2: Addr 0x1800, Size  21, Ctrl 0x64, En 1
[709062.493099] EtherCAT DEBUG 0-3: SM3: Addr 0x1C00, Size  41, Ctrl 0x20, En 1
[709062.495079] EtherCAT DEBUG 0 0:3: FMMU: LogAddr 0x00000002, Size  21, PhysAddr 0x1800, SM2, Dir out
[709062.495082] EtherCAT DEBUG 0 0:3: FMMU: LogAddr 0x00000017, Size  41, PhysAddr 0x1C00, SM3, Dir in
[709062.499081] EtherCAT DEBUG 0-3: Now in SAFEOP.
[709062.501079] EtherCAT DEBUG 0-3: Now in OP. Finished configuration.
[709062.506923] EtherCAT 0: Slave states on main device: OP.
[709063.142901] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.142906] EtherCAT DEBUG 0-3: Downloading SDO 0x6065:00.
[709063.142908] EtherCAT DEBUG: 80 0C 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.142915] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.142922] EtherCAT DEBUG 0-3: Normal download request:
[709063.142923] EtherCAT DEBUG: 00 20 21 65 60 00 20 00 00 00 80 0C 00 00 00 00
[709063.142930] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.142936] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.147077] EtherCAT DEBUG 0-3: Download response:
[709063.147080] EtherCAT DEBUG: 00 20 80 65 60 00 10 00 07 06
[709063.147085] EtherCAT ERROR 0-3: SDO download 0x6065:00 (32 bytes) aborted.
[709063.147087] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.147094] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.187004] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.187009] EtherCAT DEBUG 0-3: Downloading SDO 0x609A:00.
[709063.187012] EtherCAT DEBUG: AA A0 01 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.187018] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.187025] EtherCAT DEBUG 0-3: Normal download request:
[709063.187026] EtherCAT DEBUG: 00 20 21 9A 60 00 20 00 00 00 AA A0 01 00 00 00
[709063.187033] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.187039] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.190077] EtherCAT DEBUG 0-3: Download response:
[709063.190079] EtherCAT DEBUG: 00 20 80 9A 60 00 10 00 07 06
[709063.190083] EtherCAT ERROR 0-3: SDO download 0x609A:00 (32 bytes) aborted.
[709063.190085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.190088] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.226890] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.226896] EtherCAT DEBUG 0-3: Downloading SDO 0x6098:00.
[709063.226897] EtherCAT DEBUG: 25 00 00 00 00 00 00 00
[709063.226902] EtherCAT DEBUG 0-3: Normal download request:
[709063.226903] EtherCAT DEBUG: 00 20 21 98 60 00 08 00 00 00 25 00 00 00 00 00
[709063.226909] EtherCAT DEBUG: 00 00
[709063.230076] EtherCAT DEBUG 0-3: Download response:
[709063.230078] EtherCAT DEBUG: 00 20 80 98 60 00 10 00 07 06
[709063.230082] EtherCAT ERROR 0-3: SDO download 0x6098:00 (8 bytes) aborted.
[709063.230085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.230087] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.266887] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.266892] EtherCAT DEBUG 0-3: Downloading SDO 0x6099:01.
[709063.266893] EtherCAT DEBUG: 55 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.266900] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.266907] EtherCAT DEBUG 0-3: Normal download request:
[709063.266908] EtherCAT DEBUG: 00 20 21 99 60 01 20 00 00 00 55 21 00 00 00 00
[709063.266914] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.266920] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.270076] EtherCAT DEBUG 0-3: Download response:
[709063.270078] EtherCAT DEBUG: 00 20 80 99 60 01 10 00 07 06
[709063.270083] EtherCAT ERROR 0-3: SDO download 0x6099:01 (32 bytes) aborted.
[709063.270085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.270087] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.306894] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.306898] EtherCAT DEBUG 0-3: Downloading SDO 0x6099:02.
[709063.306900] EtherCAT DEBUG: 55 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.306907] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.306914] EtherCAT DEBUG 0-3: Normal download request:
[709063.306915] EtherCAT DEBUG: 00 20 21 99 60 02 20 00 00 00 55 21 00 00 00 00
[709063.306921] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.306927] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.310076] EtherCAT DEBUG 0-3: Download response:
[709063.310078] EtherCAT DEBUG: 00 20 80 99 60 02 10 00 07 06
[709063.310083] EtherCAT ERROR 0-3: SDO download 0x6099:02 (32 bytes) aborted.
[709063.310085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.310087] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.346892] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.346897] EtherCAT DEBUG 0-3: Downloading SDO 0x60C2:01.
[709063.346898] EtherCAT DEBUG: 02 00 00 00 00 00 00 00
[709063.346903] EtherCAT DEBUG 0-3: Normal download request:
[709063.346904] EtherCAT DEBUG: 00 20 21 C2 60 01 08 00 00 00 02 00 00 00 00 00
[709063.346910] EtherCAT DEBUG: 00 00
[709063.350076] EtherCAT DEBUG 0-3: Download response:
[709063.350078] EtherCAT DEBUG: 00 20 80 C2 60 01 10 00 07 06
[709063.350082] EtherCAT ERROR 0-3: SDO download 0x60C2:01 (8 bytes) aborted.
[709063.350085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.350086] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.386888] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.386892] EtherCAT DEBUG 0-3: Downloading SDO 0x6080:00.
[709063.386893] EtherCAT DEBUG: 05 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.386900] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.386907] EtherCAT DEBUG 0-3: Normal download request:
[709063.386907] EtherCAT DEBUG: 00 20 21 80 60 00 20 00 00 00 05 10 00 00 00 00
[709063.386913] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.386919] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.390077] EtherCAT DEBUG 0-3: Download response:
[709063.390078] EtherCAT DEBUG: 00 20 80 80 60 00 10 00 07 06
[709063.390082] EtherCAT ERROR 0-3: SDO download 0x6080:00 (32 bytes) aborted.
[709063.390085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.390087] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.426889] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.426893] EtherCAT DEBUG 0-3: Downloading SDO 0x6072:00.
[709063.426895] EtherCAT DEBUG: E8 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.426902] EtherCAT DEBUG 0-3: Normal download request:
[709063.426903] EtherCAT DEBUG: 00 20 21 72 60 00 10 00 00 00 E8 03 00 00 00 00
[709063.426909] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.430076] EtherCAT DEBUG 0-3: Download response:
[709063.430077] EtherCAT DEBUG: 00 20 80 72 60 00 10 00 07 06
[709063.430082] EtherCAT ERROR 0-3: SDO download 0x6072:00 (16 bytes) aborted.
[709063.430084] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.430085] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.466887] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.466892] EtherCAT DEBUG 0-3: Downloading SDO 0x6068:00.
[709063.466894] EtherCAT DEBUG: 0A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.466901] EtherCAT DEBUG 0-3: Normal download request:
[709063.466902] EtherCAT DEBUG: 00 20 21 68 60 00 10 00 00 00 0A 00 00 00 00 00
[709063.466909] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.470075] EtherCAT DEBUG 0-3: Download response:
[709063.470077] EtherCAT DEBUG: 00 20 80 68 60 00 10 00 07 06
[709063.470081] EtherCAT ERROR 0-3: SDO download 0x6068:00 (16 bytes) aborted.
[709063.470083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.470085] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.506890] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.506894] EtherCAT DEBUG 0-3: Downloading SDO 0x6067:00.
[709063.506896] EtherCAT DEBUG: 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.506902] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.506909] EtherCAT DEBUG 0-3: Normal download request:
[709063.506910] EtherCAT DEBUG: 00 20 21 67 60 00 20 00 00 00 00 01 00 00 00 00
[709063.506916] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.506922] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.510075] EtherCAT DEBUG 0-3: Download response:
[709063.510077] EtherCAT DEBUG: 00 20 80 67 60 00 10 00 07 06
[709063.510081] EtherCAT ERROR 0-3: SDO download 0x6067:00 (32 bytes) aborted.
[709063.510083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.510084] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.546890] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.546895] EtherCAT DEBUG 0-3: Downloading SDO 0x6083:00.
[709063.546897] EtherCAT DEBUG: 55 8D 20 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.546904] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.546910] EtherCAT DEBUG 0-3: Normal download request:
[709063.546911] EtherCAT DEBUG: 00 20 21 83 60 00 20 00 00 00 55 8D 20 00 00 00
[709063.546917] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.546924] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.550075] EtherCAT DEBUG 0-3: Download response:
[709063.550076] EtherCAT DEBUG: 00 20 80 83 60 00 10 00 07 06
[709063.550081] EtherCAT ERROR 0-3: SDO download 0x6083:00 (32 bytes) aborted.
[709063.550083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.550084] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.586888] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.586890] EtherCAT DEBUG 0-3: Downloading SDO 0x6084:00.
[709063.586892] EtherCAT DEBUG: 55 8D 20 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.586899] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.586905] EtherCAT DEBUG 0-3: Normal download request:
[709063.586906] EtherCAT DEBUG: 00 20 21 84 60 00 20 00 00 00 55 8D 20 00 00 00
[709063.586912] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.586918] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.590075] EtherCAT DEBUG 0-3: Download response:
[709063.590076] EtherCAT DEBUG: 00 20 80 84 60 00 10 00 07 06
[709063.590081] EtherCAT ERROR 0-3: SDO download 0x6084:00 (32 bytes) aborted.
[709063.590083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.590084] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.626889] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.626893] EtherCAT DEBUG 0-3: Downloading SDO 0x6087:00.
[709063.626894] EtherCAT DEBUG: FF FF FF FF 00 00 00 00 00 00 00 00 00 00 00 00
[709063.626901] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.626907] EtherCAT DEBUG 0-3: Normal download request:
[709063.626908] EtherCAT DEBUG: 00 20 21 87 60 00 20 00 00 00 FF FF FF FF 00 00
[709063.626914] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.626921] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.630075] EtherCAT DEBUG 0-3: Download response:
[709063.630077] EtherCAT DEBUG: 00 20 80 87 60 00 10 00 07 06
[709063.630082] EtherCAT ERROR 0-3: SDO download 0x6087:00 (32 bytes) aborted.
[709063.630083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.630085] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.666888] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.666890] EtherCAT DEBUG 0-3: Downloading SDO 0x606E:00.
[709063.666892] EtherCAT DEBUG: 0A 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.666899] EtherCAT DEBUG 0-3: Normal download request:
[709063.666900] EtherCAT DEBUG: 00 20 21 6E 60 00 10 00 00 00 0A 00 00 00 00 00
[709063.666906] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.670074] EtherCAT DEBUG 0-3: Download response:
[709063.670076] EtherCAT DEBUG: 00 20 80 6E 60 00 10 00 07 06
[709063.670080] EtherCAT ERROR 0-3: SDO download 0x606E:00 (16 bytes) aborted.
[709063.670082] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.670083] EtherCAT DEBUG 0-3: Failed to process internal SDO request.
[709063.706884] EtherCAT DEBUG 0-3: Processing internal SDO request...
[709063.706886] EtherCAT DEBUG 0-3: Downloading SDO 0x606D:00.
[709063.706888] EtherCAT DEBUG: 55 08 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[709063.706895] EtherCAT DEBUG 0-3: Normal download request:
[709063.706896] EtherCAT DEBUG: 00 20 21 6D 60 00 10 00 00 00 55 08 00 00 00 00
[709063.706902] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00
[709063.710075] EtherCAT DEBUG 0-3: Download response:
[709063.710076] EtherCAT DEBUG: 00 20 80 6D 60 00 10 00 07 06
[709063.710080] EtherCAT ERROR 0-3: SDO download 0x606D:00 (16 bytes) aborted.
[709063.710082] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.710083] EtherCAT DEBUG 0-3: Failed to process internal SDO request.

I really appreciate the continued help through this problem!

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02 Oct 2025 20:13 - 03 Oct 2025 06:32 #335743 by Hakan
Replied by Hakan on topic Trouble with Cia402 drive configuration
Progress, I see.
I have not used this driver, but you got a good message from lcec there, which worked.
But I think I see there are still problems with pdo assignments in syslog.
You can test the other alternative in the message, that is to set back the numbers to 8
and set to "false" all those short enablePP enableCST etc and make sure to leave enableCSP true.
You can also reset the debug messages, the normal error reporting should be enough now. I hope.

Edit: I am now at a decent editor and can look at the messages better.
What
[709062.481085] EtherCAT ERROR 0-3: SDO download 0x1A00:09 (4 bytes) aborted.
[709062.481088] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
...
[709062.481090] EtherCAT WARNING 0-3: Failed to map PDO entry 0x6062:00 (32 bit) to position 9.
[709062.481091] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x60FD:00/32 0x60F4:00/3\
2 0x603F:00/16. Entries to map: 0x6041:00/16 0x60F4:00/32 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:0\
0/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32
[709062.481121] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A00.
This is the configuration of the Transmit PDO and essentially it says it can only take 8 items.
Just like the message from lcec said.
So, for now, we assume your drive has a limit of 8 pdos. Many drives have that type of limit.
So, yeah go with the other option mentioned above and disable features.

The next bunch of errors are regarding exactly that, different features your drive has or doesn't have.
[709063.147085] EtherCAT ERROR 0-3: SDO download 0x6065:00 (32 bytes) aborted.
[709063.147087] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.190083] EtherCAT ERROR 0-3: SDO download 0x609A:00 (32 bytes) aborted.
[709063.190085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.230082] EtherCAT ERROR 0-3: SDO download 0x6098:00 (8 bytes) aborted.
[709063.230085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.270083] EtherCAT ERROR 0-3: SDO download 0x6099:01 (32 bytes) aborted.
[709063.270085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.310083] EtherCAT ERROR 0-3: SDO download 0x6099:02 (32 bytes) aborted.
[709063.310085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.350082] EtherCAT ERROR 0-3: SDO download 0x60C2:01 (8 bytes) aborted.
[709063.350085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.390082] EtherCAT ERROR 0-3: SDO download 0x6080:00 (32 bytes) aborted.
[709063.390085] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.430082] EtherCAT ERROR 0-3: SDO download 0x6072:00 (16 bytes) aborted.
[709063.430084] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.470081] EtherCAT ERROR 0-3: SDO download 0x6068:00 (16 bytes) aborted.
[709063.470083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.510081] EtherCAT ERROR 0-3: SDO download 0x6067:00 (32 bytes) aborted.
[709063.510083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.550081] EtherCAT ERROR 0-3: SDO download 0x6083:00 (32 bytes) aborted.
[709063.550083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.590081] EtherCAT ERROR 0-3: SDO download 0x6084:00 (32 bytes) aborted.
[709063.590083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.630082] EtherCAT ERROR 0-3: SDO download 0x6087:00 (32 bytes) aborted.
[709063.630083] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.670080] EtherCAT ERROR 0-3: SDO download 0x606E:00 (16 bytes) aborted.
[709063.670082] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
[709063.710080] EtherCAT ERROR 0-3: SDO download 0x606D:00 (16 bytes) aborted.
[709063.710082] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
Looking at a list of CoE SDOs, and matching against the messages
0x6065: Following error window
0x609a: Homing acceleration
0x6098: Homing method
0x6099: Homing speeds
0x60c2: Interpolation time period
0x6080: Max motor speed
0x6072: Max torque
0x6068: Position window time
0x6067: Position window
0x6083: Profile acceleration
0x6084: Profile deceleration
0x6087: Torque slope
0x606e: Velocity window time
0x606d:  Velocity window

Your drive doesn't have those. Set them to "false" in the ethercat-conf.xml



 
Last edit: 03 Oct 2025 06:32 by Hakan. Reason: More details after I'm back at the computer

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03 Oct 2025 14:53 - 03 Oct 2025 15:10 #335786 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration
So now this is what my .xml looks like:
<masters>
<master idx="0">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL2008"/>
<slave idx="3" type="basic_cia402" vid="0x00000c96" pid="0x00000001" name="D4">
<!--ClearPath EC (CoE Rev 2)-->
<modParam name="ciaRxPDOEntryLimit" value="8"/>
<modParam name="ciaTxPDOEntryLimit" value="8"/>
<modParam name="enablePP" value="false"/>
<modParam name="enablePV" value="false"/>
<modParam name="enableTQ" value="false"/>
<modParam name="enableHM" value="false"/>
<modParam name="enableCSP" value="true"/>
<modParam name="enableCSV" value="false"/>
<modParam name="enableCST" value="false"/>
<modParam name="enableActualFollowingError" value="false"/>
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableActualVoltage" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableErrorCode" value="true"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enableHomeAccel" value="false"/>
<modParam name="enableInterpolationTimePeriod" value="false"/>
<modParam name="enableMaximumMotorRPM" value="false"/>
<modParam name="enableMaximumTorque" value="false"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enablePositioningTime" value="false"/>
<modParam name="enablePositioningWindow" value="false"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileAccel" value="false"/>
<modParam name="enableProfileDecel" value="false"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableTorqueSlope" value="false"/>
<modParam name="enableVelocityDemand" value="true"/>
<modParam name="enableVelocityErrorTime" value="false"/>
<modParam name="enableVelocityErrorWindow" value="false"/>
</slave>
</master>
</masters>

Should I add back in the dcConf and pdo assignments?
When starting LinuxCNC I get:
LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000).
LCEC: slave 0.D4: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.

Axis 1 has 12 PDO entries, vs a configured limit of 8. You will need to edit your XML


It's still throwing the 1A00 and SDO Download errors.
[780038.782364] EtherCAT: Requesting master 0...
[780038.782370] EtherCAT: Successfully requested master 0.
[780039.033544] EtherCAT 0: Domain0: Logical address 0x00000000, 56 byte, expected working counter 6.
[780039.033549] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 56 byte, type LRW.
[780039.033593] EtherCAT 0: Master thread exited.
[780039.033595] EtherCAT 0: Starting EtherCAT-OP thread.
[780039.033636] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[780039.308450] EtherCAT ERROR 0-3: SDO download 0x1A00:09 (4 bytes) aborted.
[780039.308457] EtherCAT ERROR 0-3: SDO abort message 0x06090011: "Subindex does not exist".
[780039.308459] EtherCAT WARNING 0-3: Failed to map PDO entry 0x60B9:00 (16 bit) to position 9.
[780039.308461] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x6077:00/32 0x606C:00/32 0x6079:00/32 0x603F:00/16 0x6061:00/8 0x6062:00/32 0x60B9:00/16 0x6074:00/16 0x606B:00/32 0x60FD:00/32
[780039.308489] EtherCAT WARNING 0-3: Failed to configure mapping of PDO 0x1A00.
[780039.333385] EtherCAT 0: Slave states on main device: OP.
[780040.080448] EtherCAT ERROR 0-3: SDO download 0x6065:00 (32 bytes) aborted.
[780040.080454] EtherCAT ERROR 0-3: SDO abort message 0x06070010: "Data type does not match, length of service parameter does not match".
Last edit: 03 Oct 2025 15:10 by peterpan.

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03 Oct 2025 15:43 - 03 Oct 2025 15:52 #335787 by Hakan
Replied by Hakan on topic Trouble with Cia402 drive configuration
I think you are close so keep removing PDOs to come at 8 or below.
It's okay to remove too many. Once it runs you can always come back and adjust.
These are candidates for removal
<modParam name="enableActualTorque" value="true"/>
<modParam name="enableActualVoltage" value="true"/>
<modParam name="enableDigitalInput" value="true"/>
<modParam name="digitalInChannels" value="16"/>
<modParam name="enableDigitalOutput" value="true"/>
<modParam name="digitalOutChannels" value="16"/>
<modParam name="enableFollowingErrorTimeout" value="true"/>
<modParam name="enableFollowingErrorWindow" value="true"/>
<modParam name="enablePolarity" value="true"/>
<modParam name="enablePositionDemand" value="true"/>
<modParam name="enableProbeStatus" value="true"/>
<modParam name="enableProfileVelocity" value="true"/>
<modParam name="enableTargetTorque" value="true"/>
<modParam name="enableTorqueDemand" value="true"/>
<modParam name="enableVelocityDemand" value="true"/>
 
Disable them all.
Last edit: 03 Oct 2025 15:52 by Hakan. Reason: disable all

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03 Oct 2025 16:22 #335790 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration
I don't see any errors in syslog or in the LinuxCNC output, but I still get a joint 0 following error when I try to move the drive...

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03 Oct 2025 16:54 #335791 by Hakan
Replied by Hakan on topic Trouble with Cia402 drive configuration
Sounds good. Sounds like it is in OP.
Then go into halshow and check the cia402.?.stat parameters. ? being your drive number.
Which if all the stat parameters are true, hopefully stat-op-enabled.
And what values ​​do controlword and statusword have?

Can you attach your hal and ethercat-conf file again.

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03 Oct 2025 17:30 #335792 by peterpan
Replied by peterpan on topic Trouble with Cia402 drive configuration
All stat parameters are false.
opmode = 0
controlword = 0x00000004
statusword = 0x00000000

I realize I commented out the cia402 net commands because they were throwing a "Pin 'lcec.0.3.x' does not exist" error, and if I add SyncManager back in "syncManager is only allowed on generic slaves"

What should I do to configure the pdos, or do I simply have to call them by a default name? If so, where do I find it..?
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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. Trouble with Cia402 drive configuration
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