Category: EtherCAT
[17147.638691] EtherCAT 0: Released.
[17147.638692] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[17147.638697] EtherCAT DEBUG: 00 00 00 00
[17147.638699] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized.
[17147.638702] EtherCAT DEBUG 0: Datagram 000000007305a9ff already queued (skipping).
[17147.653272] EtherCAT DEBUG 0-0: Changing state from PREOP to PREOP (forced).
[17147.653276] EtherCAT DEBUG 0-0: Configuring...
[17147.653587] EtherCAT DEBUG 0-0: Now in INIT.
[17147.653587] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[17147.653831] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[17147.654076] EtherCAT DEBUG 0-0: Clearing DC assignment...
[17147.654320] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[17147.654321] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[17147.654323] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[17147.654565] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[17147.655300] EtherCAT DEBUG 0-0: Now in PREOP.
[17147.655301] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[17147.655559] EtherCAT DEBUG 0-0: Finished configuration.
[17147.673277] EtherCAT WARNING: Datagram 000000007305a9ff (master-fsm) was SKIPPED 1 time.
[17149.457536] EtherCAT DEBUG 0: IDLE -> ORPHANED.
[17149.457539] EtherCAT DEBUG 0: Stopping master thread.
[17149.457556] EtherCAT DEBUG 0: Master IDLE thread exiting...
[17149.457620] EtherCAT 0: Master thread exited.
[17149.457733] EtherCAT 0: Releasing main device 00:0B:AB:B6:75:75.
[17149.477426] ec_generic: Unloading.
[17149.532305] EtherCAT: Master module cleaned up.
[17150.618596] EtherCAT: Master driver 1.6.8 1.6.8
[17150.618712] EtherCAT: 1 master waiting for devices.
[17150.623226] ec_generic: EtherCAT master generic Ethernet device module 1.6.8 1.6.8
[17150.623234] EtherCAT: Accepting 00:0B:AB:B6:75:75 as main device for master 0.
[17150.623242] ec_generic: Binding socket to interface 2 (enp2s0).
[17150.641322] EtherCAT 0: Starting EtherCAT-IDLE thread.
[17150.641454] EtherCAT 0: Link state of ecm0 changed to UP.
[17150.653291] EtherCAT 0: 1 slave(s) responding on main device. Re-scanning on next possibility.
[17150.653294] EtherCAT 0: Slave states on main device: PREOP.
[17150.653295] EtherCAT 0: Re-scanning now.
[17150.653617] EtherCAT 0: Scanning bus.
[17150.834164] EtherCAT 0: Bus scanning completed in 180 ms.
[17150.834168] EtherCAT 0: Using slave 0 as DC reference clock.
[17161.960782] EtherCAT 0: Master debug level set to 1.
[17164.670125] EtherCAT: Requesting master 0...
[17164.670128] EtherCAT DEBUG 0: IDLE -> OPERATION.
[17164.670129] EtherCAT: Successfully requested master 0.
[17164.670131] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x0000000069b184e5)
[17164.670133] EtherCAT DEBUG 0: Created domain 0.
[17164.670134] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670136] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x0800005A/0x000022DB.
[17164.670139] EtherCAT DEBUG 0 0:1: Failed to find slave for configuration.
[17164.670175] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x000000008a2cea03, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[17164.670179] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000008a2cea03, sync_index = 2, dir = 1, watchdog_mode = 0)
[17164.670182] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000008a2cea03, sync_index = 2)
[17164.670184] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000008a2cea03, sync_index = 2, pdo_index = 0x1600)
[17164.670186] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000008a2cea03, pdo_index = 0x1600)
[17164.670188] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670191] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[17164.670193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670195] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670197] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000008a2cea03, sync_index = 3, dir = 2, watchdog_mode = 0)
[17164.670199] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000008a2cea03, sync_index = 3)
[17164.670200] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000008a2cea03, sync_index = 3, pdo_index = 0x1A00)
[17164.670202] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000008a2cea03, pdo_index = 0x1A00)
[17164.670204] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670206] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[17164.670208] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670210] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[17164.670211] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000008a2cea03, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[17164.670235] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670238] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6040, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000935bf368)
[17164.670240] EtherCAT DEBUG 0: Domain 0: Added 11 bytes, total 11.
[17164.670242] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670244] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6060, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ac012020)
[17164.670246] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670247] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x607A, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x000000001f67561c)
[17164.670249] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670251] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x60FF, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000adab25ff)
[17164.670253] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670255] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6041, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ca53a04f)
[17164.670256] EtherCAT DEBUG 0: Domain 0: Added 13 bytes, total 24.
[17164.670258] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670259] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6061, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000a5c96db3)
[17164.670261] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670263] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6064, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x0000000065407bda)
[17164.670265] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670267] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x606C, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x0000000094304504)
[17164.670269] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000069b184e5, alias = 0, position = 1, vendor_id = 0x0800005a, product_code = 0x000022db)
[17164.670270] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000008a2cea03, index = 0x6077, subindex = 0x00, domain = 0x00000000e562637d, bit_position = 0x00000000ca6b8c7f)
[17164.670281] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000e562637d, mem = 0x0000000053c8073c)
[17164.670282] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x0000000069b184e5, send_cb = 0x000000000166930d, receive_cb = 0x00000000a879b1f0, cb_data = 0x0000000069b184e5)
[17164.670284] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x0000000069b184e5)
[17164.670286] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[17164.670286] EtherCAT 0: Domain0: Logical address 0x00000000, 24 byte, expected working counter 3.
[17164.670288] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 24 byte, type LRW.
[17164.670289] EtherCAT DEBUG 0: Stopping master thread.
[17164.670294] EtherCAT DEBUG 0: Master IDLE thread exiting...
[17164.670301] EtherCAT 0: Master thread exited.
[17164.670303] EtherCAT DEBUG 0: FSM datagram is 0000000086147210.
[17164.670303] EtherCAT 0: Starting EtherCAT-OP thread.
[17164.670332] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[17164.670336] EtherCAT DEBUG 0: mmap()
[17164.670339] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 000000002a6bf26c
[17164.709084] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[17164.709087] EtherCAT DEBUG 0-0: Checking system time offset.
[17164.717079] EtherCAT DEBUG 0-0: DC 32 bit system time offset calculation: system_time=1033070246 (corrected with 8000000), app_time=816644270944702775, diff=-988527
[17164.717083] EtherCAT DEBUG 0-0: Not touching time offset.
[17164.725117] EtherCAT DEBUG 0: Requesting OP...
[17164.725120] EtherCAT DEBUG 0: After requesting OP, rescan_required is 0.
[17164.741097] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[17164.741102] EtherCAT DEBUG 0-0: Configuring...
[17164.743878] EtherCAT DEBUG 0-0: Now in INIT.
[17164.743880] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[17164.744877] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[17164.745877] EtherCAT DEBUG 0-0: Clearing DC assignment...
[17164.746877] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[17164.746878] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 1024, Ctrl 0x26, En 1
[17164.746880] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 1024, Ctrl 0x22, En 1
[17164.747878] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[17164.750882] EtherCAT DEBUG 0-0: Now in PREOP.
[17164.750883] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[17164.751879] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 22, Ctrl 0x64, En 1
[17164.751881] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size 24, Ctrl 0x20, En 1
[17164.754878] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[17164.755877] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[17164.757879] EtherCAT 0-0: Acknowledged state PREOP.
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