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endian

02 Oct 2025 20:32 - 02 Oct 2025 20:33

Replied by endian on topic Important EtherCAT configuration option

Important EtherCAT configuration option

Category: EtherCAT

It is pll stuff. It is the main and the most importnt feature of eyhercat. And yes it works like that..I have configured many stuff with -1 in refclock ..dc assign is not 300 every time ... If u have jerking need to increase it twice or triple..

How it will works .. will scotts config stay in negative or do we need rewrite existing stuff to new shape...,?

Hakan
Hakan

02 Oct 2025 20:13 - 03 Oct 2025 06:32

Replied by Hakan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

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

peterpan
peterpan

02 Oct 2025 19:42

Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

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!

PCW

02 Oct 2025 19:02

Replied by PCW on topic Error in PnC Conf. connecting to Mesa 7i96s

Error in PnC Conf. connecting to Mesa 7i96s

Category: PnCConf Wizard

AFAIK, it's just a pncconf issue.

Another option is to use MesaCT

tommylight

02 Oct 2025 18:38

Replied by tommylight on topic (Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

kb58 wrote:
Is there a way to mark this thread as solved?

Done.
Thank you.

kb58
kb58

02 Oct 2025 18:34

Replied by kb58 on topic (Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

Is there a way to mark this thread as solved?

antonyvm
antonyvm

02 Oct 2025 18:28

Replied by antonyvm on topic Error in PnC Conf. connecting to Mesa 7i96s

Error in PnC Conf. connecting to Mesa 7i96s

Category: PnCConf Wizard

Yes the hack works, I had to reinstall with the new settings.
Had to set to Pacific Time.
So how come no one from India has not tried the mesa cards yet?

Or is this issue related to PnC Conf only and not to Linux CNC?
I am very certain there are many Linux CNC users in India.

tommylight

02 Oct 2025 18:18

Replied by tommylight on topic hm2/hm2_7i76e.0: error finishing read! iter=1342204

hm2/hm2_7i76e.0: error finishing read! iter=1342204

Category: Deutsch

2tinker wrote:
Erst einmal vielen Dank für dein Interesse an meinem Problem!!

Sier sind immer wilkomen.

2tinker wrote:
In welcher Sprache bist du aufgewachsen?

Albanische auf Kosovo.

2tinker wrote:
Ist die ISO 6.13 RT released?

Nein, das hab ich gemacht, und nutzt die Linux Mint stadt Debian.

kb58
kb58

02 Oct 2025 18:03 - 04 Oct 2025 18:44

Replied by kb58 on topic (Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

I checked my config file and confirmed that it was 0xA8800002. Changed it to -1 and reloaded LinuxCNC. Checked the LEDs and

the status lights are now solid green, no longer blinking. Very tentatively clicked on Toggle Machine Power and immediately heard the steppers start making noise, unlike before. Cautiously brought up Manual Control and tried stepping X and Y in both directions ..... both work.

THANK YOU THANK YOU THANK YOU!

I was in the process teaching myself Geany line commands that report register contents. The plan was to start poking at them, hoping to have it tell me what the problem was. While I would like to say that I'd find the above eventually, I might also have given up in frustration and ordered the ECT version.

I would send you flowers and a fruit basket but don't want to cause trouble at your end

Thank you again - very much - and now I can get on with completing this beast of a project! Just so I know, where did you find the ERC60V202.xml esi file? The rTelligent site has zero downloads on the product page other than the manual.

aaron
aaron

02 Oct 2025 17:35

Replied by aaron on topic New Install of LCNC,Debian12 dumping core

New Install of LCNC,Debian12 dumping core

Category: General LinuxCNC Questions

Thanks for all your replies. I managed to do it by deleting all the partitions via the live usb (including one that I didn't recognize). Then reinstall using the whole disk. Sorry for doing it the windoze way!
Thanks again

Hakan
Hakan

02 Oct 2025 17:00

Replied by Hakan on topic (Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

Did you check product code vs pid?
I just downloaded the ERC60V202.xml esi file, and there is says product code x0A880001,
you have 0x0A880002 in the ethercat-conf.xml you supplied in one of the early posts.
Check Product code and Vendor Information vs vid and pid.
You find it with "ethercat slaves -v" alternatively "lcec_configgen"

andypugh

02 Oct 2025 16:50

Replied by andypugh on topic Reading data from var file using Python

Reading data from var file using Python

Category: O Codes (subroutines) and NGCGUI

Yes, to make my idea work you would need to either have pause commands in the G-code to give the Python time to see the new value, or implement some sort of flow control where the G-code sends a pair of values then waits for a rising edge on a third HAL pin pointing the other way.
(See M66 linuxcnc.org/docs/html/gcode/m-code.html#mcode:m66 )