******* Set ethercat debug level 1 **** set yesterday too but no relevant result ************* [ 27.151109] EtherCAT 0: Link state of ecm0 changed to UP. [ 27.155136] EtherCAT 0: 7 slave(s) responding on main device. [ 27.155137] EtherCAT 0: Slave states on main device: PREOP. [ 27.157177] EtherCAT 0: Scanning bus. [ 27.435467] wlxf07d686d28e1: authenticate with d8:47:32:a4:32:b7 [ 27.447288] wlxf07d686d28e1: send auth to d8:47:32:a4:32:b7 (try 1/3) [ 27.448715] wlxf07d686d28e1: authenticated [ 27.454793] wlxf07d686d28e1: associate with d8:47:32:a4:32:b7 (try 1/3) [ 27.458251] wlxf07d686d28e1: RX AssocResp from d8:47:32:a4:32:b7 (capab=0x431 status=0 aid=4) [ 27.462032] wlxf07d686d28e1: associated [ 27.523503] IPv6: ADDRCONF(NETDEV_CHANGE): wlxf07d686d28e1: link becomes ready [ 27.551966] EtherCAT 0: Bus scanning completed in 396 ms. [ 27.551968] EtherCAT 0: Using slave main-0 as DC reference clock. [ 27.588396] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 27.620822] EtherCAT 0: Slave states on main device: PREOP. [ 43.265547] EtherCAT 0: Master debug level set to 1. ***************** start linuxcnc - - - > dmesg other time ******************* [ 27.551966] EtherCAT 0: Bus scanning completed in 396 ms. [ 27.551968] EtherCAT 0: Using slave main-0 as DC reference clock. [ 27.588396] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 27.620822] EtherCAT 0: Slave states on main device: PREOP. [ 43.265547] EtherCAT 0: Master debug level set to 1. [ 93.838956] NOHZ: local_softirq_pending 04 [ 191.605950] EtherCAT: Requesting master 0... [ 191.605953] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 191.605954] EtherCAT: Successfully requested master 0. [ 191.605956] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x00000000145d7815) [ 191.605957] EtherCAT DEBUG 0: Created domain 0. [ 191.605959] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.605960] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x000007DD/0x00000001. [ 191.605962] EtherCAT DEBUG 0 0:0: Attached slave main-0. [ 191.605966] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x0000000018b38d6e, index = 0x6060, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.605968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x0000000018b38d6e, index = 0x60C2, subindex = 0x01, data = 0x00000000b8a37eb6, size = 1) [ 191.605969] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x0000000018b38d6e, index = 0x60C2, subindex = 0x02, data = 0x00000000b8a37eb6, size = 1) [ 191.605971] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x0000000018b38d6e, index = 0x607E, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.606043] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0x0000000018b38d6e, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 191.606046] EtherCAT DEBUG 0 0:0: ecrt_slave_config_watchdog(sc = 0x0000000018b38d6e, divider = 2048, intervals = 1000) [ 191.606047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000018b38d6e, sync_index = 0, dir = 1, watchdog_mode = 0) [ 191.606049] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000018b38d6e, sync_index = 0) [ 191.606050] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000018b38d6e, sync_index = 1, dir = 2, watchdog_mode = 0) [ 191.606052] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000018b38d6e, sync_index = 1) [ 191.606053] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000018b38d6e, sync_index = 2, dir = 1, watchdog_mode = 0) [ 191.606054] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000018b38d6e, sync_index = 2) [ 191.606056] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x0000000018b38d6e, sync_index = 2, pdo_index = 0x1601) [ 191.606057] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601. [ 191.606058] EtherCAT DEBUG 0 0:0: Entry 0x6040:00. [ 191.606059] EtherCAT DEBUG 0 0:0: Entry 0x607A:00. [ 191.606061] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000018b38d6e, pdo_index = 0x1601) [ 191.606062] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000018b38d6e, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606064] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000018b38d6e, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000018b38d6e, sync_index = 3, dir = 2, watchdog_mode = 0) [ 191.606067] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000018b38d6e, sync_index = 3) [ 191.606068] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x0000000018b38d6e, sync_index = 3, pdo_index = 0x1A01) [ 191.606069] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A01. [ 191.606070] EtherCAT DEBUG 0 0:0: Entry 0x6041:00. [ 191.606071] EtherCAT DEBUG 0 0:0: Entry 0x6064:00. [ 191.606071] EtherCAT DEBUG 0 0:0: Entry 0x606C:00. [ 191.606073] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000018b38d6e, pdo_index = 0x1A01) [ 191.606074] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000018b38d6e, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606076] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000018b38d6e, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606077] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000018b38d6e, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606093] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606094] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x000007DD/0x00000001. [ 191.606095] EtherCAT DEBUG 0 0:1: Attached slave main-1. [ 191.606098] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000023e14d5a, index = 0x6060, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.606099] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000023e14d5a, index = 0x60C2, subindex = 0x01, data = 0x00000000b8a37eb6, size = 1) [ 191.606101] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000023e14d5a, index = 0x60C2, subindex = 0x02, data = 0x00000000b8a37eb6, size = 1) [ 191.606102] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000023e14d5a, index = 0x607E, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.606186] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x0000000023e14d5a, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 191.606188] EtherCAT DEBUG 0 0:1: ecrt_slave_config_watchdog(sc = 0x0000000023e14d5a, divider = 2048, intervals = 1000) [ 191.606189] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000023e14d5a, sync_index = 0, dir = 1, watchdog_mode = 0) [ 191.606191] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000023e14d5a, sync_index = 0) [ 191.606192] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000023e14d5a, sync_index = 1, dir = 2, watchdog_mode = 0) [ 191.606193] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000023e14d5a, sync_index = 1) [ 191.606195] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000023e14d5a, sync_index = 2, dir = 1, watchdog_mode = 0) [ 191.606196] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000023e14d5a, sync_index = 2) [ 191.606197] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000023e14d5a, sync_index = 2, pdo_index = 0x1601) [ 191.606198] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1601. [ 191.606199] EtherCAT DEBUG 0 0:1: Entry 0x6040:00. [ 191.606200] EtherCAT DEBUG 0 0:1: Entry 0x607A:00. [ 191.606201] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000023e14d5a, pdo_index = 0x1601) [ 191.606203] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000023e14d5a, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606204] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000023e14d5a, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606206] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000023e14d5a, sync_index = 3, dir = 2, watchdog_mode = 0) [ 191.606207] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000023e14d5a, sync_index = 3) [ 191.606208] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000023e14d5a, sync_index = 3, pdo_index = 0x1A01) [ 191.606209] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A01. [ 191.606210] EtherCAT DEBUG 0 0:1: Entry 0x6041:00. [ 191.606211] EtherCAT DEBUG 0 0:1: Entry 0x6064:00. [ 191.606212] EtherCAT DEBUG 0 0:1: Entry 0x606C:00. [ 191.606213] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000023e14d5a, pdo_index = 0x1A01) [ 191.606214] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000023e14d5a, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606216] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000023e14d5a, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606217] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000023e14d5a, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606236] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606237] EtherCAT DEBUG 0: Creating slave configuration for 0:2, 0x000007DD/0x00000001. [ 191.606238] EtherCAT DEBUG 0 0:2: Attached slave main-2. [ 191.606241] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x00000000c657099b, index = 0x6060, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.606242] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x00000000c657099b, index = 0x60C2, subindex = 0x01, data = 0x00000000b8a37eb6, size = 1) [ 191.606244] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x00000000c657099b, index = 0x60C2, subindex = 0x02, data = 0x00000000b8a37eb6, size = 1) [ 191.606246] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x00000000c657099b, index = 0x607E, subindex = 0x00, data = 0x00000000b8a37eb6, size = 1) [ 191.606341] EtherCAT DEBUG 0 0:2: ecrt_slave_config_dc(sc = 0x00000000c657099b, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 191.606342] EtherCAT DEBUG 0 0:2: ecrt_slave_config_watchdog(sc = 0x00000000c657099b, divider = 2048, intervals = 1000) [ 191.606344] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x00000000c657099b, sync_index = 0, dir = 1, watchdog_mode = 0) [ 191.606345] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000c657099b, sync_index = 0) [ 191.606346] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x00000000c657099b, sync_index = 1, dir = 2, watchdog_mode = 0) [ 191.606348] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000c657099b, sync_index = 1) [ 191.606349] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x00000000c657099b, sync_index = 2, dir = 1, watchdog_mode = 0) [ 191.606350] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000c657099b, sync_index = 2) [ 191.606352] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x00000000c657099b, sync_index = 2, pdo_index = 0x1601) [ 191.606352] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1601. [ 191.606353] EtherCAT DEBUG 0 0:2: Entry 0x6040:00. [ 191.606354] EtherCAT DEBUG 0 0:2: Entry 0x607A:00. [ 191.606355] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000c657099b, pdo_index = 0x1601) [ 191.606357] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000c657099b, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606359] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000c657099b, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606360] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x00000000c657099b, sync_index = 3, dir = 2, watchdog_mode = 0) [ 191.606361] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000c657099b, sync_index = 3) [ 191.606363] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x00000000c657099b, sync_index = 3, pdo_index = 0x1A01) [ 191.606363] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1A01. [ 191.606364] EtherCAT DEBUG 0 0:2: Entry 0x6041:00. [ 191.606365] EtherCAT DEBUG 0 0:2: Entry 0x6064:00. [ 191.606366] EtherCAT DEBUG 0 0:2: Entry 0x606C:00. [ 191.606367] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000c657099b, pdo_index = 0x1A01) [ 191.606369] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000c657099b, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 191.606370] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000c657099b, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606372] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000c657099b, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 191.606393] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x044c2c52) [ 191.606394] EtherCAT DEBUG 0: Creating slave configuration for 0:3, 0x00000002/0x044C2C52. [ 191.606395] EtherCAT DEBUG 0 0:3: Attached slave main-3. [ 191.606414] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606415] EtherCAT DEBUG 0: Creating slave configuration for 0:4, 0x00000002/0x03F03052. [ 191.606445] EtherCAT DEBUG 0 0:4: Attached slave main-4. [ 191.606515] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606516] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x07D83052. [ 191.606517] EtherCAT DEBUG 0 0:5: Attached slave main-5. [ 191.606574] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606576] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000018b38d6e, index = 0x6040, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606577] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0. [ 191.606579] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606581] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000018b38d6e, index = 0x607A, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606582] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606584] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000018b38d6e, index = 0x6041, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606585] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 6. [ 191.606588] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606590] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000018b38d6e, index = 0x6064, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606593] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606595] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000018b38d6e, index = 0x606C, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606597] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606599] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000023e14d5a, index = 0x6040, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606599] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 16. [ 191.606602] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606605] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000023e14d5a, index = 0x607A, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606606] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606609] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000023e14d5a, index = 0x6041, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606611] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 22. [ 191.606613] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606615] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000023e14d5a, index = 0x6064, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606617] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606619] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000023e14d5a, index = 0x606C, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606620] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606622] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c657099b, index = 0x6040, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606623] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 32. [ 191.606624] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606626] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c657099b, index = 0x607A, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606627] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606629] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c657099b, index = 0x6041, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606630] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 38. [ 191.606631] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606633] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c657099b, index = 0x6064, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606634] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 191.606636] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c657099b, index = 0x606C, subindex = 0x00, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606637] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606639] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6000, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606640] EtherCAT DEBUG 0: Domain 0: Added 1 bytes at 48. [ 191.606642] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606643] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6010, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606645] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606646] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6020, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606648] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606650] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6030, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606651] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606653] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6040, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606654] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606656] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6050, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606657] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606659] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6060, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606660] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 191.606662] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007fe20963, index = 0x6070, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606663] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606665] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7000, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606666] EtherCAT DEBUG 0: Domain 0: Added 1 bytes at 49. [ 191.606668] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606669] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7010, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606671] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606672] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7020, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606674] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606675] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7030, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606677] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606678] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7040, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606680] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606682] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7050, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606683] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606685] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7060, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606686] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000145d7815, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 191.606688] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000045dc7e19, index = 0x7070, subindex = 0x01, domain = 0x0000000012e4958a, bit_position = 0x000000002d5b0985) [ 191.606719] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x0000000012e4958a, mem = 0x00000000dd95527c) [ 191.606720] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000145d7815, send_cb = 0x00000000093645d5, receive_cb = 0x000000008bd96892, cb_data = 0x00000000145d7815) [ 191.606721] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000145d7815) [ 191.606723] EtherCAT DEBUG 0: Adding datagram pair with expected WC 12. [ 191.606724] EtherCAT 0: Domain0: Logical address 0x00000000, 50 byte, expected working counter 12. [ 191.606725] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 50 byte, type LRW at 000000009e442208. [ 191.606726] EtherCAT DEBUG 0: Stopping master thread. [ 191.608716] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 191.608733] EtherCAT 0: Master thread exited. [ 191.608736] EtherCAT DEBUG 0: FSM datagram is 0000000046d11245. [ 191.608737] EtherCAT 0: Starting EtherCAT-OP thread. [ 191.608773] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 191.608775] EtherCAT DEBUG 0: mmap() [ 191.608778] EtherCAT DEBUG 0: Vma fault, virtual_address = 000000005abcafd1, offset = 0, page = 00000000a752fb12 [ 191.700951] EtherCAT DEBUG 0: Configuration changed (aborting state check). [ 191.700953] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 191.704964] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=667469461548127268, app_time=667469461543193846, diff=-4933422 [ 191.704966] EtherCAT DEBUG 0-main-0: Setting time offset to 667467627957134272 (was 667467627962067694) [ 191.712985] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 191.716997] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=667469461560333002, app_time=667469461555193549, diff=-5139453 [ 191.716999] EtherCAT DEBUG 0-main-1: Setting time offset to 667467627969241343 (was 667467627974380796) [ 191.725021] EtherCAT DEBUG 0-main-2: Checking system time offset. [ 191.729033] EtherCAT DEBUG 0-main-2: DC 64 bit system time offset calculation: system_time=667469461572299194, app_time=667469461567192891, diff=-5106303 [ 191.729034] EtherCAT DEBUG 0-main-2: Setting time offset to 667467627994199617 (was 667467627999305920) [ 191.737054] EtherCAT DEBUG 0-main-3: Checking system time offset. [ 191.741065] EtherCAT DEBUG 0-main-3: DC 64 bit system time offset calculation: system_time=667469461584296890, app_time=667469461579192818, diff=-5104072 [ 191.741067] EtherCAT DEBUG 0-main-3: Setting time offset to 667467629861615369 (was 667467629866719441) [ 191.749082] EtherCAT DEBUG 0-main-4: Checking system time offset. [ 191.753092] EtherCAT DEBUG 0-main-4: DC 64 bit system time offset calculation: system_time=667469461596230932, app_time=667469461591192685, diff=-5038247 [ 191.753093] EtherCAT DEBUG 0-main-4: Setting time offset to 667467629857497646 (was 667467629862535893) [ 191.761109] EtherCAT DEBUG 0-main-5: Checking system time offset. [ 191.765120] EtherCAT DEBUG 0-main-5: DC 64 bit system time offset calculation: system_time=667469461608201728, app_time=667469461603192848, diff=-5008880 [ 191.765121] EtherCAT DEBUG 0-main-5: Setting time offset to 667467629856883265 (was 667467629861892145) [ 191.773137] EtherCAT DEBUG 0-main-6: Checking system time offset. [ 191.777148] EtherCAT DEBUG 0-main-6: DC 64 bit system time offset calculation: system_time=667469461620196118, app_time=667469461615193464, diff=-5002654 [ 191.777149] EtherCAT DEBUG 0-main-6: Setting time offset to 667467629856417501 (was 667467629861420155) [ 191.785165] EtherCAT DEBUG 0: Requesting OP... [ 191.785168] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 191.785169] EtherCAT DEBUG 0-main-0: Configuring... [ 191.785171] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 191.785172] EtherCAT DEBUG 0-main-1: Configuring... [ 191.785173] EtherCAT DEBUG 0-main-2: Changing state from PREOP to OP. [ 191.785174] EtherCAT DEBUG 0-main-2: Configuring... [ 191.785175] EtherCAT DEBUG 0-main-3: Changing state from PREOP to OP. [ 191.785176] EtherCAT DEBUG 0-main-3: Configuring... [ 191.785177] EtherCAT DEBUG 0-main-4: Changing state from PREOP to OP. [ 191.785177] EtherCAT DEBUG 0-main-4: Configuring... [ 191.785178] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP. [ 191.785179] EtherCAT DEBUG 0-main-5: Configuring... [ 191.793197] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 191.793199] EtherCAT DEBUG 0-main-0: Now in INIT. [ 191.793200] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 191.793201] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 191.793202] EtherCAT DEBUG 0-main-1: Now in INIT. [ 191.793203] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 191.793204] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 191.793205] EtherCAT DEBUG 0-main-2: Now in INIT. [ 191.793205] EtherCAT DEBUG 0-main-2: Clearing FMMU configurations... [ 191.793206] EtherCAT DEBUG 0-main-2: Clearing mailbox check flag... [ 191.793207] EtherCAT DEBUG 0-main-3: Now in INIT. [ 191.793208] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 191.793208] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 191.793209] EtherCAT DEBUG 0-main-4: Now in INIT. [ 191.793210] EtherCAT DEBUG 0-main-4: Clearing FMMU configurations... [ 191.793211] EtherCAT DEBUG 0-main-4: Clearing mailbox check flag... [ 191.793218] EtherCAT DEBUG 0-main-5: Now in INIT. [ 191.793219] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations... [ 191.793220] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag... [ 191.797227] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 191.797228] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 191.797229] EtherCAT DEBUG 0-main-2: Clearing sync manager configurations... [ 191.797230] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 191.797231] EtherCAT DEBUG 0-main-4: Clearing sync manager configurations... [ 191.797231] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations... [ 191.801243] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 191.801244] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 191.801245] EtherCAT DEBUG 0-main-2: Clearing DC assignment... [ 191.801246] EtherCAT DEBUG 0-main-3: Clearing DC assignment... [ 191.801247] EtherCAT DEBUG 0-main-4: Clearing DC assignment... [ 191.801247] EtherCAT DEBUG 0-main-5: Clearing DC assignment... [ 191.805260] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 191.805262] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 191.805263] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 191.805265] EtherCAT DEBUG 0-main-1: Configuring mailbox sync managers... [ 191.805266] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 191.805267] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 191.805268] EtherCAT DEBUG 0-main-2: Configuring mailbox sync managers... [ 191.805270] EtherCAT DEBUG 0-main-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 191.805271] EtherCAT DEBUG 0-main-2: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 191.805272] EtherCAT DEBUG 0-main-3: Slave does not support mailbox communication. [ 191.805273] EtherCAT DEBUG 0-main-3: Assigning SII access to PDI. [ 191.805274] EtherCAT DEBUG 0-main-4: Slave does not support mailbox communication. [ 191.805274] EtherCAT DEBUG 0-main-4: Assigning SII access to PDI. [ 191.805275] EtherCAT DEBUG 0-main-5: Slave does not support mailbox communication. [ 191.805276] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI. [ 191.809288] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 191.809289] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 191.809290] EtherCAT DEBUG 0-main-2: Assigning SII access to PDI. [ 191.817312] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 191.817313] EtherCAT DEBUG 0-main-3: Assigning SII access back to EtherCAT. [ 191.817314] EtherCAT DEBUG 0-main-4: Now in PREOP. [ 191.817315] EtherCAT DEBUG 0-main-4: Assigning SII access back to EtherCAT. [ 191.817316] EtherCAT DEBUG 0-main-5: Now in PREOP. [ 191.817316] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT. [ 191.821329] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 191.821331] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 191.821332] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 191.821333] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 191.821334] EtherCAT DEBUG 0-main-2: Now in PREOP. [ 191.821335] EtherCAT DEBUG 0-main-2: Assigning SII access back to EtherCAT. [ 191.821340] EtherCAT DEBUG 0-main-4: SM0: Addr 0x1000, Size 1, Ctrl 0x00, En 1 [ 191.821342] EtherCAT DEBUG 0-main-5: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1 [ 191.825351] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6060:00. [ 191.825353] EtherCAT DEBUG: 08 [ 191.825355] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.825356] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 191.825363] EtherCAT DEBUG 0-main-1: Downloading SDO 0x6060:00. [ 191.825364] EtherCAT DEBUG: 08 [ 191.825366] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.825366] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 191.825374] EtherCAT DEBUG 0-main-2: Downloading SDO 0x6060:00. [ 191.825374] EtherCAT DEBUG: 08 [ 191.825376] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.825377] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 191.825385] EtherCAT DEBUG 0 0:4: FMMU: LogOff 0x00000030, Size 1, PhysAddr 0x1000, SM0, Dir in [ 191.825387] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000031, Size 1, PhysAddr 0x0F00, SM0, Dir out [ 191.827411] EtherCAT 0: Domain 0: Working counter changed to 3/12. [ 191.833427] EtherCAT DEBUG 0-main-3: Now in SAFEOP. [ 191.837436] EtherCAT DEBUG 0-main-0: Download response: [ 191.837437] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 191.837446] EtherCAT DEBUG 0-main-0: Downloading SDO 0x60C2:01. [ 191.837446] EtherCAT DEBUG: 01 [ 191.837449] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.837449] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 191.837456] EtherCAT DEBUG 0-main-1: Download response: [ 191.837457] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 191.837464] EtherCAT DEBUG 0-main-1: Downloading SDO 0x60C2:01. [ 191.837465] EtherCAT DEBUG: 01 [ 191.837467] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.837467] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 191.837474] EtherCAT DEBUG 0-main-2: Download response: [ 191.837475] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 191.837482] EtherCAT DEBUG 0-main-2: Downloading SDO 0x60C2:01. [ 191.837482] EtherCAT DEBUG: 01 [ 191.837484] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.837485] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 191.837492] EtherCAT DEBUG 0-main-4: Now in SAFEOP. [ 191.837493] EtherCAT DEBUG 0-main-5: Now in SAFEOP. [ 191.841502] EtherCAT DEBUG 0-main-3: Now in OP. Finished configuration. [ 191.845512] EtherCAT DEBUG 0-main-5: SAFEOP -> OP. [ 191.845514] EtherCAT DEBUG 0-main-4: Now in OP. Finished configuration. [ 191.845515] EtherCAT DEBUG 0-main-5: Now in OP. Finished configuration. [ 191.849525] EtherCAT DEBUG 0-main-0: Download response: [ 191.849526] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 191.849534] EtherCAT DEBUG 0-main-0: Downloading SDO 0x60C2:02. [ 191.849534] EtherCAT DEBUG: FD [ 191.849536] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.849537] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 191.849544] EtherCAT DEBUG 0-main-1: Download response: [ 191.849544] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 191.849551] EtherCAT DEBUG 0-main-1: Downloading SDO 0x60C2:02. [ 191.849552] EtherCAT DEBUG: FD [ 191.849554] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.849554] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 191.849561] EtherCAT DEBUG 0-main-2: Download response: [ 191.849562] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 191.849568] EtherCAT DEBUG 0-main-2: Downloading SDO 0x60C2:02. [ 191.849569] EtherCAT DEBUG: FD [ 191.849571] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.849571] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 191.853588] EtherCAT 0: Slave states on main device: PREOP, OP. [ 191.861610] EtherCAT DEBUG 0-main-0: Download response: [ 191.861611] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 191.861620] EtherCAT DEBUG 0-main-0: Downloading SDO 0x607E:00. [ 191.861620] EtherCAT DEBUG: E0 [ 191.861623] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.861623] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 191.861631] EtherCAT DEBUG 0-main-1: Download response: [ 191.861631] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 191.861638] EtherCAT DEBUG 0-main-1: Downloading SDO 0x607E:00. [ 191.861639] EtherCAT DEBUG: E0 [ 191.861641] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.861642] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 191.861649] EtherCAT DEBUG 0-main-2: Download response: [ 191.861649] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 191.861656] EtherCAT DEBUG 0-main-2: Downloading SDO 0x607E:00. [ 191.861657] EtherCAT DEBUG: E0 [ 191.861659] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.861659] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 191.873694] EtherCAT DEBUG 0-main-0: Download response: [ 191.873695] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 191.873706] EtherCAT DEBUG 0-main-0: Changing mapping of PDO 0x1601. [ 191.873706] EtherCAT DEBUG 0-main-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 191.873714] EtherCAT DEBUG 0-main-0: Setting entry count to zero. [ 191.873715] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:00. [ 191.873715] EtherCAT DEBUG: 00 [ 191.873718] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.873718] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 191.873726] EtherCAT DEBUG 0-main-1: Download response: [ 191.873726] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 191.873734] EtherCAT DEBUG 0-main-1: Changing mapping of PDO 0x1601. [ 191.873735] EtherCAT DEBUG 0-main-1: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 191.873741] EtherCAT DEBUG 0-main-1: Setting entry count to zero. [ 191.873742] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:00. [ 191.873742] EtherCAT DEBUG: 00 [ 191.873744] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.873745] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 191.873752] EtherCAT DEBUG 0-main-2: Download response: [ 191.873752] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 191.873760] EtherCAT DEBUG 0-main-2: Changing mapping of PDO 0x1601. [ 191.873761] EtherCAT DEBUG 0-main-2: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 191.873767] EtherCAT DEBUG 0-main-2: Setting entry count to zero. [ 191.873768] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:00. [ 191.873769] EtherCAT DEBUG: 00 [ 191.873770] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.873771] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 191.885809] EtherCAT DEBUG 0-main-0: Download response: [ 191.885811] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 191.885819] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 191.885820] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:01. [ 191.885821] EtherCAT DEBUG: 10 00 40 60 [ 191.885825] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.885825] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 191.885832] EtherCAT DEBUG 0-main-1: Download response: [ 191.885833] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 191.885840] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 191.885841] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:01. [ 191.885842] EtherCAT DEBUG: 10 00 40 60 [ 191.885846] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.885846] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 191.885853] EtherCAT DEBUG 0-main-2: Download response: [ 191.885854] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 191.885861] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 191.885862] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:01. [ 191.885863] EtherCAT DEBUG: 10 00 40 60 [ 191.885867] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.885867] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 191.897904] EtherCAT DEBUG 0-main-0: Download response: [ 191.897906] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 191.897915] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 191.897916] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:02. [ 191.897917] EtherCAT DEBUG: 20 00 7A 60 [ 191.897921] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.897922] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 191.897929] EtherCAT DEBUG 0-main-1: Download response: [ 191.897929] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 191.897936] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 191.897937] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:02. [ 191.897938] EtherCAT DEBUG: 20 00 7A 60 [ 191.897941] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.897942] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 191.897949] EtherCAT DEBUG 0-main-2: Download response: [ 191.897949] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 191.897956] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 191.897957] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:02. [ 191.897958] EtherCAT DEBUG: 20 00 7A 60 [ 191.897961] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.897962] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 191.909998] EtherCAT DEBUG 0-main-0: Download response: [ 191.910007] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 191.910015] EtherCAT DEBUG 0-main-0: Setting number of PDO entries to 2. [ 191.910016] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:00. [ 191.910016] EtherCAT DEBUG: 02 [ 191.910019] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.910019] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 191.910027] EtherCAT DEBUG 0-main-1: Download response: [ 191.910027] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 191.910035] EtherCAT DEBUG 0-main-1: Setting number of PDO entries to 2. [ 191.910036] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:00. [ 191.910036] EtherCAT DEBUG: 02 [ 191.910038] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.910039] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 191.910046] EtherCAT DEBUG 0-main-2: Download response: [ 191.910047] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 191.910054] EtherCAT DEBUG 0-main-2: Setting number of PDO entries to 2. [ 191.910055] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:00. [ 191.910055] EtherCAT DEBUG: 02 [ 191.910058] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.910058] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 191.922093] EtherCAT DEBUG 0-main-0: Download response: [ 191.922094] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 191.922102] EtherCAT DEBUG 0-main-0: Successfully configured mapping for PDO 0x1601. [ 191.922103] EtherCAT DEBUG 0-main-0: Setting PDO assignment of SM2: [ 191.922104] EtherCAT DEBUG 0-main-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 191.922108] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to zero. [ 191.922109] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:00. [ 191.922110] EtherCAT DEBUG: 00 [ 191.922112] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.922113] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 191.922120] EtherCAT DEBUG 0-main-1: Download response: [ 191.922120] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 191.922127] EtherCAT DEBUG 0-main-1: Successfully configured mapping for PDO 0x1601. [ 191.922128] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM2: [ 191.922129] EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 191.922133] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to zero. [ 191.922133] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:00. [ 191.922134] EtherCAT DEBUG: 00 [ 191.922136] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.922136] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 191.922143] EtherCAT DEBUG 0-main-2: Download response: [ 191.922144] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 191.922151] EtherCAT DEBUG 0-main-2: Successfully configured mapping for PDO 0x1601. [ 191.922152] EtherCAT DEBUG 0-main-2: Setting PDO assignment of SM2: [ 191.922152] EtherCAT DEBUG 0-main-2: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 191.922156] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to zero. [ 191.922157] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:00. [ 191.922157] EtherCAT DEBUG: 00 [ 191.922159] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.922159] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 191.934192] EtherCAT DEBUG 0-main-0: Download response: [ 191.934194] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 191.934202] EtherCAT DEBUG 0-main-0: Assigning PDO 0x1601 at position 1. [ 191.934203] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:01. [ 191.934204] EtherCAT DEBUG: 01 16 [ 191.934207] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.934207] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 191.934214] EtherCAT DEBUG 0-main-1: Download response: [ 191.934215] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 191.934222] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1601 at position 1. [ 191.934223] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:01. [ 191.934223] EtherCAT DEBUG: 01 16 [ 191.934226] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.934226] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 191.934233] EtherCAT DEBUG 0-main-2: Download response: [ 191.934234] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 191.934241] EtherCAT DEBUG 0-main-2: Assigning PDO 0x1601 at position 1. [ 191.934242] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:01. [ 191.934242] EtherCAT DEBUG: 01 16 [ 191.934245] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.934245] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 191.946284] EtherCAT DEBUG 0-main-0: Download response: [ 191.946286] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 191.946294] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to 1. [ 191.946295] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:00. [ 191.946296] EtherCAT DEBUG: 01 [ 191.946298] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.946299] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 191.946306] EtherCAT DEBUG 0-main-1: Download response: [ 191.946306] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 191.946313] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to 1. [ 191.946314] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:00. [ 191.946315] EtherCAT DEBUG: 01 [ 191.946316] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.946317] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 191.946324] EtherCAT DEBUG 0-main-2: Download response: [ 191.946325] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 191.946331] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to 1. [ 191.946332] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:00. [ 191.946333] EtherCAT DEBUG: 01 [ 191.946335] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.946335] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 191.958370] EtherCAT DEBUG 0-main-0: Download response: [ 191.958371] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 191.958379] EtherCAT DEBUG 0-main-0: Successfully configured PDO assignment of SM2. [ 191.958382] EtherCAT DEBUG 0-main-0: Changing mapping of PDO 0x1A01. [ 191.958383] EtherCAT DEBUG 0-main-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 191.958392] EtherCAT DEBUG 0-main-0: Setting entry count to zero. [ 191.958393] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:00. [ 191.958393] EtherCAT DEBUG: 00 [ 191.958395] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.958396] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 191.958411] EtherCAT DEBUG 0-main-1: Download response: [ 191.958412] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 191.958420] EtherCAT DEBUG 0-main-1: Successfully configured PDO assignment of SM2. [ 191.958422] EtherCAT DEBUG 0-main-1: Changing mapping of PDO 0x1A01. [ 191.958427] EtherCAT DEBUG 0-main-1: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 191.958436] EtherCAT DEBUG 0-main-1: Setting entry count to zero. [ 191.958437] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:00. [ 191.958438] EtherCAT DEBUG: 00 [ 191.958442] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.958443] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 191.958463] EtherCAT DEBUG 0-main-2: Download response: [ 191.958464] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 191.958472] EtherCAT DEBUG 0-main-2: Successfully configured PDO assignment of SM2. [ 191.958474] EtherCAT DEBUG 0-main-2: Changing mapping of PDO 0x1A01. [ 191.958475] EtherCAT DEBUG 0-main-2: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 191.958484] EtherCAT DEBUG 0-main-2: Setting entry count to zero. [ 191.958486] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:00. [ 191.958488] EtherCAT DEBUG: 00 [ 191.958490] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.958491] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 191.970631] EtherCAT DEBUG 0-main-0: Download response: [ 191.970633] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 191.970641] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 191.970642] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:01. [ 191.970643] EtherCAT DEBUG: 10 00 41 60 [ 191.970647] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.970647] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 191.970655] EtherCAT DEBUG 0-main-1: Download response: [ 191.970655] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 191.970663] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 191.970664] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:01. [ 191.970665] EtherCAT DEBUG: 10 00 41 60 [ 191.970668] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.970669] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 191.970676] EtherCAT DEBUG 0-main-2: Download response: [ 191.970676] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 191.970684] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 191.970685] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:01. [ 191.970685] EtherCAT DEBUG: 10 00 41 60 [ 191.970689] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.970690] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 191.982726] EtherCAT DEBUG 0-main-0: Download response: [ 191.982727] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 191.982735] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 191.982736] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:02. [ 191.982737] EtherCAT DEBUG: 20 00 64 60 [ 191.982741] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.982741] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 191.982748] EtherCAT DEBUG 0-main-1: Download response: [ 191.982749] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 191.982756] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 191.982757] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:02. [ 191.982758] EtherCAT DEBUG: 20 00 64 60 [ 191.982761] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.982762] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 191.982769] EtherCAT DEBUG 0-main-2: Download response: [ 191.982769] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 191.982776] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 191.982777] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:02. [ 191.982777] EtherCAT DEBUG: 20 00 64 60 [ 191.982781] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.982781] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 191.994818] EtherCAT DEBUG 0-main-0: Download response: [ 191.994819] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 191.994828] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 191.994829] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:03. [ 191.994830] EtherCAT DEBUG: 20 00 6C 60 [ 191.994834] EtherCAT DEBUG 0-main-0: Expedited download request: [ 191.994834] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 191.994842] EtherCAT DEBUG 0-main-1: Download response: [ 191.994842] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 191.994850] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 191.994851] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:03. [ 191.994851] EtherCAT DEBUG: 20 00 6C 60 [ 191.994855] EtherCAT DEBUG 0-main-1: Expedited download request: [ 191.994855] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 191.994863] EtherCAT DEBUG 0-main-2: Download response: [ 191.994863] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 191.994871] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 191.994871] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:03. [ 191.994872] EtherCAT DEBUG: 20 00 6C 60 [ 191.994876] EtherCAT DEBUG 0-main-2: Expedited download request: [ 191.994876] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 192.006913] EtherCAT DEBUG 0-main-0: Download response: [ 192.006914] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 192.006922] EtherCAT DEBUG 0-main-0: Setting number of PDO entries to 3. [ 192.006923] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:00. [ 192.006923] EtherCAT DEBUG: 03 [ 192.006925] EtherCAT DEBUG 0-main-0: Expedited download request: [ 192.006926] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 192.006933] EtherCAT DEBUG 0-main-1: Download response: [ 192.006934] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 192.006941] EtherCAT DEBUG 0-main-1: Setting number of PDO entries to 3. [ 192.006942] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:00. [ 192.006943] EtherCAT DEBUG: 03 [ 192.006945] EtherCAT DEBUG 0-main-1: Expedited download request: [ 192.006945] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 192.006952] EtherCAT DEBUG 0-main-2: Download response: [ 192.006953] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 192.006960] EtherCAT DEBUG 0-main-2: Setting number of PDO entries to 3. [ 192.006961] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:00. [ 192.006961] EtherCAT DEBUG: 03 [ 192.006963] EtherCAT DEBUG 0-main-2: Expedited download request: [ 192.006964] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 192.019002] EtherCAT DEBUG 0-main-0: Download response: [ 192.019003] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 192.019011] EtherCAT DEBUG 0-main-0: Successfully configured mapping for PDO 0x1A01. [ 192.019012] EtherCAT DEBUG 0-main-0: Setting PDO assignment of SM3: [ 192.019013] EtherCAT DEBUG 0-main-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 192.019017] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to zero. [ 192.019019] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:00. [ 192.019019] EtherCAT DEBUG: 00 [ 192.019022] EtherCAT DEBUG 0-main-0: Expedited download request: [ 192.019023] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 192.019030] EtherCAT DEBUG 0-main-1: Download response: [ 192.019030] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 192.019037] EtherCAT DEBUG 0-main-1: Successfully configured mapping for PDO 0x1A01. [ 192.019038] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM3: [ 192.019039] EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 192.019043] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to zero. [ 192.019044] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00. [ 192.019044] EtherCAT DEBUG: 00 [ 192.019046] EtherCAT DEBUG 0-main-1: Expedited download request: [ 192.019047] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 192.019054] EtherCAT DEBUG 0-main-2: Download response: [ 192.019055] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 192.019062] EtherCAT DEBUG 0-main-2: Successfully configured mapping for PDO 0x1A01. [ 192.019063] EtherCAT DEBUG 0-main-2: Setting PDO assignment of SM3: [ 192.019064] EtherCAT DEBUG 0-main-2: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 192.019067] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to zero. [ 192.019068] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:00. [ 192.019069] EtherCAT DEBUG: 00 [ 192.019071] EtherCAT DEBUG 0-main-2: Expedited download request: [ 192.019071] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 192.031117] EtherCAT DEBUG 0-main-0: Download response: [ 192.031119] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 192.031128] EtherCAT DEBUG 0-main-0: Assigning PDO 0x1A01 at position 1. [ 192.031129] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:01. [ 192.031130] EtherCAT DEBUG: 01 1A [ 192.031132] EtherCAT DEBUG 0-main-0: Expedited download request: [ 192.031133] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 192.031142] EtherCAT DEBUG 0-main-1: Download response: [ 192.031143] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 192.031154] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1A01 at position 1. [ 192.031154] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:01. [ 192.031155] EtherCAT DEBUG: 01 1A [ 192.031158] EtherCAT DEBUG 0-main-1: Expedited download request: [ 192.031158] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 192.031165] EtherCAT DEBUG 0-main-2: Download response: [ 192.031166] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 192.031173] EtherCAT DEBUG 0-main-2: Assigning PDO 0x1A01 at position 1. [ 192.031174] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:01. [ 192.031175] EtherCAT DEBUG: 01 1A [ 192.031177] EtherCAT DEBUG 0-main-2: Expedited download request: [ 192.031177] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 192.043228] EtherCAT DEBUG 0-main-0: Download response: [ 192.043230] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 192.043237] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to 1. [ 192.043239] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:00. [ 192.043239] EtherCAT DEBUG: 01 [ 192.043242] EtherCAT DEBUG 0-main-0: Expedited download request: [ 192.043242] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 192.043249] EtherCAT DEBUG 0-main-1: Download response: [ 192.043250] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 192.043257] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to 1. [ 192.043258] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00. [ 192.043258] EtherCAT DEBUG: 01 [ 192.043260] EtherCAT DEBUG 0-main-1: Expedited download request: [ 192.043261] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 192.043270] EtherCAT DEBUG 0-main-2: Download response: [ 192.043270] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 192.043278] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to 1. [ 192.043279] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:00. [ 192.043279] EtherCAT DEBUG: 01 [ 192.043282] EtherCAT DEBUG 0-main-2: Expedited download request: [ 192.043282] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 192.055330] EtherCAT DEBUG 0-main-0: Download response: [ 192.055332] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 192.055340] EtherCAT DEBUG 0-main-0: Successfully configured PDO assignment of SM3. [ 192.055342] EtherCAT DEBUG 0-main-0: Setting watchdog divider to 2048. [ 192.055343] EtherCAT DEBUG 0-main-1: Download response: [ 192.055344] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 192.055351] EtherCAT DEBUG 0-main-1: Successfully configured PDO assignment of SM3. [ 192.055352] EtherCAT DEBUG 0-main-1: Setting watchdog divider to 2048. [ 192.055353] EtherCAT DEBUG 0-main-2: Download response: [ 192.055353] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 192.055360] EtherCAT DEBUG 0-main-2: Successfully configured PDO assignment of SM3. [ 192.055362] EtherCAT DEBUG 0-main-2: Setting watchdog divider to 2048. [ 192.059374] EtherCAT DEBUG 0-main-0: Setting process data watchdog intervals to 1000. [ 192.059377] EtherCAT DEBUG 0-main-1: Setting process data watchdog intervals to 1000. [ 192.059378] EtherCAT DEBUG 0-main-2: Setting process data watchdog intervals to 1000. [ 192.063391] EtherCAT DEBUG 0-main-0: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 192.063394] EtherCAT DEBUG 0-main-0: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 192.063395] EtherCAT DEBUG 0-main-1: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 192.063397] EtherCAT DEBUG 0-main-1: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 192.063398] EtherCAT DEBUG 0-main-2: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 192.063400] EtherCAT DEBUG 0-main-2: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 192.067412] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1800, SM2, Dir out [ 192.067413] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 192.067416] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000010, Size 6, PhysAddr 0x1800, SM2, Dir out [ 192.067418] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000016, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 192.067419] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000020, Size 6, PhysAddr 0x1800, SM2, Dir out [ 192.067420] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000026, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 192.071482] EtherCAT DEBUG 0-main-0: Setting DC cycle times to 1000000 / 0. [ 192.071484] EtherCAT DEBUG 0-main-1: Setting DC cycle times to 1000000 / 0. [ 192.071485] EtherCAT DEBUG 0-main-2: Setting DC cycle times to 1000000 / 0. [ 192.075498] EtherCAT DEBUG 0-main-0: Checking for synchrony. [ 192.075499] EtherCAT DEBUG 0-main-1: Checking for synchrony. [ 192.075500] EtherCAT DEBUG 0-main-2: Checking for synchrony. [ 192.079515] EtherCAT DEBUG 0-main-1: -532 ns difference after 0 ms. [ 192.079516] EtherCAT DEBUG 0-main-1: ref_time=667469461448477000 [ 192.079518] EtherCAT DEBUG 0-main-1: app_time=667469461921199314 [ 192.079518] EtherCAT DEBUG 0-main-1: start_time=667469462021199314 [ 192.079519] EtherCAT DEBUG 0-main-1: cycle=1000000 [ 192.079520] EtherCAT DEBUG 0-main-1: shift_time=250000 [ 192.079521] EtherCAT DEBUG 0-main-1: remainder=722314 [ 192.079522] EtherCAT DEBUG 0-main-1: start=667469462021727000 [ 192.079523] EtherCAT DEBUG 0-main-1: Setting DC cyclic operation start time to 667469462021727000. [ 192.079524] EtherCAT DEBUG 0-main-2: -1717 ns difference after 0 ms. [ 192.079525] EtherCAT DEBUG 0-main-2: ref_time=667469461448477000 [ 192.079526] EtherCAT DEBUG 0-main-2: app_time=667469461921199314 [ 192.079526] EtherCAT DEBUG 0-main-2: start_time=667469462021199314 [ 192.079527] EtherCAT DEBUG 0-main-2: cycle=1000000 [ 192.079528] EtherCAT DEBUG 0-main-2: shift_time=250000 [ 192.079529] EtherCAT DEBUG 0-main-2: remainder=722314 [ 192.079530] EtherCAT DEBUG 0-main-2: start=667469462021727000 [ 192.079530] EtherCAT DEBUG 0-main-2: Setting DC cyclic operation start time to 667469462021727000. [ 192.083542] EtherCAT DEBUG 0-main-1: Setting DC AssignActivate to 0x0300. [ 192.083544] EtherCAT DEBUG 0-main-2: Setting DC AssignActivate to 0x0300. [ 192.095573] EtherCAT DEBUG 0-main-0: -9801 ns difference after 16 ms. [ 192.095575] EtherCAT DEBUG 0-main-0: ref_time=667469461448477000 [ 192.095576] EtherCAT DEBUG 0-main-0: app_time=667469461937192901 [ 192.095576] EtherCAT DEBUG 0-main-0: start_time=667469462037192901 [ 192.095577] EtherCAT DEBUG 0-main-0: cycle=1000000 [ 192.095578] EtherCAT DEBUG 0-main-0: shift_time=250000 [ 192.095579] EtherCAT DEBUG 0-main-0: remainder=715901 [ 192.095580] EtherCAT DEBUG 0-main-0: start=667469462037727000 [ 192.095581] EtherCAT DEBUG 0-main-0: Setting DC cyclic operation start time to 667469462037727000. [ 192.095582] EtherCAT DEBUG 0-main-1: Now in SAFEOP. [ 192.095583] EtherCAT DEBUG 0-main-2: Now in SAFEOP. [ 192.099593] EtherCAT DEBUG 0-main-0: Setting DC AssignActivate to 0x0300. [ 192.111621] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP. [ 192.111623] EtherCAT DEBUG 0-main-0: Now in SAFEOP. [ 192.384177] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration. [ 192.384179] EtherCAT DEBUG 0-main-2: Now in OP. Finished configuration. [ 192.400223] EtherCAT 0: Slave states on main device: PREOP, OP. [ 192.400226] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration. [ 192.831425] EtherCAT 0: Domain 0: 2 working counter changes - now 12/12. ***************************** as is possible to see, simply slaves 6 not go to OP state and ethercat not talk about it for time *************** ***************************** power on on linuxcnc dmesg again (close linuxcnc, open agan and power on) *************************************** [ 106.430460] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 106.430461] EtherCAT: Successfully requested master 0. [ 106.430463] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x00000000334e1631) [ 106.430464] EtherCAT DEBUG 0: Created domain 0. [ 106.430466] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.430467] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x000007DD/0x00000001. [ 106.430469] EtherCAT DEBUG 0 0:0: Attached slave main-0. [ 106.430473] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x00000000b65b2935, index = 0x6060, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430475] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x00000000b65b2935, index = 0x60C2, subindex = 0x01, data = 0x0000000015af0f25, size = 1) [ 106.430477] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x00000000b65b2935, index = 0x60C2, subindex = 0x02, data = 0x0000000015af0f25, size = 1) [ 106.430479] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0x00000000b65b2935, index = 0x607E, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430552] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0x00000000b65b2935, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 106.430554] EtherCAT DEBUG 0 0:0: ecrt_slave_config_watchdog(sc = 0x00000000b65b2935, divider = 2048, intervals = 1000) [ 106.430557] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b65b2935, sync_index = 0, dir = 1, watchdog_mode = 0) [ 106.430558] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b65b2935, sync_index = 0) [ 106.430560] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b65b2935, sync_index = 1, dir = 2, watchdog_mode = 0) [ 106.430561] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b65b2935, sync_index = 1) [ 106.430562] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b65b2935, sync_index = 2, dir = 1, watchdog_mode = 0) [ 106.430563] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b65b2935, sync_index = 2) [ 106.430565] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b65b2935, sync_index = 2, pdo_index = 0x1601) [ 106.430566] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601. [ 106.430567] EtherCAT DEBUG 0 0:0: Entry 0x6040:00. [ 106.430568] EtherCAT DEBUG 0 0:0: Entry 0x607A:00. [ 106.430569] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b65b2935, pdo_index = 0x1601) [ 106.430571] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b65b2935, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430573] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b65b2935, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430574] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b65b2935, sync_index = 3, dir = 2, watchdog_mode = 0) [ 106.430576] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b65b2935, sync_index = 3) [ 106.430577] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b65b2935, sync_index = 3, pdo_index = 0x1A01) [ 106.430578] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A01. [ 106.430579] EtherCAT DEBUG 0 0:0: Entry 0x6041:00. [ 106.430580] EtherCAT DEBUG 0 0:0: Entry 0x6064:00. [ 106.430580] EtherCAT DEBUG 0 0:0: Entry 0x606C:00. [ 106.430582] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b65b2935, pdo_index = 0x1A01) [ 106.430583] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b65b2935, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430585] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b65b2935, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430586] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b65b2935, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430602] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.430603] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x000007DD/0x00000001. [ 106.430604] EtherCAT DEBUG 0 0:1: Attached slave main-1. [ 106.430607] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000098bfb42f, index = 0x6060, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430609] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000098bfb42f, index = 0x60C2, subindex = 0x01, data = 0x0000000015af0f25, size = 1) [ 106.430611] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000098bfb42f, index = 0x60C2, subindex = 0x02, data = 0x0000000015af0f25, size = 1) [ 106.430612] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sdo(sc = 0x0000000098bfb42f, index = 0x607E, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430698] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x0000000098bfb42f, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 106.430700] EtherCAT DEBUG 0 0:1: ecrt_slave_config_watchdog(sc = 0x0000000098bfb42f, divider = 2048, intervals = 1000) [ 106.430701] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000098bfb42f, sync_index = 0, dir = 1, watchdog_mode = 0) [ 106.430703] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000098bfb42f, sync_index = 0) [ 106.430704] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000098bfb42f, sync_index = 1, dir = 2, watchdog_mode = 0) [ 106.430705] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000098bfb42f, sync_index = 1) [ 106.430707] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000098bfb42f, sync_index = 2, dir = 1, watchdog_mode = 0) [ 106.430708] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000098bfb42f, sync_index = 2) [ 106.430709] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000098bfb42f, sync_index = 2, pdo_index = 0x1601) [ 106.430710] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1601. [ 106.430711] EtherCAT DEBUG 0 0:1: Entry 0x6040:00. [ 106.430712] EtherCAT DEBUG 0 0:1: Entry 0x607A:00. [ 106.430713] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000098bfb42f, pdo_index = 0x1601) [ 106.430715] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000098bfb42f, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430716] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000098bfb42f, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430718] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x0000000098bfb42f, sync_index = 3, dir = 2, watchdog_mode = 0) [ 106.430719] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000098bfb42f, sync_index = 3) [ 106.430720] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x0000000098bfb42f, sync_index = 3, pdo_index = 0x1A01) [ 106.430721] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A01. [ 106.430722] EtherCAT DEBUG 0 0:1: Entry 0x6041:00. [ 106.430723] EtherCAT DEBUG 0 0:1: Entry 0x6064:00. [ 106.430724] EtherCAT DEBUG 0 0:1: Entry 0x606C:00. [ 106.430725] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000098bfb42f, pdo_index = 0x1A01) [ 106.430726] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000098bfb42f, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430728] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000098bfb42f, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430729] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000098bfb42f, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430748] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.430749] EtherCAT DEBUG 0: Creating slave configuration for 0:2, 0x000007DD/0x00000001. [ 106.430750] EtherCAT DEBUG 0 0:2: Attached slave main-2. [ 106.430753] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x0000000019a89f5f, index = 0x6060, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430755] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x0000000019a89f5f, index = 0x60C2, subindex = 0x01, data = 0x0000000015af0f25, size = 1) [ 106.430756] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x0000000019a89f5f, index = 0x60C2, subindex = 0x02, data = 0x0000000015af0f25, size = 1) [ 106.430758] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sdo(sc = 0x0000000019a89f5f, index = 0x607E, subindex = 0x00, data = 0x0000000015af0f25, size = 1) [ 106.430852] EtherCAT DEBUG 0 0:2: ecrt_slave_config_dc(sc = 0x0000000019a89f5f, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 250000, sync1_cycle = 0, sync1_shift = 0 [ 106.430853] EtherCAT DEBUG 0 0:2: ecrt_slave_config_watchdog(sc = 0x0000000019a89f5f, divider = 2048, intervals = 1000) [ 106.430855] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x0000000019a89f5f, sync_index = 0, dir = 1, watchdog_mode = 0) [ 106.430856] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019a89f5f, sync_index = 0) [ 106.430857] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x0000000019a89f5f, sync_index = 1, dir = 2, watchdog_mode = 0) [ 106.430859] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019a89f5f, sync_index = 1) [ 106.430860] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x0000000019a89f5f, sync_index = 2, dir = 1, watchdog_mode = 0) [ 106.430861] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019a89f5f, sync_index = 2) [ 106.430863] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x0000000019a89f5f, sync_index = 2, pdo_index = 0x1601) [ 106.430864] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1601. [ 106.430864] EtherCAT DEBUG 0 0:2: Entry 0x6040:00. [ 106.430865] EtherCAT DEBUG 0 0:2: Entry 0x607A:00. [ 106.430867] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000019a89f5f, pdo_index = 0x1601) [ 106.430868] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019a89f5f, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430870] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019a89f5f, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430871] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x0000000019a89f5f, sync_index = 3, dir = 2, watchdog_mode = 0) [ 106.430872] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019a89f5f, sync_index = 3) [ 106.430874] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x0000000019a89f5f, sync_index = 3, pdo_index = 0x1A01) [ 106.430875] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1A01. [ 106.430875] EtherCAT DEBUG 0 0:2: Entry 0x6041:00. [ 106.430876] EtherCAT DEBUG 0 0:2: Entry 0x6064:00. [ 106.430877] EtherCAT DEBUG 0 0:2: Entry 0x606C:00. [ 106.430878] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000019a89f5f, pdo_index = 0x1A01) [ 106.430880] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019a89f5f, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [ 106.430881] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019a89f5f, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430883] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019a89f5f, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [ 106.430904] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 3, vendor_id = 0x00000002, product_code = 0x044c2c52) [ 106.430905] EtherCAT DEBUG 0: Creating slave configuration for 0:3, 0x00000002/0x044C2C52. [ 106.430906] EtherCAT DEBUG 0 0:3: Attached slave main-3. [ 106.430925] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.430926] EtherCAT DEBUG 0: Creating slave configuration for 0:4, 0x00000002/0x03F03052. [ 106.430927] EtherCAT DEBUG 0 0:4: Attached slave main-4. [ 106.430993] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.430994] EtherCAT DEBUG 0: Creating slave configuration for 0:5, 0x00000002/0x07D83052. [ 106.430995] EtherCAT DEBUG 0 0:5: Attached slave main-5. [ 106.431048] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431050] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b65b2935, index = 0x6040, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431051] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0. [ 106.431052] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431054] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b65b2935, index = 0x607A, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431055] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431057] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b65b2935, index = 0x6041, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431058] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 6. [ 106.431059] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431061] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b65b2935, index = 0x6064, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431062] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 0, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431064] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b65b2935, index = 0x606C, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431065] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431067] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000098bfb42f, index = 0x6040, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431068] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 16. [ 106.431069] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431070] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000098bfb42f, index = 0x607A, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431072] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431073] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000098bfb42f, index = 0x6041, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431074] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 22. [ 106.431076] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431077] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000098bfb42f, index = 0x6064, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431079] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 1, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431080] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000098bfb42f, index = 0x606C, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431082] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431083] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019a89f5f, index = 0x6040, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431084] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 32. [ 106.431085] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431087] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019a89f5f, index = 0x607A, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431088] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431090] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019a89f5f, index = 0x6041, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431091] EtherCAT DEBUG 0: Domain 0: Added 10 bytes at 38. [ 106.431092] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431094] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019a89f5f, index = 0x6064, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431095] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 2, vendor_id = 0x000007dd, product_code = 0x00000001) [ 106.431097] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019a89f5f, index = 0x606C, subindex = 0x00, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431098] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431100] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6000, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431101] EtherCAT DEBUG 0: Domain 0: Added 1 bytes at 48. [ 106.431102] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431104] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6010, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431105] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431107] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6020, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431108] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431109] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6030, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431111] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431112] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6040, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431114] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431115] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6050, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431117] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431118] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6060, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431120] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 4, vendor_id = 0x00000002, product_code = 0x03f03052) [ 106.431121] EtherCAT DEBUG 0 0:4: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e8fc38df, index = 0x6070, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431123] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431124] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7000, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431125] EtherCAT DEBUG 0: Domain 0: Added 1 bytes at 49. [ 106.431127] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431128] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7010, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431130] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431131] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7020, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431132] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431134] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7030, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431135] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431137] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7040, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431138] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431140] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7050, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431141] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431143] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7060, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431144] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000334e1631, alias = 0, position = 5, vendor_id = 0x00000002, product_code = 0x07d83052) [ 106.431146] EtherCAT DEBUG 0 0:5: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000025592fdc, index = 0x7070, subindex = 0x01, domain = 0x000000006ad192e0, bit_position = 0x0000000018a782e1) [ 106.431177] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x000000006ad192e0, mem = 0x0000000092b1f933) [ 106.431178] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000334e1631, send_cb = 0x000000009aef9b6e, receive_cb = 0x00000000d73cd6eb, cb_data = 0x00000000334e1631) [ 106.431179] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000334e1631) [ 106.431181] EtherCAT DEBUG 0: Adding datagram pair with expected WC 12. [ 106.431182] EtherCAT 0: Domain0: Logical address 0x00000000, 50 byte, expected working counter 12. [ 106.431183] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 50 byte, type LRW at 00000000b814359a. [ 106.431183] EtherCAT DEBUG 0: Stopping master thread. [ 106.431375] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 106.431383] EtherCAT 0: Master thread exited. [ 106.431384] EtherCAT DEBUG 0: FSM datagram is 0000000021de1114. [ 106.431385] EtherCAT 0: Starting EtherCAT-OP thread. [ 106.431419] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 106.431420] EtherCAT DEBUG 0: mmap() [ 106.431421] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 106.431423] EtherCAT DEBUG 0: Vma fault, virtual_address = 000000005fed763e, offset = 0, page = 0000000045e7d6f1 [ 106.519591] EtherCAT DEBUG 0: Configuration changed (aborting state check). [ 106.519593] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 106.523605] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=667469924228539847, app_time=667469924398815694, diff=170275847 [ 106.523607] EtherCAT DEBUG 0-main-0: Setting time offset to 667469882626552631 (was 667469882456276784) [ 106.531629] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 106.535640] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=667469924240544917, app_time=667469924410814549, diff=170269632 [ 106.535641] EtherCAT DEBUG 0-main-1: Setting time offset to 667469881074391217 (was 667469880904121585) [ 106.543661] EtherCAT DEBUG 0-main-2: Checking system time offset. [ 106.547671] EtherCAT DEBUG 0-main-2: DC 64 bit system time offset calculation: system_time=667469924252541834, app_time=667469924422810702, diff=170268868 [ 106.547673] EtherCAT DEBUG 0-main-2: Setting time offset to 667469879282191876 (was 667469879111923008) [ 106.555695] EtherCAT DEBUG 0-main-3: Checking system time offset. [ 106.559705] EtherCAT DEBUG 0-main-3: DC 64 bit system time offset calculation: system_time=667469924264547178, app_time=667469924434815623, diff=170268445 [ 106.559706] EtherCAT DEBUG 0-main-3: Setting time offset to 667467629846631587 (was 667467629676363142) [ 106.567724] EtherCAT DEBUG 0-main-4: Checking system time offset. [ 106.571734] EtherCAT DEBUG 0-main-4: DC 64 bit system time offset calculation: system_time=667469924276544612, app_time=667469924446813218, diff=170268606 [ 106.571735] EtherCAT DEBUG 0-main-4: Setting time offset to 667467629842483618 (was 667467629672215012) [ 106.579751] EtherCAT DEBUG 0-main-5: Checking system time offset. [ 106.583760] EtherCAT DEBUG 0-main-5: DC 64 bit system time offset calculation: system_time=667469924288541953, app_time=667469924458810698, diff=170268745 [ 106.583761] EtherCAT DEBUG 0-main-5: Setting time offset to 667467629841869919 (was 667467629671601174) [ 106.591779] EtherCAT DEBUG 0-main-6: Checking system time offset. [ 106.595791] EtherCAT DEBUG 0-main-6: DC 64 bit system time offset calculation: system_time=667469924300553127, app_time=667469924470818008, diff=170264881 [ 106.595792] EtherCAT DEBUG 0-main-6: Setting time offset to 667467629841477546 (was 667467629671212665) [ 106.603810] EtherCAT DEBUG 0: Requesting OP... [ 106.603814] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 106.603815] EtherCAT DEBUG 0-main-0: Configuring... [ 106.603816] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 106.603817] EtherCAT DEBUG 0-main-1: Configuring... [ 106.603818] EtherCAT DEBUG 0-main-2: Changing state from PREOP to OP. [ 106.603819] EtherCAT DEBUG 0-main-2: Configuring... [ 106.603820] EtherCAT DEBUG 0-main-3: Changing state from PREOP to OP. [ 106.603821] EtherCAT DEBUG 0-main-3: Configuring... [ 106.603822] EtherCAT DEBUG 0-main-4: Changing state from PREOP to OP. [ 106.603823] EtherCAT DEBUG 0-main-4: Configuring... [ 106.603824] EtherCAT DEBUG 0-main-5: Changing state from PREOP to OP. [ 106.603825] EtherCAT DEBUG 0-main-5: Configuring... [ 106.611851] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 106.611854] EtherCAT DEBUG 0-main-0: Now in INIT. [ 106.611855] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 106.611856] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 106.611857] EtherCAT DEBUG 0-main-1: Now in INIT. [ 106.611858] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 106.611859] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 106.611860] EtherCAT DEBUG 0-main-2: Now in INIT. [ 106.611861] EtherCAT DEBUG 0-main-2: Clearing FMMU configurations... [ 106.611862] EtherCAT DEBUG 0-main-2: Clearing mailbox check flag... [ 106.611863] EtherCAT DEBUG 0-main-3: Now in INIT. [ 106.611863] EtherCAT DEBUG 0-main-3: Clearing FMMU configurations... [ 106.611864] EtherCAT DEBUG 0-main-3: Clearing mailbox check flag... [ 106.611865] EtherCAT DEBUG 0-main-4: Now in INIT. [ 106.611866] EtherCAT DEBUG 0-main-4: Clearing FMMU configurations... [ 106.611867] EtherCAT DEBUG 0-main-4: Clearing mailbox check flag... [ 106.611868] EtherCAT DEBUG 0-main-5: Now in INIT. [ 106.611868] EtherCAT DEBUG 0-main-5: Clearing FMMU configurations... [ 106.611869] EtherCAT DEBUG 0-main-5: Clearing mailbox check flag... [ 106.615878] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 106.615880] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 106.615881] EtherCAT DEBUG 0-main-2: Clearing sync manager configurations... [ 106.615882] EtherCAT DEBUG 0-main-3: Clearing sync manager configurations... [ 106.615882] EtherCAT DEBUG 0-main-4: Clearing sync manager configurations... [ 106.615883] EtherCAT DEBUG 0-main-5: Clearing sync manager configurations... [ 106.619894] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 106.619895] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 106.619896] EtherCAT DEBUG 0-main-2: Clearing DC assignment... [ 106.619897] EtherCAT DEBUG 0-main-3: Clearing DC assignment... [ 106.619898] EtherCAT DEBUG 0-main-4: Clearing DC assignment... [ 106.619899] EtherCAT DEBUG 0-main-5: Clearing DC assignment... [ 106.623908] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 106.623910] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 106.623912] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 106.623913] EtherCAT DEBUG 0-main-1: Configuring mailbox sync managers... [ 106.623914] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 106.623915] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 106.623916] EtherCAT DEBUG 0-main-2: Configuring mailbox sync managers... [ 106.623917] EtherCAT DEBUG 0-main-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ 106.623918] EtherCAT DEBUG 0-main-2: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1 [ 106.623919] EtherCAT DEBUG 0-main-3: Slave does not support mailbox communication. [ 106.623920] EtherCAT DEBUG 0-main-3: Assigning SII access to PDI. [ 106.623921] EtherCAT DEBUG 0-main-4: Slave does not support mailbox communication. [ 106.623921] EtherCAT DEBUG 0-main-4: Assigning SII access to PDI. [ 106.623922] EtherCAT DEBUG 0-main-5: Slave does not support mailbox communication. [ 106.623923] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI. [ 106.627932] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 106.627933] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 106.627934] EtherCAT DEBUG 0-main-2: Assigning SII access to PDI. [ 106.635954] EtherCAT DEBUG 0-main-3: Now in PREOP. [ 106.635955] EtherCAT DEBUG 0-main-3: Assigning SII access back to EtherCAT. [ 106.635956] EtherCAT DEBUG 0-main-4: Now in PREOP. [ 106.635957] EtherCAT DEBUG 0-main-4: Assigning SII access back to EtherCAT. [ 106.635958] EtherCAT DEBUG 0-main-5: Now in PREOP. [ 106.635959] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT. [ 106.639967] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 106.639968] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 106.639969] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 106.639970] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 106.639971] EtherCAT DEBUG 0-main-2: Now in PREOP. [ 106.639971] EtherCAT DEBUG 0-main-2: Assigning SII access back to EtherCAT. [ 106.639976] EtherCAT DEBUG 0-main-4: SM0: Addr 0x1000, Size 1, Ctrl 0x00, En 1 [ 106.639978] EtherCAT DEBUG 0-main-5: SM0: Addr 0x0F00, Size 1, Ctrl 0x44, En 1 [ 106.643989] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6060:00. [ 106.643990] EtherCAT DEBUG: 08 [ 106.643992] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.643993] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 106.644000] EtherCAT DEBUG 0-main-1: Downloading SDO 0x6060:00. [ 106.644001] EtherCAT DEBUG: 08 [ 106.644003] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.644004] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 106.644011] EtherCAT DEBUG 0-main-2: Downloading SDO 0x6060:00. [ 106.644011] EtherCAT DEBUG: 08 [ 106.644013] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.644014] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 [ 106.644022] EtherCAT DEBUG 0 0:4: FMMU: LogOff 0x00000030, Size 1, PhysAddr 0x1000, SM0, Dir in [ 106.644024] EtherCAT DEBUG 0 0:5: FMMU: LogOff 0x00000031, Size 1, PhysAddr 0x0F00, SM0, Dir out [ 106.646400] EtherCAT 0: Domain 0: Working counter changed to 3/12. [ 106.652043] EtherCAT DEBUG 0-main-3: Now in SAFEOP. [ 106.656052] EtherCAT DEBUG 0-main-0: Download response: [ 106.656053] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 106.656062] EtherCAT DEBUG 0-main-0: Downloading SDO 0x60C2:01. [ 106.656062] EtherCAT DEBUG: 01 [ 106.656064] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.656065] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 106.656072] EtherCAT DEBUG 0-main-1: Download response: [ 106.656073] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 106.656080] EtherCAT DEBUG 0-main-1: Downloading SDO 0x60C2:01. [ 106.656080] EtherCAT DEBUG: 01 [ 106.656082] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.656083] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 106.656090] EtherCAT DEBUG 0-main-2: Download response: [ 106.656090] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 [ 106.656098] EtherCAT DEBUG 0-main-2: Downloading SDO 0x60C2:01. [ 106.656098] EtherCAT DEBUG: 01 [ 106.656100] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.656101] EtherCAT DEBUG: 00 20 2F C2 60 01 01 00 00 00 [ 106.656108] EtherCAT DEBUG 0-main-4: Now in SAFEOP. [ 106.656109] EtherCAT DEBUG 0-main-5: Now in SAFEOP. [ 106.660120] EtherCAT DEBUG 0-main-3: Now in OP. Finished configuration. [ 106.664131] EtherCAT DEBUG 0-main-5: SAFEOP -> OP. [ 106.664134] EtherCAT DEBUG 0-main-4: Now in OP. Finished configuration. [ 106.664135] EtherCAT DEBUG 0-main-5: Now in OP. Finished configuration. [ 106.668146] EtherCAT DEBUG 0-main-0: Download response: [ 106.668147] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 106.668155] EtherCAT DEBUG 0-main-0: Downloading SDO 0x60C2:02. [ 106.668156] EtherCAT DEBUG: FD [ 106.668158] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.668158] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 106.668165] EtherCAT DEBUG 0-main-1: Download response: [ 106.668166] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 106.668173] EtherCAT DEBUG 0-main-1: Downloading SDO 0x60C2:02. [ 106.668173] EtherCAT DEBUG: FD [ 106.668175] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.668176] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 106.668183] EtherCAT DEBUG 0-main-2: Download response: [ 106.668183] EtherCAT DEBUG: 00 30 60 C2 60 01 01 00 00 00 [ 106.668190] EtherCAT DEBUG 0-main-2: Downloading SDO 0x60C2:02. [ 106.668191] EtherCAT DEBUG: FD [ 106.668193] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.668193] EtherCAT DEBUG: 00 20 2F C2 60 02 FD 00 00 00 [ 106.672210] EtherCAT 0: Slave states on main device: PREOP, OP. [ 106.680254] EtherCAT DEBUG 0-main-0: Download response: [ 106.680261] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 106.680269] EtherCAT DEBUG 0-main-0: Downloading SDO 0x607E:00. [ 106.680269] EtherCAT DEBUG: E0 [ 106.680272] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.680272] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 106.680279] EtherCAT DEBUG 0-main-1: Download response: [ 106.680280] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 106.680287] EtherCAT DEBUG 0-main-1: Downloading SDO 0x607E:00. [ 106.680288] EtherCAT DEBUG: E0 [ 106.680290] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.680290] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 106.680297] EtherCAT DEBUG 0-main-2: Download response: [ 106.680297] EtherCAT DEBUG: 00 30 60 C2 60 02 FD 00 00 00 [ 106.680304] EtherCAT DEBUG 0-main-2: Downloading SDO 0x607E:00. [ 106.680305] EtherCAT DEBUG: E0 [ 106.680307] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.680307] EtherCAT DEBUG: 00 20 2F 7E 60 00 E0 00 00 00 [ 106.692353] EtherCAT DEBUG 0-main-0: Download response: [ 106.692355] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 106.692367] EtherCAT DEBUG 0-main-0: Changing mapping of PDO 0x1601. [ 106.692368] EtherCAT DEBUG 0-main-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 106.692375] EtherCAT DEBUG 0-main-0: Setting entry count to zero. [ 106.692377] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:00. [ 106.692377] EtherCAT DEBUG: 00 [ 106.692380] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.692380] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 106.692387] EtherCAT DEBUG 0-main-1: Download response: [ 106.692388] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 106.692397] EtherCAT DEBUG 0-main-1: Changing mapping of PDO 0x1601. [ 106.692397] EtherCAT DEBUG 0-main-1: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 106.692405] EtherCAT DEBUG 0-main-1: Setting entry count to zero. [ 106.692406] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:00. [ 106.692407] EtherCAT DEBUG: 00 [ 106.692409] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.692409] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 106.692417] EtherCAT DEBUG 0-main-2: Download response: [ 106.692417] EtherCAT DEBUG: 00 30 60 7E 60 00 E0 00 00 00 [ 106.692426] EtherCAT DEBUG 0-main-2: Changing mapping of PDO 0x1601. [ 106.692426] EtherCAT DEBUG 0-main-2: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32. Entries to map: 0x6040:00/16 0x607A:00/32 [ 106.692433] EtherCAT DEBUG 0-main-2: Setting entry count to zero. [ 106.692434] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:00. [ 106.692434] EtherCAT DEBUG: 00 [ 106.692436] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.692437] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 [ 106.704478] EtherCAT DEBUG 0-main-0: Download response: [ 106.704479] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 106.704487] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 106.704489] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:01. [ 106.704489] EtherCAT DEBUG: 10 00 40 60 [ 106.704493] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.704494] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 106.704501] EtherCAT DEBUG 0-main-1: Download response: [ 106.704501] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 106.704509] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 106.704510] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:01. [ 106.704510] EtherCAT DEBUG: 10 00 40 60 [ 106.704514] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.704514] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 106.704522] EtherCAT DEBUG 0-main-2: Download response: [ 106.704522] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 [ 106.704529] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 106.704530] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:01. [ 106.704531] EtherCAT DEBUG: 10 00 40 60 [ 106.704535] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.704535] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 [ 106.716569] EtherCAT DEBUG 0-main-0: Download response: [ 106.716571] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 106.716579] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 106.716580] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:02. [ 106.716581] EtherCAT DEBUG: 20 00 7A 60 [ 106.716585] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.716585] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 106.716592] EtherCAT DEBUG 0-main-1: Download response: [ 106.716593] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 106.716600] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 106.716601] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:02. [ 106.716601] EtherCAT DEBUG: 20 00 7A 60 [ 106.716605] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.716605] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 106.716612] EtherCAT DEBUG 0-main-2: Download response: [ 106.716613] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 [ 106.716620] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x607A:00 (32 bit) at position 2. [ 106.716621] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:02. [ 106.716621] EtherCAT DEBUG: 20 00 7A 60 [ 106.716625] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.716625] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 [ 106.728659] EtherCAT DEBUG 0-main-0: Download response: [ 106.728660] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 106.728669] EtherCAT DEBUG 0-main-0: Setting number of PDO entries to 2. [ 106.728670] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1601:00. [ 106.728671] EtherCAT DEBUG: 02 [ 106.728673] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.728673] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 106.728681] EtherCAT DEBUG 0-main-1: Download response: [ 106.728681] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 106.728698] EtherCAT DEBUG 0-main-1: Setting number of PDO entries to 2. [ 106.728699] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1601:00. [ 106.728700] EtherCAT DEBUG: 02 [ 106.728702] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.728702] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 106.728709] EtherCAT DEBUG 0-main-2: Download response: [ 106.728710] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 [ 106.728717] EtherCAT DEBUG 0-main-2: Setting number of PDO entries to 2. [ 106.728718] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1601:00. [ 106.728718] EtherCAT DEBUG: 02 [ 106.728720] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.728721] EtherCAT DEBUG: 00 20 2F 01 16 00 02 00 00 00 [ 106.740757] EtherCAT DEBUG 0-main-0: Download response: [ 106.740758] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 106.740766] EtherCAT DEBUG 0-main-0: Successfully configured mapping for PDO 0x1601. [ 106.740767] EtherCAT DEBUG 0-main-0: Setting PDO assignment of SM2: [ 106.740768] EtherCAT DEBUG 0-main-0: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 106.740772] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to zero. [ 106.740773] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:00. [ 106.740774] EtherCAT DEBUG: 00 [ 106.740776] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.740776] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 106.740783] EtherCAT DEBUG 0-main-1: Download response: [ 106.740784] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 106.740791] EtherCAT DEBUG 0-main-1: Successfully configured mapping for PDO 0x1601. [ 106.740792] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM2: [ 106.740792] EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 106.740796] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to zero. [ 106.740797] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:00. [ 106.740798] EtherCAT DEBUG: 00 [ 106.740800] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.740800] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 106.740807] EtherCAT DEBUG 0-main-2: Download response: [ 106.740808] EtherCAT DEBUG: 00 30 60 01 16 00 02 00 00 00 [ 106.740815] EtherCAT DEBUG 0-main-2: Successfully configured mapping for PDO 0x1601. [ 106.740816] EtherCAT DEBUG 0-main-2: Setting PDO assignment of SM2: [ 106.740816] EtherCAT DEBUG 0-main-2: Currently assigned PDOs: 0x1601. PDOs to assign: 0x1601 [ 106.740820] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to zero. [ 106.740821] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:00. [ 106.740821] EtherCAT DEBUG: 00 [ 106.740823] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.740824] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 106.752857] EtherCAT DEBUG 0-main-0: Download response: [ 106.752858] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 106.752866] EtherCAT DEBUG 0-main-0: Assigning PDO 0x1601 at position 1. [ 106.752867] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:01. [ 106.752868] EtherCAT DEBUG: 01 16 [ 106.752871] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.752871] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 106.752878] EtherCAT DEBUG 0-main-1: Download response: [ 106.752879] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 106.752886] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1601 at position 1. [ 106.752887] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:01. [ 106.752888] EtherCAT DEBUG: 01 16 [ 106.752891] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.752891] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 106.752898] EtherCAT DEBUG 0-main-2: Download response: [ 106.752899] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 106.752906] EtherCAT DEBUG 0-main-2: Assigning PDO 0x1601 at position 1. [ 106.752907] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:01. [ 106.752908] EtherCAT DEBUG: 01 16 [ 106.752910] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.752911] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 [ 106.764945] EtherCAT DEBUG 0-main-0: Download response: [ 106.764946] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 106.764953] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to 1. [ 106.764955] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C12:00. [ 106.764955] EtherCAT DEBUG: 01 [ 106.764957] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.764958] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 106.764965] EtherCAT DEBUG 0-main-1: Download response: [ 106.764966] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 106.764973] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to 1. [ 106.764974] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C12:00. [ 106.764974] EtherCAT DEBUG: 01 [ 106.764976] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.764977] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 106.764984] EtherCAT DEBUG 0-main-2: Download response: [ 106.764984] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 [ 106.764991] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to 1. [ 106.764992] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C12:00. [ 106.764993] EtherCAT DEBUG: 01 [ 106.764995] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.764995] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 106.777031] EtherCAT DEBUG 0-main-0: Download response: [ 106.777033] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 106.777041] EtherCAT DEBUG 0-main-0: Successfully configured PDO assignment of SM2. [ 106.777044] EtherCAT DEBUG 0-main-0: Changing mapping of PDO 0x1A01. [ 106.777045] EtherCAT DEBUG 0-main-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 106.777054] EtherCAT DEBUG 0-main-0: Setting entry count to zero. [ 106.777055] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:00. [ 106.777055] EtherCAT DEBUG: 00 [ 106.777058] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.777058] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 106.777066] EtherCAT DEBUG 0-main-1: Download response: [ 106.777066] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 106.777074] EtherCAT DEBUG 0-main-1: Successfully configured PDO assignment of SM2. [ 106.777075] EtherCAT DEBUG 0-main-1: Changing mapping of PDO 0x1A01. [ 106.777076] EtherCAT DEBUG 0-main-1: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 106.777085] EtherCAT DEBUG 0-main-1: Setting entry count to zero. [ 106.777086] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:00. [ 106.777086] EtherCAT DEBUG: 00 [ 106.777088] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.777089] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 106.777096] EtherCAT DEBUG 0-main-2: Download response: [ 106.777096] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 106.777104] EtherCAT DEBUG 0-main-2: Successfully configured PDO assignment of SM2. [ 106.777106] EtherCAT DEBUG 0-main-2: Changing mapping of PDO 0x1A01. [ 106.777106] EtherCAT DEBUG 0-main-2: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 [ 106.777115] EtherCAT DEBUG 0-main-2: Setting entry count to zero. [ 106.777116] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:00. [ 106.777116] EtherCAT DEBUG: 00 [ 106.777118] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.777119] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 [ 106.789161] EtherCAT DEBUG 0-main-0: Download response: [ 106.789162] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 106.789170] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 106.789172] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:01. [ 106.789172] EtherCAT DEBUG: 10 00 41 60 [ 106.789176] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.789177] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 106.789184] EtherCAT DEBUG 0-main-1: Download response: [ 106.789184] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 106.789192] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 106.789193] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:01. [ 106.789193] EtherCAT DEBUG: 10 00 41 60 [ 106.789197] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.789198] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 106.789205] EtherCAT DEBUG 0-main-2: Download response: [ 106.789205] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 [ 106.789213] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 106.789214] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:01. [ 106.789214] EtherCAT DEBUG: 10 00 41 60 [ 106.789218] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.789218] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 [ 106.801263] EtherCAT DEBUG 0-main-0: Download response: [ 106.801264] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 106.801273] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 106.801274] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:02. [ 106.801274] EtherCAT DEBUG: 20 00 64 60 [ 106.801278] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.801279] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 106.801286] EtherCAT DEBUG 0-main-1: Download response: [ 106.801287] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 106.801294] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 106.801295] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:02. [ 106.801295] EtherCAT DEBUG: 20 00 64 60 [ 106.801299] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.801299] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 106.801306] EtherCAT DEBUG 0-main-2: Download response: [ 106.801307] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 [ 106.801314] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x6064:00 (32 bit) at position 2. [ 106.801315] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:02. [ 106.801315] EtherCAT DEBUG: 20 00 64 60 [ 106.801319] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.801319] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 [ 106.813365] EtherCAT DEBUG 0-main-0: Download response: [ 106.813367] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 106.813375] EtherCAT DEBUG 0-main-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 106.813377] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:03. [ 106.813377] EtherCAT DEBUG: 20 00 6C 60 [ 106.813382] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.813382] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 106.813390] EtherCAT DEBUG 0-main-1: Download response: [ 106.813390] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 106.813399] EtherCAT DEBUG 0-main-1: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 106.813400] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:03. [ 106.813401] EtherCAT DEBUG: 20 00 6C 60 [ 106.813404] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.813405] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 106.813412] EtherCAT DEBUG 0-main-2: Download response: [ 106.813413] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 [ 106.813420] EtherCAT DEBUG 0-main-2: Mapping PDO entry 0x606C:00 (32 bit) at position 3. [ 106.813421] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:03. [ 106.813422] EtherCAT DEBUG: 20 00 6C 60 [ 106.813426] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.813426] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 [ 106.825483] EtherCAT DEBUG 0-main-0: Download response: [ 106.825484] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 106.825493] EtherCAT DEBUG 0-main-0: Setting number of PDO entries to 3. [ 106.825494] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1A01:00. [ 106.825495] EtherCAT DEBUG: 03 [ 106.825497] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.825498] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 106.825505] EtherCAT DEBUG 0-main-1: Download response: [ 106.825506] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 106.825513] EtherCAT DEBUG 0-main-1: Setting number of PDO entries to 3. [ 106.825514] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1A01:00. [ 106.825515] EtherCAT DEBUG: 03 [ 106.825517] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.825517] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 106.825524] EtherCAT DEBUG 0-main-2: Download response: [ 106.825525] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 [ 106.825533] EtherCAT DEBUG 0-main-2: Setting number of PDO entries to 3. [ 106.825534] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1A01:00. [ 106.825535] EtherCAT DEBUG: 03 [ 106.825538] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.825538] EtherCAT DEBUG: 00 20 2F 01 1A 00 03 00 00 00 [ 106.837581] EtherCAT DEBUG 0-main-0: Download response: [ 106.837583] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 106.837592] EtherCAT DEBUG 0-main-0: Successfully configured mapping for PDO 0x1A01. [ 106.837593] EtherCAT DEBUG 0-main-0: Setting PDO assignment of SM3: [ 106.837593] EtherCAT DEBUG 0-main-0: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 106.837598] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to zero. [ 106.837599] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:00. [ 106.837600] EtherCAT DEBUG: 00 [ 106.837602] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.837603] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 106.837610] EtherCAT DEBUG 0-main-1: Download response: [ 106.837611] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 106.837618] EtherCAT DEBUG 0-main-1: Successfully configured mapping for PDO 0x1A01. [ 106.837619] EtherCAT DEBUG 0-main-1: Setting PDO assignment of SM3: [ 106.837619] EtherCAT DEBUG 0-main-1: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 106.837623] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to zero. [ 106.837624] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00. [ 106.837625] EtherCAT DEBUG: 00 [ 106.837626] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.837627] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 106.837635] EtherCAT DEBUG 0-main-2: Download response: [ 106.837635] EtherCAT DEBUG: 00 30 60 01 1A 00 03 00 00 00 [ 106.837642] EtherCAT DEBUG 0-main-2: Successfully configured mapping for PDO 0x1A01. [ 106.837643] EtherCAT DEBUG 0-main-2: Setting PDO assignment of SM3: [ 106.837644] EtherCAT DEBUG 0-main-2: Currently assigned PDOs: 0x1A01. PDOs to assign: 0x1A01 [ 106.837647] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to zero. [ 106.837648] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:00. [ 106.837649] EtherCAT DEBUG: 00 [ 106.837651] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.837651] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 106.849685] EtherCAT DEBUG 0-main-0: Download response: [ 106.849687] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 106.849695] EtherCAT DEBUG 0-main-0: Assigning PDO 0x1A01 at position 1. [ 106.849697] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:01. [ 106.849697] EtherCAT DEBUG: 01 1A [ 106.849700] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.849700] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 106.849708] EtherCAT DEBUG 0-main-1: Download response: [ 106.849708] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 106.849715] EtherCAT DEBUG 0-main-1: Assigning PDO 0x1A01 at position 1. [ 106.849717] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:01. [ 106.849717] EtherCAT DEBUG: 01 1A [ 106.849720] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.849720] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 106.849727] EtherCAT DEBUG 0-main-2: Download response: [ 106.849728] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 106.849735] EtherCAT DEBUG 0-main-2: Assigning PDO 0x1A01 at position 1. [ 106.849736] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:01. [ 106.849737] EtherCAT DEBUG: 01 1A [ 106.849739] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.849740] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 [ 106.861771] EtherCAT DEBUG 0-main-0: Download response: [ 106.861772] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 106.861780] EtherCAT DEBUG 0-main-0: Setting number of assigned PDOs to 1. [ 106.861781] EtherCAT DEBUG 0-main-0: Downloading SDO 0x1C13:00. [ 106.861781] EtherCAT DEBUG: 01 [ 106.861783] EtherCAT DEBUG 0-main-0: Expedited download request: [ 106.861784] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 106.861791] EtherCAT DEBUG 0-main-1: Download response: [ 106.861791] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 106.861798] EtherCAT DEBUG 0-main-1: Setting number of assigned PDOs to 1. [ 106.861799] EtherCAT DEBUG 0-main-1: Downloading SDO 0x1C13:00. [ 106.861800] EtherCAT DEBUG: 01 [ 106.861802] EtherCAT DEBUG 0-main-1: Expedited download request: [ 106.861802] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 106.861809] EtherCAT DEBUG 0-main-2: Download response: [ 106.861810] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 [ 106.861817] EtherCAT DEBUG 0-main-2: Setting number of assigned PDOs to 1. [ 106.861818] EtherCAT DEBUG 0-main-2: Downloading SDO 0x1C13:00. [ 106.861818] EtherCAT DEBUG: 01 [ 106.861820] EtherCAT DEBUG 0-main-2: Expedited download request: [ 106.861821] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 106.873853] EtherCAT DEBUG 0-main-0: Download response: [ 106.873854] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 106.873863] EtherCAT DEBUG 0-main-0: Successfully configured PDO assignment of SM3. [ 106.873865] EtherCAT DEBUG 0-main-0: Setting watchdog divider to 2048. [ 106.873866] EtherCAT DEBUG 0-main-1: Download response: [ 106.873866] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 106.873874] EtherCAT DEBUG 0-main-1: Successfully configured PDO assignment of SM3. [ 106.873875] EtherCAT DEBUG 0-main-1: Setting watchdog divider to 2048. [ 106.873876] EtherCAT DEBUG 0-main-2: Download response: [ 106.873877] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 106.873884] EtherCAT DEBUG 0-main-2: Successfully configured PDO assignment of SM3. [ 106.873886] EtherCAT DEBUG 0-main-2: Setting watchdog divider to 2048. [ 106.877895] EtherCAT DEBUG 0-main-0: Setting process data watchdog intervals to 1000. [ 106.877897] EtherCAT DEBUG 0-main-1: Setting process data watchdog intervals to 1000. [ 106.877898] EtherCAT DEBUG 0-main-2: Setting process data watchdog intervals to 1000. [ 106.881910] EtherCAT DEBUG 0-main-0: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 106.881912] EtherCAT DEBUG 0-main-0: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 106.881922] EtherCAT DEBUG 0-main-1: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 106.881923] EtherCAT DEBUG 0-main-1: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 106.881925] EtherCAT DEBUG 0-main-2: SM2: Addr 0x1800, Size 6, Ctrl 0x24, En 1 [ 106.881926] EtherCAT DEBUG 0-main-2: SM3: Addr 0x1C00, Size 10, Ctrl 0x20, En 1 [ 106.885935] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1800, SM2, Dir out [ 106.885937] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 106.885938] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000010, Size 6, PhysAddr 0x1800, SM2, Dir out [ 106.885939] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000016, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 106.885941] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000020, Size 6, PhysAddr 0x1800, SM2, Dir out [ 106.885942] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000026, Size 10, PhysAddr 0x1C00, SM3, Dir in [ 106.889955] EtherCAT DEBUG 0-main-0: Setting DC cycle times to 1000000 / 0. [ 106.889957] EtherCAT DEBUG 0-main-1: Setting DC cycle times to 1000000 / 0. [ 106.889958] EtherCAT DEBUG 0-main-2: Setting DC cycle times to 1000000 / 0. [ 106.893973] EtherCAT DEBUG 0-main-0: Checking for synchrony. [ 106.893974] EtherCAT DEBUG 0-main-1: Checking for synchrony. [ 106.893975] EtherCAT DEBUG 0-main-2: Checking for synchrony. [ 106.897985] EtherCAT DEBUG 0-main-0: 3222 ns difference after 0 ms. [ 106.897987] EtherCAT DEBUG 0-main-0: ref_time=667469924309556000 [ 106.897988] EtherCAT DEBUG 0-main-0: app_time=667469924775812189 [ 106.897989] EtherCAT DEBUG 0-main-0: start_time=667469924875812189 [ 106.897990] EtherCAT DEBUG 0-main-0: cycle=1000000 [ 106.897990] EtherCAT DEBUG 0-main-0: shift_time=250000 [ 106.897991] EtherCAT DEBUG 0-main-0: remainder=256189 [ 106.897992] EtherCAT DEBUG 0-main-0: start=667469924876806000 [ 106.897993] EtherCAT DEBUG 0-main-0: Setting DC cyclic operation start time to 667469924876806000. [ 106.897994] EtherCAT DEBUG 0-main-1: -64 ns difference after 0 ms. [ 106.897995] EtherCAT DEBUG 0-main-1: ref_time=667469924309556000 [ 106.897996] EtherCAT DEBUG 0-main-1: app_time=667469924775812189 [ 106.897997] EtherCAT DEBUG 0-main-1: start_time=667469924875812189 [ 106.897998] EtherCAT DEBUG 0-main-1: cycle=1000000 [ 106.897998] EtherCAT DEBUG 0-main-1: shift_time=250000 [ 106.897999] EtherCAT DEBUG 0-main-1: remainder=256189 [ 106.898000] EtherCAT DEBUG 0-main-1: start=667469924876806000 [ 106.898001] EtherCAT DEBUG 0-main-1: Setting DC cyclic operation start time to 667469924876806000. [ 106.898002] EtherCAT DEBUG 0-main-2: -1974 ns difference after 0 ms. [ 106.898003] EtherCAT DEBUG 0-main-2: ref_time=667469924309556000 [ 106.898004] EtherCAT DEBUG 0-main-2: app_time=667469924775812189 [ 106.898005] EtherCAT DEBUG 0-main-2: start_time=667469924875812189 [ 106.898006] EtherCAT DEBUG 0-main-2: cycle=1000000 [ 106.898006] EtherCAT DEBUG 0-main-2: shift_time=250000 [ 106.898007] EtherCAT DEBUG 0-main-2: remainder=256189 [ 106.898008] EtherCAT DEBUG 0-main-2: start=667469924876806000 [ 106.898009] EtherCAT DEBUG 0-main-2: Setting DC cyclic operation start time to 667469924876806000. [ 106.902021] EtherCAT DEBUG 0-main-0: Setting DC AssignActivate to 0x0300. [ 106.902023] EtherCAT DEBUG 0-main-1: Setting DC AssignActivate to 0x0300. [ 106.902025] EtherCAT DEBUG 0-main-2: Setting DC AssignActivate to 0x0300. [ 106.914053] EtherCAT DEBUG 0-main-0: Now in SAFEOP. [ 106.914054] EtherCAT DEBUG 0-main-1: Now in SAFEOP. [ 106.914055] EtherCAT DEBUG 0-main-2: Now in SAFEOP. [ 106.930091] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP. [ 107.202713] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration. [ 107.202715] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration. [ 107.202716] EtherCAT DEBUG 0-main-2: Now in OP. Finished configuration. [ 107.218752] EtherCAT 0: Slave states on main device: PREOP, OP. [ 107.649381] EtherCAT 0: Domain 0: Working counter changed to 12/12.