cnc@CNC-01:~/linuxcnc/configs/Maho400E-LinuxCNC$ ethercat slaves 0 0:0 PREOP + EP5101-0011 1K. Inc. Encoder 5V, D-SUB15 1 0:1 PREOP + EP5101-0011 1K. Inc. Encoder 5V, D-SUB15 2 0:2 PREOP + EP5101-0011 1K. Inc. Encoder 5V, D-SUB15 cnc@CNC-01:~/linuxcnc/configs/Maho400E-LinuxCNC$ ethercat pdos -p 0 SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1100, DefaultSize 4, ControlRegister 0x24, Enable 1 RxPDO 0x1600 "ENC RxPDO-Map Control compact" PDO entry 0x7000:01, 1 bit, "Enable latch C" PDO entry 0x7000:02, 1 bit, "Enable latch extern on positive edge" PDO entry 0x7000:03, 1 bit, "Set counter" PDO entry 0x7000:04, 1 bit, "Enable latch extern on negative edge" PDO entry 0x0000:00, 4 bit, "Gap" PDO entry 0x0000:00, 8 bit, "Gap" PDO entry 0x7000:11, 16 bit, "Set counter value" SM3: PhysAddr 0x1180, DefaultSize 6, ControlRegister 0x20, Enable 1 TxPDO 0x1a00 "ENC TxPDO-Map Status compact" PDO entry 0x6000:01, 1 bit, "Latch C valid" PDO entry 0x6000:02, 1 bit, "Latch extern valid" PDO entry 0x6000:03, 1 bit, "Set counter done" PDO entry 0x6000:04, 1 bit, "Counter underflow" PDO entry 0x6000:05, 1 bit, "Counter overflow" PDO entry 0x6000:06, 1 bit, "Status of input status" PDO entry 0x6000:07, 1 bit, "Open circuit" PDO entry 0x6000:08, 1 bit, "Extrapolation stall" PDO entry 0x6000:09, 1 bit, "Status of input A" PDO entry 0x6000:0a, 1 bit, "Status of input B" PDO entry 0x6000:0b, 1 bit, "Status of input C" PDO entry 0x6000:0c, 1 bit, "Status of input gate" PDO entry 0x6000:0d, 1 bit, "Status of extern latch" PDO entry 0x1c32:20, 1 bit, "Sync error" PDO entry 0x1800:07, 1 bit, "TxPDO State" PDO entry 0x1800:09, 1 bit, "TxPDO Toggle" PDO entry 0x6000:11, 16 bit, "Counter value" PDO entry 0x6000:12, 16 bit, "Latch value" cnc@CNC-01:~/linuxcnc/configs/Maho400E-LinuxCNC$ sudo dmesg | grep EtherCAT [sudo] password for cnc: [ 4.847665] EtherCAT: Master driver 1.6.0 1.6.0.gcafd367-1+1.1 [ 4.848045] EtherCAT: 1 master waiting for devices. [ 4.865248] ec_generic: EtherCAT master generic Ethernet device module 1.6.0 1.6.0.gcafd367-1+1.1 [ 4.865257] EtherCAT: Accepting B4:96:91:95:02:70 as main device for master 0. [ 4.896651] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 7.436557] EtherCAT 0: Link state of ecm0 changed to UP. [ 7.445248] EtherCAT 0: 3 slave(s) responding on main device. [ 7.445250] EtherCAT 0: Slave states on main device: PREOP. [ 7.445535] EtherCAT 0: Scanning bus. [ 8.826355] EtherCAT 0: Bus scanning completed in 1380 ms. [ 8.826357] EtherCAT 0: Using slave 0 as DC reference clock. [ 11.980063] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:07! [ 11.980066] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 11.983003] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:09! [ 11.983004] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 11.997457] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:07! [ 11.997458] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.000886] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:09! [ 12.000887] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.015341] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:07! [ 12.015342] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.018526] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:09! [ 12.018527] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.033225] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:07! [ 12.033226] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.036410] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:09! [ 12.036411] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 12.599207] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:07! [ 12.599209] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.602392] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:09! [ 12.602393] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.617336] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:07! [ 12.617338] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.620521] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:09! [ 12.620523] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.634488] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:07! [ 12.634489] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.637701] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:09! [ 12.637702] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.652639] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:07! [ 12.652640] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 12.655578] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:09! [ 12.655579] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 13.214605] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:07! [ 13.214608] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.217545] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:09! [ 13.217546] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.231999] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:07! [ 13.232000] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.235428] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:09! [ 13.235429] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.249395] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:07! [ 13.249396] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.252582] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:09! [ 13.252583] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.267522] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:07! [ 13.267523] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 13.270952] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:09! [ 13.270953] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 22.277621] EtherCAT 0: Link state of ecm0 changed to DOWN. [ 22.285341] EtherCAT ERROR 0-1: Failed to receive AL state datagram: Datagram error. [ 22.293693] EtherCAT 0: 0 slave(s) responding on main device. [ 29.050914] EtherCAT 0: Link state of ecm0 changed to UP. [ 29.058887] EtherCAT 0: 3 slave(s) responding on main device. [ 29.058892] EtherCAT 0: Slave states on main device: INIT. [ 29.059186] EtherCAT 0: Scanning bus. [ 30.450244] EtherCAT 0: Bus scanning completed in 1388 ms. [ 30.450247] EtherCAT 0: Using slave 0 as DC reference clock. [ 30.455189] EtherCAT 0: Slave states on main device: PREOP. [ 33.606315] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:07! [ 33.606319] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.609254] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1802:09! [ 33.609256] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.623685] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:07! [ 33.623686] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.626894] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1803:09! [ 33.626895] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.641844] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:07! [ 33.641845] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.645513] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1804:09! [ 33.645514] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.659944] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:07! [ 33.659945] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 33.662908] EtherCAT WARNING 0-0: SDO information error response while fetching SDO entry 0x1805:09! [ 33.662909] EtherCAT ERROR 0-0: SDO abort message 0x06090011: "Subindex does not exist". [ 34.220767] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:07! [ 34.220770] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.223707] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1802:09! [ 34.223709] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.238408] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:07! [ 34.238410] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.241346] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1803:09! [ 34.241347] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.256045] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:07! [ 34.256047] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.258985] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1804:09! [ 34.258986] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.273194] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:07! [ 34.273196] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.276135] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1805:09! [ 34.276136] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist". [ 34.838011] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:07! [ 34.838014] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.841463] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1802:09! [ 34.841465] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.855647] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:07! [ 34.855648] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.858587] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1803:09! [ 34.858588] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.873043] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:07! [ 34.873045] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.876006] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1804:09! [ 34.876007] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.890459] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:07! [ 34.890461] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". [ 34.893645] EtherCAT WARNING 0-2: SDO information error response while fetching SDO entry 0x1805:09! [ 34.893646] EtherCAT ERROR 0-2: SDO abort message 0x06090011: "Subindex does not exist". cnc@CNC-01:~/linuxcnc/configs/Maho400E-LinuxCNC$