DC configuration

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01 Dec 2022 11:41 - 01 Dec 2022 11:45 #258202 by foxington
DC configuration was created by foxington
Hello gentelmen,

I have some hope to configure Kollmorgen S300 over ethercat but still struggling around .xml. there are some non usual stuff. I configured it over twinCAT over 1A00 and 1600. It is running over incremental PDOs in CSP but it is working flowesly, it is only supported setup. This should be solved over datatype=float and scale=xxx.xxxxx in the .xml file.

There was needed customizing ethercat EEPROM to allow write complete PDO setup in the single row and to allow configure via SDOs...

Then started just copy and pase original .xml file DC configuration but....There sh*t happend but I just keep fighting till the end.

have anybody experiences with this type of configuration of DC please?
                <Dc UnknownFRMW="1">
                    <OpMode>
                        <Name>DcSync</Name>
                        <Desc>DC for synchronization</Desc>
                        <AssignActivate>#x0300</AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                        <ShiftTimeSync0>0</ShiftTimeSync0>
                        <Sm No="2">
                            <SyncType>2</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinAfterSync="0">0</ShiftTime>
                        </Sm>
                        <Sm No="3">
                            <SyncType>2</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinBeforeFrame="100">0</ShiftTime>
                        </Sm>
                    </OpMode>
                </Dc>

I am not sure how to configurate .xml DC expesion:

<dcConf assignActivate="300" sync0Cycle="*1"    ///////-* sync0Shift="0"  something should be here but I do not have any idea how to do it -///////* />

Any ideas please? Thanks

Slav
Last edit: 01 Dec 2022 11:45 by foxington.

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01 Dec 2022 13:50 #258210 by db1981
Replied by db1981 on topic DC configuration
can you post image from twincat witch shows the dc parameters from the slaves ehtercat tab.

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01 Dec 2022 18:12 #258242 by foxington
Replied by foxington on topic DC configuration
by this configuration it has been 
<dcConf assignActivate="300" sync0Cycle="*1"  sync0Shift="0" />

it is in phase with DC or???
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01 Dec 2022 19:06 #258248 by db1981
Replied by db1981 on topic DC configuration
yes this in phase with every dc cycle.

<dcConf assignActivate="300" sync0Cycle="*1"  sync0Shift="0" /> this line should be ok.

what apptimeperiod and servo_cycle you are running?

Your Twincat setup is configured for 2ms / 500hz , if the servo drive is configured for this. It will not run if you lcec set to 1ms/1khz

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02 Dec 2022 10:45 #258308 by foxington
Replied by foxington on topic DC configuration
servo thread period in the .hal file == appTimePeriod in the .xml file == DC value cycle in the servo amplifier(if it has not .xml setup)...  I had 2ms DC synchronization in servo amplifier which is wrong value ... there should be more problems... 

How it will be with components in lcnc servo thread configuration? for all that components is great to run over same servo thread period or can I create special 2ms thread for lcec application. but there should be some missmatch in control values i think or?

how it will be with  " refClockSyncCycles="?????" " . I had it at value "refClockSyncCycles="*1" " please?

regards Slav

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02 Dec 2022 13:04 - 02 Dec 2022 20:47 #258312 by db1981
Replied by db1981 on topic DC configuration
all componets like motion, pids, lcec that have to work together in an control loop should be in the same thread.

If your servo amplifier can only handle an 2ms cycle time, set the servo_thread and apptime period to 2000000 too.

sync0Cycle = *2  (every second ethercat cycle) may be work to, but is uselles because motion and pids will see the same values for 2 cycles.
Last edit: 02 Dec 2022 20:47 by db1981.
The following user(s) said Thank You: foxington

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02 Dec 2022 20:17 #258360 by foxington
Replied by foxington on topic DC configuration
I can create .xml file like below with your assistance now :
<masters>
  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="*2">
   <slave idx="0" type="generic" vid="0000006A" pid="03000700" name="x_servo" configPdos="true">

        <sdoConfig idx="1C12" subIdx="00">
            <sdoDataRaw data="00"/>
        </sdoConfig>

        <sdoConfig idx="1C13" subIdx="00">
            <sdoDataRaw data="00"/>
        </sdoConfig>
        
        <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="00 3F 6C 65"/>
        </sdoConfig>

        <sdoConfig idx="1A00" subIdx="01">
            <sdoDataRaw data="10 00 41 60"/>
        </sdoConfig>
        
        <sdoConfig idx="1A00" subIdx="02">
            <sdoDataRaw data="20 00 63 60"/>
        </sdoConfig>    
        
        <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="02 40 6F 77"/>
        </sdoConfig>        

        <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="00 3F 6C 65"/>
        </sdoConfig>

        <!-- 0x6041 0010 == register 0x6041 + value 0x10(16bit decimal) -->
        <sdoConfig idx="1600" subIdx="01">
            <sdoDataRaw data="10 00 40 60"/>
        </sdoConfig>
        
        <!-- 0x60C1 0020 == 0x20 == 0d32 bit -->
        <sdoConfig idx="1600" subIdx="02">
            <sdoDataRaw data="20 00 C1 60"/>
        </sdoConfig>    
        
        <!-- 0x6064 0020 == 0x20 == 0d32 bit -->
        <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="02 40 6F 77"/>
        </sdoConfig>            
        
        <sdoConfig idx="1C12" subIdx="01">
            <sdoDataRaw data="00 16"/>
        </sdoConfig>
        
        <sdoConfig idx="1C12" subIdx="00">
            <sdoDataRaw data="01"/>
        </sdoConfig>

        <sdoConfig idx="1C13" subIdx="01">
            <sdoDataRaw data="00 1A"/>
        </sdoConfig>
        
        <sdoConfig idx="1C13" subIdx="00">
            <sdoDataRaw data="01"/>
        </sdoConfig>        
        
        <!-- Set OpMode to Cyclic Synchronous Position IN MY CASE 0x08(0d08) und 0xFA(0d-06) -->
        <sdoConfig idx="6060" subIdx="00">
            <sdoDataRaw data="08"/>  
        </sdoConfig>

        <!-- Set Cycle Time IN MY CASE 0x02(0d02) und 0xFD(0d-03)-->
        <sdoConfig idx="60C2" subIdx="01">
            <sdoDataRaw data="02"/> 
        </sdoConfig>

        <!-- Set Cycle exp = (-3) == 10^(-3) -->
        <sdoConfig idx="60C2" subIdx="02">
            <sdoDataRaw data="FD"/> 
        </sdoConfig>
        
        <syncManager idx="0" dir="out">
          </syncManager>
          <syncManager idx="1" dir="in">
          </syncManager>
          <syncManager idx="2" dir="out">
            <pdo idx="1600">
              <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="target-controlword" halType="u32"/>
              <pdoEntry idx="60C1" subIdx="00" bitLen="32" halPin="targer-position" halType="float" scale="0.0000762939453125"/>
            </pdo>
          </syncManager>
          <syncManager idx="3" dir="in">
            <pdo idx="1A00">  
              <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
              <pdoEntry idx="6063" subIdx="00" bitLen="32" halPin="actual-position" halType="float" scale="0.0000762939453125"/>
            </pdo>
        </syncManager>
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
    </slave>
  </master>
</masters>

is it right write of startup SDO sequence from twincat do you think please? 
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02 Dec 2022 20:50 #258365 by db1981
Replied by db1981 on topic DC configuration
i've did an mistake in the last post: refclocksynccycles has to be an numberd value.

sync0Cycle = *2 (every second ethercat cycle) may be work to, but is uselles because motion and pids will see the same values for 2 cycles.

Startup Data as SDO Config should work

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04 Dec 2022 01:47 #258471 by mehdidadash
Replied by mehdidadash on topic DC configuration
There is a xml file in deltaww download center for ethercat servo drives. Can it be usefull for this topic?
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06 Dec 2022 20:43 #258738 by foxington
Replied by foxington on topic DC configuration
I tried it several times to push it to OP state in past days.. but without sucess... posting more information about problematic drive in the first spoiler... I do not know why it not setuping all PDOs in .xml file just only first row of configuration... see below in second spoiler 

finally generated dmesg from ethercat in the third spoiler... anybody knowledge what to do in next step please???

Warning: Spoiler!

user@debian:~$ ethercat pdos -v
SM0: PhysAddr 0x1800, DefaultSize  512, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1c00, DefaultSize  512, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x24, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
SM3: PhysAddr 0x11c8, DefaultSize    0, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
[   26.182096] IPv6: ADDRCONF(NETDEV_UP): enp16s0: link is not ready
[   26.183174] 8139too 0000:10:00.0 enp16s0: link down
[   26.183218] IPv6: ADDRCONF(NETDEV_UP): enp16s0: link is not ready
[   97.439109] e1000e: enp0s25 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None
[   97.439218] e1000e 0000:00:19.0 enp0s25: 10/100 speed: disabling TSO
[   97.441013] EtherCAT 0: Link state of ecm0 changed to UP.
[   97.445061] EtherCAT 0: 1 slave(s) responding on main device.
[   97.445064] EtherCAT 0: Slave states on main device: INIT.
[   97.445875] EtherCAT 0: Scanning bus.
[   97.542131] EtherCAT 0: Bus scanning completed in 96 ms.
[   97.542134] EtherCAT 0: Using slave main-0 as DC reference clock.
[   97.546166] EtherCAT 0: Slave states on main device: PREOP.
[   97.562286] EtherCAT 0: Slave states on main device: INIT.
[   97.586583] EtherCAT 0: Slave states on main device: PREOP.
[  335.714314] usb 3-6: new high-speed USB device number 2 using ehci-pci
[  335.872484] usb 3-6: New USB device found, idVendor=ffff, idProduct=5678, bcdDevice= 2.00
[  335.872487] usb 3-6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  335.872489] usb 3-6: Product: Disk 2.0
[  335.872491] usb 3-6: Manufacturer: USB
[  335.872493] usb 3-6: SerialNumber: 1207821257602681160
[  335.949970] usb-storage 3-6:1.0: USB Mass Storage device detected
[  335.950096] scsi host6: usb-storage 3-6:1.0
[  335.950195] usbcore: registered new interface driver usb-storage
[  335.970415] usbcore: registered new interface driver uas
[  336.975272] scsi 6:0:0:0: Direct-Access     VendorCo ProductCode      2.00 PQ: 0 ANSI: 4
[  336.976244] sd 6:0:0:0: Attached scsi generic sg1 type 0
[  336.976612] sd 6:0:0:0: [sdb] 30679040 512-byte logical blocks: (15.7 GB/14.6 GiB)
[  336.977230] sd 6:0:0:0: [sdb] Write Protect is off
[  336.977232] sd 6:0:0:0: [sdb] Mode Sense: 03 00 00 00
[  336.977857] sd 6:0:0:0: [sdb] No Caching mode page found
[  336.977863] sd 6:0:0:0: [sdb] Assuming drive cache: write through
[  336.984869]  sdb: sdb1
[  336.988514] sd 6:0:0:0: [sdb] Attached SCSI removable disk
[  346.041670] fuse init (API version 7.27)
[  648.045593] EtherCAT: Requesting master 0...
[  648.045596] EtherCAT: Successfully requested master 0.
[  648.045740] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  648.045742] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 00000000d800b4df.
[  648.048783] EtherCAT 0: Master thread exited.
[  648.048786] EtherCAT 0: Starting EtherCAT-OP thread.
[  648.086860] EtherCAT 0: Slave states on main device: INIT.
[  648.110963] EtherCAT 0: Slave states on main device: PREOP.
[  648.295624] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  648.295630] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  648.295632] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  657.006988] EtherCAT 0: Master thread exited.
[  657.007000] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  657.007042] EtherCAT 0: 0 slave(s) responding on main device.
[  657.007048] EtherCAT 0: Releasing master...
[  657.007049] EtherCAT 0: Released.
[  657.015095] EtherCAT 0: 1 slave(s) responding on main device.
[  657.015097] EtherCAT 0: Slave states on main device: INIT.
[  657.015890] EtherCAT 0: Scanning bus.
[  657.106819] EtherCAT 0: Bus scanning completed in 92 ms.
[  657.106822] EtherCAT 0: Using slave main-0 as DC reference clock.
[  657.110852] EtherCAT 0: Slave states on main device: PREOP.
[  657.126999] EtherCAT 0: Slave states on main device: INIT.
[  657.151197] EtherCAT 0: Slave states on main device: PREOP.
[  657.510208] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[  690.926483] EtherCAT: Requesting master 0...
[  690.926486] EtherCAT: Successfully requested master 0.
[  690.926634] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  690.926636] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 000000003531ff15.
[  690.928216] EtherCAT 0: Master thread exited.
[  690.928219] EtherCAT 0: Starting EtherCAT-OP thread.
[  690.928288] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  690.963698] EtherCAT 0: Slave states on main device: INIT.
[  690.987835] EtherCAT 0: Slave states on main device: PREOP.
[  691.172578] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  691.172584] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  691.172585] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  783.822522] EtherCAT 0: Master thread exited.
[  783.822534] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  783.822651] EtherCAT 0: Releasing master...
[  783.822652] EtherCAT 0: Released.
[  783.822824] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized.
[  783.835486] EtherCAT 0: Slave states on main device: INIT.
[  783.859750] EtherCAT 0: Slave states on main device: PREOP.
[  784.013161] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[  785.745352] perf: interrupt took too long (2512 > 2500), lowering kernel.perf_event_max_sample_rate to 79500
[  786.911139] EtherCAT: Requesting master 0...
[  786.911142] EtherCAT: Successfully requested master 0.
[  786.911289] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  786.911292] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 00000000d624110f.
[  786.913195] EtherCAT 0: Master thread exited.
[  786.913197] EtherCAT 0: Starting EtherCAT-OP thread.
[  786.913266] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  786.941206] EtherCAT 0: Slave states on main device: INIT.
[  786.969766] EtherCAT 0: Slave states on main device: PREOP.
[  787.154517] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  787.154523] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  787.154525] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  801.356779] EtherCAT 0: Master thread exited.
[  801.356790] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  801.356834] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: 
[  801.356842] EtherCAT 0: Releasing master...
[  801.356845] Datagram initialized.
[  801.356898] EtherCAT 0: Released.
[  801.368930] EtherCAT 0: Slave states on main device: INIT.
[  801.393080] EtherCAT 0: Slave states on main device: PREOP.
[  802.083050] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[  831.280484] EtherCAT: Requesting master 0...
[  831.280489] EtherCAT: Successfully requested master 0.
[  831.280671] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  831.280675] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 00000000985916d7.
[  831.284143] EtherCAT 0: Master thread exited.
[  831.284147] EtherCAT 0: Starting EtherCAT-OP thread.
[  831.284468] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  831.322325] EtherCAT 0: Slave states on main device: INIT.
[  831.346503] EtherCAT 0: Slave states on main device: PREOP.
[  831.531213] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  831.531220] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  831.531223] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  866.942669] EtherCAT 0: Master thread exited.
[  866.942680] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  866.942729] EtherCAT 0: Releasing master...
[  866.942852] EtherCAT 0: 0 slave(s) responding on main device.
[  866.943205] EtherCAT 0: Released.
[  866.950922] EtherCAT 0: 1 slave(s) responding on main device.
[  866.950924] EtherCAT 0: Slave states on main device: INIT.
[  866.951746] EtherCAT 0: Scanning bus.
[  867.049101] EtherCAT 0: Bus scanning completed in 96 ms.
[  867.049105] EtherCAT 0: Using slave main-0 as DC reference clock.
[  867.053156] EtherCAT 0: Slave states on main device: PREOP.
[  867.069304] EtherCAT 0: Slave states on main device: INIT.
[  867.093515] EtherCAT 0: Slave states on main device: PREOP.
[  867.344226] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[  902.021909] EtherCAT: Requesting master 0...
[  902.021913] EtherCAT: Successfully requested master 0.
[  902.022127] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  902.022130] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 0000000033bbd8ba.
[  902.026202] EtherCAT 0: Master thread exited.
[  902.026206] EtherCAT 0: Starting EtherCAT-OP thread.
[  902.026317] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  902.062394] EtherCAT 0: Slave states on main device: INIT.
[  902.086670] EtherCAT 0: Slave states on main device: PREOP.
[  902.272189] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  902.272197] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  902.272199] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  926.859574] perf: interrupt took too long (3146 > 3140), lowering kernel.perf_event_max_sample_rate to 63500
[  941.101340] EtherCAT 0: Master thread exited.
[  941.101352] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  941.101393] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized.
[  941.101397] EtherCAT 0: Releasing master...
[  941.101405] EtherCAT 0: Released.
[  941.113479] EtherCAT 0: Slave states on main device: INIT.
[  941.137636] EtherCAT 0: Slave states on main device: PREOP.
[  941.645745] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[  944.174315] EtherCAT: Requesting master 0...
[  944.174318] EtherCAT: Successfully requested master 0.
[  944.174485] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[  944.174487] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 000000006998077b.
[  944.178205] EtherCAT 0: Master thread exited.
[  944.178208] EtherCAT 0: Starting EtherCAT-OP thread.
[  944.179139] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  944.209349] EtherCAT 0: Slave states on main device: INIT.
[  944.233508] EtherCAT 0: Slave states on main device: PREOP.
[  944.418710] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[  944.418717] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[  944.418720] EtherCAT ERROR 0-main-0: SDO configuration failed.
[  949.833924] EtherCAT 0: Master thread exited.
[  949.833936] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  949.833991] EtherCAT 0: 0 slave(s) responding on main device.
[  949.833995] EtherCAT 0: Releasing master...
[  949.833996] EtherCAT 0: Released.
[  949.842042] EtherCAT 0: 1 slave(s) responding on main device.
[  949.842044] EtherCAT 0: Slave states on main device: INIT.
[  949.842859] EtherCAT 0: Scanning bus.
[  949.935739] EtherCAT 0: Bus scanning completed in 96 ms.
[  949.935743] EtherCAT 0: Using slave main-0 as DC reference clock.
[  949.939770] EtherCAT 0: Slave states on main device: PREOP.
[  949.955923] EtherCAT 0: Slave states on main device: INIT.
[  949.980149] EtherCAT 0: Slave states on main device: PREOP.
[  950.678685] EtherCAT WARNING: Datagram 00000000a12226ae (master-fsm) was SKIPPED 1 time.
[ 1599.205446] EtherCAT: Requesting master 0...
[ 1599.205450] EtherCAT: Successfully requested master 0.
[ 1599.205599] EtherCAT 0: Domain0: Logical address 0x00000000, 12 byte, expected working counter 3.
[ 1599.205601] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 12 byte, type LRW at 00000000d56c7cdc.
[ 1599.208245] EtherCAT 0: Master thread exited.
[ 1599.208249] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1599.208792] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 1599.238308] EtherCAT 0: Slave states on main device: INIT.
[ 1599.262494] EtherCAT 0: Slave states on main device: PREOP.
[ 1599.447257] EtherCAT ERROR 0-main-0: SDO download 0x6060:00 (1 bytes) aborted.
[ 1599.447264] EtherCAT ERROR 0-main-0: SDO abort message 0x06090030: "Value range of parameter exceeded".
[ 1599.447267] EtherCAT ERROR 0-main-0: SDO configuration failed.

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