[ 2070.158906] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 2070.159003] EtherCAT ERROR 0-3: Failed to receive AL state datagram: Datagram initialized.
[ 2070.159045] EtherCAT 0: Releasing master...
[ 2070.159049] EtherCAT 0: Released.
[ 2070.169863] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 2070.178079] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 2070.179515] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 2070.278449] EtherCAT 0: Slave states on main device: PREOP.
[ 2071.122362] EtherCAT WARNING: Datagram 00000000191a1792 (master-fsm) was SKIPPED 1 time.
[ 2095.297643] EtherCAT: Requesting master 0...
[ 2095.297650] EtherCAT: Successfully requested master 0.
[ 2095.302963] EtherCAT 0: Domain0: Logical address 0x00000000, 292 byte, expected working counter 21.
[ 2095.302970] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 292 byte, type LRW at 00000000c6ac9d16.
[ 2095.302999] EtherCAT 0: Master thread exited.
[ 2095.303005] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2095.303091] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2095.815930] EtherCAT ERROR 0-0: SDO download 0x1608:00 (1 bytes) aborted.
[ 2095.815941] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.815946] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.815948] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x7008:01/1 0x7008:02/1 0x7008:03/1 0x7008:04/1 0x7008:05/1 0x7008:06/1 0x7008:07/1 0x7008:08/1. Entries to map: 0x7008:01/1 0x7008:02/1 0x7008:03/1 0x7008:04/1 0x7008:05/1 0x7008:06/1 0x7008:07/1 0x7008:08/1
[ 2095.815969] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1608.
[ 2095.818948] EtherCAT ERROR 0-0: SDO download 0x1609:00 (1 bytes) aborted.
[ 2095.818956] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.818959] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.818961] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x7009:01/1 0x7009:02/1 0x7009:03/1 0x7009:04/1 0x7009:05/1 0x7009:06/1 0x7009:07/1 0x7009:08/1. Entries to map: 0x7009:01/1 0x7009:02/1 0x7009:03/1 0x7009:04/1 0x7009:05/1 0x7009:06/1 0x7009:07/1 0x7009:08/1
[ 2095.818982] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1609.
[ 2095.821935] EtherCAT ERROR 0-0: SDO download 0x160A:00 (1 bytes) aborted.
[ 2095.821941] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.821944] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.821946] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x700A:01/1 0x700A:02/1 0x700A:03/1 0x700A:04/1 0x700A:05/1 0x700A:06/1 0x700A:07/1 0x700A:08/1. Entries to map: 0x700A:01/1 0x700A:02/1 0x700A:03/1 0x700A:04/1 0x700A:05/1 0x700A:06/1 0x700A:07/1 0x700A:08/1
[ 2095.821966] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160A.
[ 2095.824938] EtherCAT ERROR 0-0: SDO download 0x160B:00 (1 bytes) aborted.
[ 2095.824945] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.824949] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.824950] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x700B:01/1 0x700B:02/1 0x700B:03/1 0x700B:04/1 0x700B:05/1 0x700B:06/1 0x700B:07/1 0x700B:08/1. Entries to map: 0x700B:01/1 0x700B:02/1 0x700B:03/1 0x700B:04/1 0x700B:05/1 0x700B:06/1 0x700B:07/1 0x700B:08/1
[ 2095.824971] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160B.
[ 2095.828941] EtherCAT ERROR 0-0: SDO download 0x160C:00 (1 bytes) aborted.
[ 2095.828951] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.828955] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.828957] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x700C:01/1 0x700C:02/1 0x700C:03/1 0x700C:04/1 0x700C:05/1 0x700C:06/1 0x700C:07/1 0x700C:08/1. Entries to map: 0x700C:01/1 0x700C:02/1 0x700C:03/1 0x700C:04/1 0x700C:05/1 0x700C:06/1 0x700C:07/1 0x700C:08/1
[ 2095.828980] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160C.
[ 2095.832942] EtherCAT ERROR 0-0: SDO download 0x160D:00 (1 bytes) aborted.
[ 2095.832954] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.832958] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.832960] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x700D:01/1 0x700D:02/1 0x700D:03/1 0x700D:04/1 0x700D:05/1 0x700D:06/1 0x700D:07/1 0x700D:08/1. Entries to map: 0x700D:01/1 0x700D:02/1 0x700D:03/1 0x700D:04/1 0x700D:05/1 0x700D:06/1 0x700D:07/1 0x700D:08/1
[ 2095.832983] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160D.
[ 2095.836940] EtherCAT ERROR 0-0: SDO download 0x160E:00 (1 bytes) aborted.
[ 2095.836950] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.836954] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.836956] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x700E:01/1 0x700E:02/1 0x700E:03/1 0x700E:04/1 0x700E:05/1 0x700E:06/1 0x700E:07/1 0x700E:08/1. Entries to map: 0x700E:01/1 0x700E:02/1 0x700E:03/1 0x700E:04/1 0x700E:05/1 0x700E:06/1 0x700E:07/1 0x700E:08/1
[ 2095.836977] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x160E.
[ 2095.840944] EtherCAT ERROR 0-0: SDO download 0x1AFF:00 (1 bytes) aborted.
[ 2095.840952] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.840956] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.840958] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0xF100:01/32 0xF100:02/32. Entries to map: 0xF100:01/32 0xF100:02/32
[ 2095.840966] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1AFF.
[ 2095.843942] EtherCAT ERROR 0-0: SDO download 0x1A00:00 (1 bytes) aborted.
[ 2095.843952] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.843956] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.843958] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1. Entries to map: 0x6000:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x6000:05/1 0x6000:06/1 0x6000:07/1 0x6000:08/1
[ 2095.843980] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A00.
[ 2095.846941] EtherCAT ERROR 0-0: SDO download 0x1A01:00 (1 bytes) aborted.
[ 2095.846947] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.846950] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.846952] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6001:01/1 0x6001:02/1 0x6001:03/1 0x6001:04/1 0x6001:05/1 0x6001:06/1 0x6001:07/1 0x6001:08/1. Entries to map: 0x6001:01/1 0x6001:02/1 0x6001:03/1 0x6001:04/1 0x6001:05/1 0x6001:06/1 0x6001:07/1 0x6001:08/1
[ 2095.846972] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A01.
[ 2095.849946] EtherCAT ERROR 0-0: SDO download 0x1A02:00 (1 bytes) aborted.
[ 2095.849951] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.849955] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.849956] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6002:01/1 0x6002:02/1 0x6002:03/1 0x6002:04/1 0x6002:05/1 0x6002:06/1 0x6002:07/1 0x6002:08/1. Entries to map: 0x6002:01/1 0x6002:02/1 0x6002:03/1 0x6002:04/1 0x6002:05/1 0x6002:06/1 0x6002:07/1 0x6002:08/1
[ 2095.849978] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A02.
[ 2095.852947] EtherCAT ERROR 0-0: SDO download 0x1A03:00 (1 bytes) aborted.
[ 2095.852953] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.852957] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.852959] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6003:01/1 0x6003:02/1 0x6003:03/1 0x6003:04/1 0x6003:05/1 0x6003:06/1 0x6003:07/1 0x6003:08/1. Entries to map: 0x6003:01/1 0x6003:02/1 0x6003:03/1 0x6003:04/1 0x6003:05/1 0x6003:06/1 0x6003:07/1 0x6003:08/1
[ 2095.852980] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A03.
[ 2095.855946] EtherCAT ERROR 0-0: SDO download 0x1A04:00 (1 bytes) aborted.
[ 2095.855951] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.855954] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.855956] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6004:01/1 0x6004:02/1 0x6004:03/1 0x6004:04/1 0x6004:05/1 0x6004:06/1 0x6004:07/1 0x6004:08/1. Entries to map: 0x6004:01/1 0x6004:02/1 0x6004:03/1 0x6004:04/1 0x6004:05/1 0x6004:06/1 0x6004:07/1 0x6004:08/1
[ 2095.855976] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A04.
[ 2095.858956] EtherCAT ERROR 0-0: SDO download 0x1A05:00 (1 bytes) aborted.
[ 2095.858962] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.858965] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.858967] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6005:01/1 0x6005:02/1 0x6005:03/1 0x6005:04/1 0x6005:05/1 0x6005:06/1 0x6005:07/1 0x6005:08/1. Entries to map: 0x6005:01/1 0x6005:02/1 0x6005:03/1 0x6005:04/1 0x6005:05/1 0x6005:06/1 0x6005:07/1 0x6005:08/1
[ 2095.858990] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A05.
[ 2095.861946] EtherCAT ERROR 0-0: SDO download 0x1A06:00 (1 bytes) aborted.
[ 2095.861950] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.861954] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.861955] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6006:01/1 0x6006:02/1 0x6006:03/1 0x6006:04/1 0x6006:05/1 0x6006:06/1 0x6006:07/1 0x6006:08/1. Entries to map: 0x6006:01/1 0x6006:02/1 0x6006:03/1 0x6006:04/1 0x6006:05/1 0x6006:06/1 0x6006:07/1 0x6006:08/1
[ 2095.861975] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A06.
[ 2095.864953] EtherCAT ERROR 0-0: SDO download 0x1A07:00 (1 bytes) aborted.
[ 2095.864958] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.864961] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.864963] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6007:01/1 0x6007:02/1 0x6007:03/1 0x6007:04/1 0x6007:05/1 0x6007:06/1 0x6007:07/1 0x6007:08/1. Entries to map: 0x6007:01/1 0x6007:02/1 0x6007:03/1 0x6007:04/1 0x6007:05/1 0x6007:06/1 0x6007:07/1 0x6007:08/1
[ 2095.864982] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A07.
[ 2095.867943] EtherCAT ERROR 0-0: SDO download 0x1A0F:00 (1 bytes) aborted.
[ 2095.867949] EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 2095.867952] EtherCAT WARNING 0-0: Failed to clear PDO mapping.
[ 2095.867954] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x600F:01/1 0x600F:02/1 0x600F:03/1 0x600F:04/1 0x600F:05/1 0x600F:06/1 0x600F:07/1 0x600F:08/1. Entries to map: 0x600F:01/1 0x600F:02/1 0x600F:03/1 0x600F:04/1 0x600F:05/1 0x600F:06/1 0x600F:07/1 0x600F:08/1
[ 2095.867973] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1A0F.
[ 2095.871946] EtherCAT 0: Domain 0: Working counter changed to 3/21.
[ 2095.958994] EtherCAT ERROR: PDO 0x1A02 is already mapped!
[ 2095.959005] EtherCAT WARNING 0-1: PDO configuration failed.
[ 2096.875280] EtherCAT 0: Domain 0: 2 working counter changes - now 9/21.
[ 2097.879647] EtherCAT 0: Domain 0: 2 working counter changes - now 15/21.
[ 2098.655456] EtherCAT 0: Slave states on main device: OP.
[ 2098.883954] EtherCAT 0: Domain 0: 3 working counter changes - now 21/21.