[ 459.958251] EtherCAT WARNING 0-1: Slave did not sync after 5000 ms. [ 459.958258] EtherCAT DEBUG 0-1: ref_time=821893504695851000 [ 459.958260] EtherCAT DEBUG 0-1: app_time=821893515045115139 [ 459.958261] EtherCAT DEBUG 0-1: start_time=821893515145115139 [ 459.958263] EtherCAT DEBUG 0-1: cycle=1000000 [ 459.958264] EtherCAT DEBUG 0-1: shift_time=25000 [ 459.958265] EtherCAT DEBUG 0-1: remainder=264139 [ 459.958266] EtherCAT DEBUG 0-1: start=821893515145876000 [ 459.958268] EtherCAT DEBUG 0-1: Setting DC cyclic operation start time to 821893515145876000. [ 459.960250] EtherCAT DEBUG 0-1: Setting DC AssignActivate to 0x0300. [ 459.966251] EtherCAT DEBUG 0-1: Now in SAFEOP. [ 460.260252] EtherCAT DEBUG 0-1: Now in OP. Finished configuration. [ 460.265932] EtherCAT DEBUG 0-2: Changing state from PREOP to OP. [ 460.265935] EtherCAT DEBUG 0-2: Configuring... [ 460.269249] EtherCAT DEBUG 0-2: Now in INIT. [ 460.269257] EtherCAT DEBUG 0-2: Clearing FMMU configurations... [ 460.271251] EtherCAT DEBUG 0-2: Clearing sync manager configurations... [ 460.273251] EtherCAT DEBUG 0-2: Clearing DC assignment... [ 460.275250] EtherCAT DEBUG 0-2: Configuring mailbox sync managers... [ 460.275258] EtherCAT DEBUG 0-2: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1 [ 460.275262] EtherCAT DEBUG 0-2: SM1: Addr 0x1400, Size 256, Ctrl 0x22, En 1 [ 460.277251] EtherCAT DEBUG 0-2: Assigning SII access to PDI. [ 460.283252] EtherCAT DEBUG 0-2: Now in PREOP. [ 460.283261] EtherCAT DEBUG 0-2: Assigning SII access back to EtherCAT. [ 460.285263] EtherCAT DEBUG 0-2: Reading mapping of PDO 0x1600. [ 460.285266] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:00. [ 460.285269] EtherCAT DEBUG 0-2: Upload request: [ 460.285270] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ 460.291252] EtherCAT DEBUG 0-2: Upload response: [ 460.291259] EtherCAT DEBUG: 00 30 4F 00 16 00 03 00 00 00 [ 460.291266] EtherCAT DEBUG 0-2: Uploaded data: [ 460.291267] EtherCAT DEBUG: 03 [ 460.291269] EtherCAT DEBUG 0-2: 3 PDO entries mapped. [ 460.291271] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:01. [ 460.291272] EtherCAT DEBUG 0-2: Upload request: [ 460.291273] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ 460.297251] EtherCAT DEBUG 0-2: Upload response: [ 460.297258] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 [ 460.297265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.297266] EtherCAT DEBUG: 10 00 40 60 [ 460.297269] EtherCAT DEBUG 0-2: PDO entry 0x6040:00, 16 bit, "???". [ 460.297272] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:02. [ 460.297273] EtherCAT DEBUG 0-2: Upload request: [ 460.297274] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ 460.303251] EtherCAT DEBUG 0-2: Upload response: [ 460.303258] EtherCAT DEBUG: 00 30 43 00 16 02 20 00 7A 60 [ 460.303265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.303266] EtherCAT DEBUG: 20 00 7A 60 [ 460.303269] EtherCAT DEBUG 0-2: PDO entry 0x607A:00, 32 bit, "???". [ 460.303272] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:03. [ 460.303273] EtherCAT DEBUG 0-2: Upload request: [ 460.303274] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ 460.309251] EtherCAT DEBUG 0-2: Upload response: [ 460.309258] EtherCAT DEBUG: 00 30 43 00 16 03 10 00 B8 60 [ 460.309265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.309266] EtherCAT DEBUG: 10 00 B8 60 [ 460.309269] EtherCAT DEBUG 0-2: PDO entry 0x60B8:00, 16 bit, "???". [ 460.309272] EtherCAT DEBUG 0-2: Changing mapping of PDO 0x1600. [ 460.309273] EtherCAT DEBUG 0-2: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B8:00/16. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x607C:00/32 0x6098:00/8 0x6099:01/32 0x6099:02/32 0x609A:00/32 [ 460.309292] EtherCAT DEBUG 0-2: Setting entry count to zero. [ 460.309293] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:00. [ 460.309295] EtherCAT DEBUG: 00 [ 460.309297] EtherCAT DEBUG 0-2: Expedited download request: [ 460.309298] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 [ 460.315252] EtherCAT DEBUG 0-2: Download response: [ 460.315259] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 [ 460.315265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 460.315268] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:01. [ 460.315269] EtherCAT DEBUG: 10 00 40 60 [ 460.315273] EtherCAT DEBUG 0-2: Expedited download request: [ 460.315274] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 [ 460.321251] EtherCAT DEBUG 0-2: Download response: [ 460.321258] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 [ 460.321265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6060:00 (8 bit) at position 2. [ 460.321267] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:02. [ 460.321269] EtherCAT DEBUG: 08 00 60 60 [ 460.321272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.321273] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60 [ 460.327251] EtherCAT DEBUG 0-2: Download response: [ 460.327258] EtherCAT DEBUG: 00 30 60 00 16 02 08 00 60 60 [ 460.327265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x607A:00 (32 bit) at position 3. [ 460.327267] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:03. [ 460.327269] EtherCAT DEBUG: 20 00 7A 60 [ 460.327272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.327273] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60 [ 460.333250] EtherCAT DEBUG 0-2: Download response: [ 460.333258] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 7A 60 [ 460.333265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x60FF:00 (32 bit) at position 4. [ 460.333267] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:04. [ 460.333269] EtherCAT DEBUG: 20 00 FF 60 [ 460.333272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.333273] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60 [ 460.339252] EtherCAT DEBUG 0-2: Download response: [ 460.339259] EtherCAT DEBUG: 00 30 60 00 16 04 20 00 FF 60 [ 460.339265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x607C:00 (32 bit) at position 5. [ 460.339268] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:05. [ 460.339269] EtherCAT DEBUG: 20 00 7C 60 [ 460.339272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.339274] EtherCAT DEBUG: 00 20 23 00 16 05 20 00 7C 60 [ 460.345250] EtherCAT DEBUG 0-2: Download response: [ 460.345257] EtherCAT DEBUG: 00 30 60 00 16 05 20 00 7C 60 [ 460.345264] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6098:00 (8 bit) at position 6. [ 460.345266] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:06. [ 460.345268] EtherCAT DEBUG: 08 00 98 60 [ 460.345271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.345272] EtherCAT DEBUG: 00 20 23 00 16 06 08 00 98 60 [ 460.351251] EtherCAT DEBUG 0-2: Download response: [ 460.351258] EtherCAT DEBUG: 00 30 60 00 16 06 08 00 98 60 [ 460.351265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6099:01 (32 bit) at position 7. [ 460.351268] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:07. [ 460.351269] EtherCAT DEBUG: 20 01 99 60 [ 460.351272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.351273] EtherCAT DEBUG: 00 20 23 00 16 07 20 01 99 60 [ 460.357250] EtherCAT DEBUG 0-2: Download response: [ 460.357258] EtherCAT DEBUG: 00 30 60 00 16 07 20 01 99 60 [ 460.357265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6099:02 (32 bit) at position 8. [ 460.357268] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:08. [ 460.357269] EtherCAT DEBUG: 20 02 99 60 [ 460.357273] EtherCAT DEBUG 0-2: Expedited download request: [ 460.357274] EtherCAT DEBUG: 00 20 23 00 16 08 20 02 99 60 [ 460.363251] EtherCAT DEBUG 0-2: Download response: [ 460.363258] EtherCAT DEBUG: 00 30 60 00 16 08 20 02 99 60 [ 460.363265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x609A:00 (32 bit) at position 9. [ 460.363267] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:09. [ 460.363269] EtherCAT DEBUG: 20 00 9A 60 [ 460.363272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.363273] EtherCAT DEBUG: 00 20 23 00 16 09 20 00 9A 60 [ 460.369250] EtherCAT DEBUG 0-2: Download response: [ 460.369257] EtherCAT DEBUG: 00 30 60 00 16 09 20 00 9A 60 [ 460.369264] EtherCAT DEBUG 0-2: Setting number of PDO entries to 9. [ 460.369266] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:00. [ 460.369267] EtherCAT DEBUG: 09 [ 460.369269] EtherCAT DEBUG 0-2: Expedited download request: [ 460.369270] EtherCAT DEBUG: 00 20 2F 00 16 00 09 00 00 00 [ 460.375251] EtherCAT DEBUG 0-2: Download response: [ 460.375259] EtherCAT DEBUG: 00 30 60 00 16 00 09 00 00 00 [ 460.375265] EtherCAT DEBUG 0-2: Successfully configured mapping for PDO 0x1600. [ 460.375267] EtherCAT DEBUG 0-2: Setting PDO assignment of SM2: [ 460.375269] EtherCAT DEBUG 0-2: Currently assigned PDOs: 0x1701. PDOs to assign: 0x1600 [ 460.375273] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to zero. [ 460.375274] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:00. [ 460.375275] EtherCAT DEBUG: 00 [ 460.375277] EtherCAT DEBUG 0-2: Expedited download request: [ 460.375278] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 460.381253] EtherCAT DEBUG 0-2: Download response: [ 460.381260] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 460.381268] EtherCAT DEBUG 0-2: Assigning PDO 0x1600 at position 1. [ 460.381270] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:01. [ 460.381272] EtherCAT DEBUG: 00 16 [ 460.381274] EtherCAT DEBUG 0-2: Expedited download request: [ 460.381275] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 [ 460.387252] EtherCAT DEBUG 0-2: Download response: [ 460.387260] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 [ 460.387267] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to 1. [ 460.387268] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:00. [ 460.387270] EtherCAT DEBUG: 01 [ 460.387271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.387273] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 460.393251] EtherCAT DEBUG 0-2: Download response: [ 460.393258] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 460.393269] EtherCAT DEBUG 0-2: Successfully configured PDO assignment of SM2. [ 460.393274] EtherCAT DEBUG 0-2: Reading mapping of PDO 0x1A00. [ 460.393276] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:00. [ 460.393278] EtherCAT DEBUG 0-2: Upload request: [ 460.393279] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 460.399252] EtherCAT DEBUG 0-2: Upload response: [ 460.399259] EtherCAT DEBUG: 00 30 4F 00 1A 00 07 00 00 00 [ 460.399265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.399267] EtherCAT DEBUG: 07 [ 460.399268] EtherCAT DEBUG 0-2: 7 PDO entries mapped. [ 460.399270] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:01. [ 460.399271] EtherCAT DEBUG 0-2: Upload request: [ 460.399272] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 460.405251] EtherCAT DEBUG 0-2: Upload response: [ 460.405258] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 [ 460.405265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.405266] EtherCAT DEBUG: 10 00 41 60 [ 460.405269] EtherCAT DEBUG 0-2: PDO entry 0x6041:00, 16 bit, "???". [ 460.405272] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:02. [ 460.405273] EtherCAT DEBUG 0-2: Upload request: [ 460.405274] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 460.411251] EtherCAT DEBUG 0-2: Upload response: [ 460.411259] EtherCAT DEBUG: 00 30 43 00 1A 02 20 00 64 60 [ 460.411266] EtherCAT DEBUG 0-2: Uploaded data: [ 460.411267] EtherCAT DEBUG: 20 00 64 60 [ 460.411270] EtherCAT DEBUG 0-2: PDO entry 0x6064:00, 32 bit, "???". [ 460.411272] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:03. [ 460.411274] EtherCAT DEBUG 0-2: Upload request: [ 460.411275] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 460.417251] EtherCAT DEBUG 0-2: Upload response: [ 460.417258] EtherCAT DEBUG: 00 30 43 00 1A 03 10 00 B9 60 [ 460.417265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.417266] EtherCAT DEBUG: 10 00 B9 60 [ 460.417269] EtherCAT DEBUG 0-2: PDO entry 0x60B9:00, 16 bit, "???". [ 460.417272] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:04. [ 460.417273] EtherCAT DEBUG 0-2: Upload request: [ 460.417274] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 460.423251] EtherCAT DEBUG 0-2: Upload response: [ 460.423258] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 BA 60 [ 460.423265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.423266] EtherCAT DEBUG: 20 00 BA 60 [ 460.423269] EtherCAT DEBUG 0-2: PDO entry 0x60BA:00, 32 bit, "???". [ 460.423271] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:05. [ 460.423273] EtherCAT DEBUG 0-2: Upload request: [ 460.423274] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 460.429251] EtherCAT DEBUG 0-2: Upload response: [ 460.429258] EtherCAT DEBUG: 00 30 43 00 1A 05 20 00 BC 60 [ 460.429264] EtherCAT DEBUG 0-2: Uploaded data: [ 460.429265] EtherCAT DEBUG: 20 00 BC 60 [ 460.429269] EtherCAT DEBUG 0-2: PDO entry 0x60BC:00, 32 bit, "???". [ 460.429271] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:06. [ 460.429272] EtherCAT DEBUG 0-2: Upload request: [ 460.429273] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 460.435251] EtherCAT DEBUG 0-2: Upload response: [ 460.435258] EtherCAT DEBUG: 00 30 43 00 1A 06 10 00 3F 60 [ 460.435265] EtherCAT DEBUG 0-2: Uploaded data: [ 460.435266] EtherCAT DEBUG: 10 00 3F 60 [ 460.435269] EtherCAT DEBUG 0-2: PDO entry 0x603F:00, 16 bit, "???". [ 460.435272] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:07. [ 460.435273] EtherCAT DEBUG 0-2: Upload request: [ 460.435274] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 460.441250] EtherCAT DEBUG 0-2: Upload response: [ 460.441258] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 FD 60 [ 460.441264] EtherCAT DEBUG 0-2: Uploaded data: [ 460.441265] EtherCAT DEBUG: 20 00 FD 60 [ 460.441269] EtherCAT DEBUG 0-2: PDO entry 0x60FD:00, 32 bit, "???". [ 460.441271] EtherCAT DEBUG 0-2: Changing mapping of PDO 0x1A00. [ 460.441273] EtherCAT DEBUG 0-2: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x603F:00/16 0x60FD:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 [ 460.441291] EtherCAT DEBUG 0-2: Setting entry count to zero. [ 460.441293] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:00. [ 460.441294] EtherCAT DEBUG: 00 [ 460.441296] EtherCAT DEBUG 0-2: Expedited download request: [ 460.441297] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 [ 460.447251] EtherCAT DEBUG 0-2: Download response: [ 460.447258] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 [ 460.447265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 460.447267] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:01. [ 460.447269] EtherCAT DEBUG: 10 00 41 60 [ 460.447272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.447273] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 [ 460.453250] EtherCAT DEBUG 0-2: Download response: [ 460.453258] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 [ 460.453264] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6061:00 (8 bit) at position 2. [ 460.453267] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:02. [ 460.453268] EtherCAT DEBUG: 08 00 61 60 [ 460.453271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.453272] EtherCAT DEBUG: 00 20 23 00 1A 02 08 00 61 60 [ 460.459251] EtherCAT DEBUG 0-2: Download response: [ 460.459258] EtherCAT DEBUG: 00 30 60 00 1A 02 08 00 61 60 [ 460.459264] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6064:00 (32 bit) at position 3. [ 460.459267] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:03. [ 460.459268] EtherCAT DEBUG: 20 00 64 60 [ 460.459271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.459273] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60 [ 460.465250] EtherCAT DEBUG 0-2: Download response: [ 460.465257] EtherCAT DEBUG: 00 30 60 00 1A 03 20 00 64 60 [ 460.465264] EtherCAT DEBUG 0-2: Mapping PDO entry 0x606C:00 (32 bit) at position 4. [ 460.465266] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:04. [ 460.465268] EtherCAT DEBUG: 20 00 6C 60 [ 460.465271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.465272] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 6C 60 [ 460.471252] EtherCAT DEBUG 0-2: Download response: [ 460.471259] EtherCAT DEBUG: 00 30 60 00 1A 04 20 00 6C 60 [ 460.471265] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6077:00 (16 bit) at position 5. [ 460.471268] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:05. [ 460.471269] EtherCAT DEBUG: 10 00 77 60 [ 460.471272] EtherCAT DEBUG 0-2: Expedited download request: [ 460.471274] EtherCAT DEBUG: 00 20 23 00 1A 05 10 00 77 60 [ 460.477251] EtherCAT DEBUG 0-2: Download response: [ 460.477252] EtherCAT DEBUG: 00 30 60 00 1A 05 10 00 77 60 [ 460.477265] EtherCAT DEBUG 0-2: Setting number of PDO entries to 5. [ 460.477266] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:00. [ 460.477268] EtherCAT DEBUG: 05 [ 460.477269] EtherCAT DEBUG 0-2: Expedited download request: [ 460.477270] EtherCAT DEBUG: 00 20 2F 00 1A 00 05 00 00 00 [ 460.483253] EtherCAT DEBUG 0-2: Download response: [ 460.483262] EtherCAT DEBUG: 00 30 60 00 1A 00 05 00 00 00 [ 460.483269] EtherCAT DEBUG 0-2: Successfully configured mapping for PDO 0x1A00. [ 460.483271] EtherCAT DEBUG 0-2: Setting PDO assignment of SM3: [ 460.483272] EtherCAT DEBUG 0-2: Currently assigned PDOs: 0x1B01. PDOs to assign: 0x1A00 [ 460.483276] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to zero. [ 460.483278] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:00. [ 460.483279] EtherCAT DEBUG: 00 [ 460.483281] EtherCAT DEBUG 0-2: Expedited download request: [ 460.483283] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 460.489253] EtherCAT DEBUG 0-2: Download response: [ 460.489261] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 460.489270] EtherCAT DEBUG 0-2: Assigning PDO 0x1A00 at position 1. [ 460.489273] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:01. [ 460.489274] EtherCAT DEBUG: 00 1A [ 460.489276] EtherCAT DEBUG 0-2: Expedited download request: [ 460.489277] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 [ 460.495252] EtherCAT DEBUG 0-2: Download response: [ 460.495260] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 [ 460.495266] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to 1. [ 460.495268] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:00. [ 460.495269] EtherCAT DEBUG: 01 [ 460.495271] EtherCAT DEBUG 0-2: Expedited download request: [ 460.495272] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 460.501251] EtherCAT DEBUG 0-2: Download response: [ 460.501258] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 460.501267] EtherCAT DEBUG 0-2: Successfully configured PDO assignment of SM3. [ 460.501270] EtherCAT DEBUG 0-2: Setting watchdog divider to 2498. [ 460.503251] EtherCAT DEBUG 0-2: Setting process data watchdog intervals to 1000. [ 460.505259] EtherCAT DEBUG 0-2: SM2: Addr 0x1800, Size 28, Ctrl 0x64, En 1 [ 460.505263] EtherCAT DEBUG 0-2: SM3: Addr 0x1C00, Size 13, Ctrl 0x20, En 1 [ 460.507252] EtherCAT DEBUG 0 0:2: FMMU: LogAddr 0x00000052, Size 28, PhysAddr 0x1800, SM2, Dir out [ 460.507261] EtherCAT DEBUG 0 0:2: FMMU: LogAddr 0x0000006E, Size 13, PhysAddr 0x1C00, SM3, Dir in [ 460.509251] EtherCAT DEBUG 0-2: Setting DC cycle times to 1000000 / 0. [ 460.511251] EtherCAT DEBUG 0-2: Checking for synchrony. [ 460.513251] EtherCAT DEBUG 0-2: 3091 ns difference after 0 ms. [ 460.513258] EtherCAT DEBUG 0-2: ref_time=821893504695851000 [ 460.513260] EtherCAT DEBUG 0-2: app_time=821893515600115338 [ 460.513261] EtherCAT DEBUG 0-2: start_time=821893515700115338 [ 460.513262] EtherCAT DEBUG 0-2: cycle=1000000 [ 460.513264] EtherCAT DEBUG 0-2: shift_time=25000 [ 460.513265] EtherCAT DEBUG 0-2: remainder=264338 [ 460.513266] EtherCAT DEBUG 0-2: start=821893515700876000 [ 460.513267] EtherCAT DEBUG 0-2: Setting DC cyclic operation start time to 821893515700876000. [ 460.515250] EtherCAT DEBUG 0-2: Setting DC AssignActivate to 0x0300. [ 460.521251] EtherCAT DEBUG 0-2: Now in SAFEOP. [ 460.815252] EtherCAT DEBUG 0-2: Now in OP. Finished configuration. [ 460.821933] EtherCAT DEBUG 0-3: Changing state from PREOP to OP. [ 460.821936] EtherCAT DEBUG 0-3: Configuring... [ 460.825250] EtherCAT DEBUG 0-3: Now in INIT. [ 460.825257] EtherCAT DEBUG 0-3: Clearing FMMU configurations... [ 460.827251] EtherCAT DEBUG 0-3: Clearing sync manager configurations... [ 460.829250] EtherCAT DEBUG 0-3: Clearing DC assignment... [ 460.831251] EtherCAT DEBUG 0-3: Configuring mailbox sync managers... [ 460.831259] EtherCAT DEBUG 0-3: SM0: Addr 0x1000, Size 256, Ctrl 0x26, En 1 [ 460.831262] EtherCAT DEBUG 0-3: SM1: Addr 0x1400, Size 256, Ctrl 0x22, En 1 [ 460.833250] EtherCAT DEBUG 0-3: Assigning SII access to PDI. [ 460.839250] EtherCAT DEBUG 0-3: Now in PREOP. [ 460.839258] EtherCAT DEBUG 0-3: Assigning SII access back to EtherCAT. [ 460.841263] EtherCAT DEBUG 0-3: Reading mapping of PDO 0x1600. [ 460.841266] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:00. [ 460.841268] EtherCAT DEBUG 0-3: Upload request: [ 460.841269] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ 460.847251] EtherCAT DEBUG 0-3: Upload response: [ 460.847258] EtherCAT DEBUG: 00 30 4F 00 16 00 03 00 00 00 [ 460.847265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.847266] EtherCAT DEBUG: 03 [ 460.847268] EtherCAT DEBUG 0-3: 3 PDO entries mapped. [ 460.847269] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:01. [ 460.847271] EtherCAT DEBUG 0-3: Upload request: [ 460.847272] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ 460.853250] EtherCAT DEBUG 0-3: Upload response: [ 460.853257] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 [ 460.853264] EtherCAT DEBUG 0-3: Uploaded data: [ 460.853265] EtherCAT DEBUG: 10 00 40 60 [ 460.853268] EtherCAT DEBUG 0-3: PDO entry 0x6040:00, 16 bit, "???". [ 460.853271] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:02. [ 460.853272] EtherCAT DEBUG 0-3: Upload request: [ 460.853273] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ 460.859250] EtherCAT DEBUG 0-3: Upload response: [ 460.859258] EtherCAT DEBUG: 00 30 43 00 16 02 20 00 7A 60 [ 460.859264] EtherCAT DEBUG 0-3: Uploaded data: [ 460.859265] EtherCAT DEBUG: 20 00 7A 60 [ 460.859269] EtherCAT DEBUG 0-3: PDO entry 0x607A:00, 32 bit, "???". [ 460.859271] EtherCAT DEBUG 0-3: Uploading SDO 0x1600:03. [ 460.859273] EtherCAT DEBUG 0-3: Upload request: [ 460.859274] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ 460.865250] EtherCAT DEBUG 0-3: Upload response: [ 460.865258] EtherCAT DEBUG: 00 30 43 00 16 03 10 00 B8 60 [ 460.865265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.865266] EtherCAT DEBUG: 10 00 B8 60 [ 460.865269] EtherCAT DEBUG 0-3: PDO entry 0x60B8:00, 16 bit, "???". [ 460.865272] EtherCAT DEBUG 0-3: Changing mapping of PDO 0x1600. [ 460.865273] EtherCAT DEBUG 0-3: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B8:00/16. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32 0x607C:00/32 0x6098:00/8 0x6099:01/32 0x6099:02/32 0x609A:00/32 [ 460.865292] EtherCAT DEBUG 0-3: Setting entry count to zero. [ 460.865294] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:00. [ 460.865295] EtherCAT DEBUG: 00 [ 460.865297] EtherCAT DEBUG 0-3: Expedited download request: [ 460.865298] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 [ 460.871251] EtherCAT DEBUG 0-3: Download response: [ 460.871258] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 [ 460.871265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [ 460.871268] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:01. [ 460.871269] EtherCAT DEBUG: 10 00 40 60 [ 460.871272] EtherCAT DEBUG 0-3: Expedited download request: [ 460.871273] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 [ 460.877251] EtherCAT DEBUG 0-3: Download response: [ 460.877258] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 [ 460.877264] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6060:00 (8 bit) at position 2. [ 460.877267] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:02. [ 460.877268] EtherCAT DEBUG: 08 00 60 60 [ 460.877271] EtherCAT DEBUG 0-3: Expedited download request: [ 460.877272] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60 [ 460.883251] EtherCAT DEBUG 0-3: Download response: [ 460.883258] EtherCAT DEBUG: 00 30 60 00 16 02 08 00 60 60 [ 460.883265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x607A:00 (32 bit) at position 3. [ 460.883268] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:03. [ 460.883269] EtherCAT DEBUG: 20 00 7A 60 [ 460.883272] EtherCAT DEBUG 0-3: Expedited download request: [ 460.883273] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60 [ 460.889252] EtherCAT DEBUG 0-3: Download response: [ 460.889260] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 7A 60 [ 460.889267] EtherCAT DEBUG 0-3: Mapping PDO entry 0x60FF:00 (32 bit) at position 4. [ 460.889270] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:04. [ 460.889271] EtherCAT DEBUG: 20 00 FF 60 [ 460.889274] EtherCAT DEBUG 0-3: Expedited download request: [ 460.889275] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60 [ 460.895254] EtherCAT DEBUG 0-3: Download response: [ 460.895262] EtherCAT DEBUG: 00 30 60 00 16 04 20 00 FF 60 [ 460.895269] EtherCAT DEBUG 0-3: Mapping PDO entry 0x607C:00 (32 bit) at position 5. [ 460.895272] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:05. [ 460.895274] EtherCAT DEBUG: 20 00 7C 60 [ 460.895278] EtherCAT DEBUG 0-3: Expedited download request: [ 460.895279] EtherCAT DEBUG: 00 20 23 00 16 05 20 00 7C 60 [ 460.901250] EtherCAT DEBUG 0-3: Download response: [ 460.901257] EtherCAT DEBUG: 00 30 60 00 16 05 20 00 7C 60 [ 460.901264] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6098:00 (8 bit) at position 6. [ 460.901266] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:06. [ 460.901268] EtherCAT DEBUG: 08 00 98 60 [ 460.901271] EtherCAT DEBUG 0-3: Expedited download request: [ 460.901272] EtherCAT DEBUG: 00 20 23 00 16 06 08 00 98 60 [ 460.907251] EtherCAT DEBUG 0-3: Download response: [ 460.907258] EtherCAT DEBUG: 00 30 60 00 16 06 08 00 98 60 [ 460.907265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6099:01 (32 bit) at position 7. [ 460.907267] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:07. [ 460.907269] EtherCAT DEBUG: 20 01 99 60 [ 460.907272] EtherCAT DEBUG 0-3: Expedited download request: [ 460.907273] EtherCAT DEBUG: 00 20 23 00 16 07 20 01 99 60 [ 460.913252] EtherCAT DEBUG 0-3: Download response: [ 460.913260] EtherCAT DEBUG: 00 30 60 00 16 07 20 01 99 60 [ 460.913267] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6099:02 (32 bit) at position 8. [ 460.913270] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:08. [ 460.913271] EtherCAT DEBUG: 20 02 99 60 [ 460.913274] EtherCAT DEBUG 0-3: Expedited download request: [ 460.913276] EtherCAT DEBUG: 00 20 23 00 16 08 20 02 99 60 [ 460.919251] EtherCAT DEBUG 0-3: Download response: [ 460.919258] EtherCAT DEBUG: 00 30 60 00 16 08 20 02 99 60 [ 460.919265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x609A:00 (32 bit) at position 9. [ 460.919267] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:09. [ 460.919269] EtherCAT DEBUG: 20 00 9A 60 [ 460.919272] EtherCAT DEBUG 0-3: Expedited download request: [ 460.919273] EtherCAT DEBUG: 00 20 23 00 16 09 20 00 9A 60 [ 460.925250] EtherCAT DEBUG 0-3: Download response: [ 460.925252] EtherCAT DEBUG: 00 30 60 00 16 09 20 00 9A 60 [ 460.925264] EtherCAT DEBUG 0-3: Setting number of PDO entries to 9. [ 460.925266] EtherCAT DEBUG 0-3: Downloading SDO 0x1600:00. [ 460.925267] EtherCAT DEBUG: 09 [ 460.925269] EtherCAT DEBUG 0-3: Expedited download request: [ 460.925270] EtherCAT DEBUG: 00 20 2F 00 16 00 09 00 00 00 [ 460.931251] EtherCAT DEBUG 0-3: Download response: [ 460.931258] EtherCAT DEBUG: 00 30 60 00 16 00 09 00 00 00 [ 460.931265] EtherCAT DEBUG 0-3: Successfully configured mapping for PDO 0x1600. [ 460.931267] EtherCAT DEBUG 0-3: Setting PDO assignment of SM2: [ 460.931268] EtherCAT DEBUG 0-3: Currently assigned PDOs: 0x1701. PDOs to assign: 0x1600 [ 460.931273] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero. [ 460.931274] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:00. [ 460.931275] EtherCAT DEBUG: 00 [ 460.931277] EtherCAT DEBUG 0-3: Expedited download request: [ 460.931278] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 [ 460.937251] EtherCAT DEBUG 0-3: Download response: [ 460.937258] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 [ 460.937266] EtherCAT DEBUG 0-3: Assigning PDO 0x1600 at position 1. [ 460.937268] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:01. [ 460.937269] EtherCAT DEBUG: 00 16 [ 460.937271] EtherCAT DEBUG 0-3: Expedited download request: [ 460.937272] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 [ 460.943251] EtherCAT DEBUG 0-3: Download response: [ 460.943258] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 [ 460.943264] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to 1. [ 460.943266] EtherCAT DEBUG 0-3: Downloading SDO 0x1C12:00. [ 460.943267] EtherCAT DEBUG: 01 [ 460.943269] EtherCAT DEBUG 0-3: Expedited download request: [ 460.943270] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 [ 460.949251] EtherCAT DEBUG 0-3: Download response: [ 460.949259] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 [ 460.949269] EtherCAT DEBUG 0-3: Successfully configured PDO assignment of SM2. [ 460.949274] EtherCAT DEBUG 0-3: Reading mapping of PDO 0x1A00. [ 460.949276] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:00. [ 460.949278] EtherCAT DEBUG 0-3: Upload request: [ 460.949279] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 460.955251] EtherCAT DEBUG 0-3: Upload response: [ 460.955258] EtherCAT DEBUG: 00 30 4F 00 1A 00 07 00 00 00 [ 460.955265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.955266] EtherCAT DEBUG: 07 [ 460.955268] EtherCAT DEBUG 0-3: 7 PDO entries mapped. [ 460.955269] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:01. [ 460.955271] EtherCAT DEBUG 0-3: Upload request: [ 460.955272] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 460.961251] EtherCAT DEBUG 0-3: Upload response: [ 460.961258] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 [ 460.961265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.961266] EtherCAT DEBUG: 10 00 41 60 [ 460.961269] EtherCAT DEBUG 0-3: PDO entry 0x6041:00, 16 bit, "???". [ 460.961272] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:02. [ 460.961273] EtherCAT DEBUG 0-3: Upload request: [ 460.961274] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 460.967252] EtherCAT DEBUG 0-3: Upload response: [ 460.967260] EtherCAT DEBUG: 00 30 43 00 1A 02 20 00 64 60 [ 460.967267] EtherCAT DEBUG 0-3: Uploaded data: [ 460.967268] EtherCAT DEBUG: 20 00 64 60 [ 460.967271] EtherCAT DEBUG 0-3: PDO entry 0x6064:00, 32 bit, "???". [ 460.967274] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:03. [ 460.967276] EtherCAT DEBUG 0-3: Upload request: [ 460.967277] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 460.973251] EtherCAT DEBUG 0-3: Upload response: [ 460.973258] EtherCAT DEBUG: 00 30 43 00 1A 03 10 00 B9 60 [ 460.973265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.973266] EtherCAT DEBUG: 10 00 B9 60 [ 460.973269] EtherCAT DEBUG 0-3: PDO entry 0x60B9:00, 16 bit, "???". [ 460.973272] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:04. [ 460.973273] EtherCAT DEBUG 0-3: Upload request: [ 460.973274] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 460.979251] EtherCAT DEBUG 0-3: Upload response: [ 460.979252] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 BA 60 [ 460.979264] EtherCAT DEBUG 0-3: Uploaded data: [ 460.979265] EtherCAT DEBUG: 20 00 BA 60 [ 460.979269] EtherCAT DEBUG 0-3: PDO entry 0x60BA:00, 32 bit, "???". [ 460.979271] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:05. [ 460.979273] EtherCAT DEBUG 0-3: Upload request: [ 460.979274] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 460.985250] EtherCAT DEBUG 0-3: Upload response: [ 460.985257] EtherCAT DEBUG: 00 30 43 00 1A 05 20 00 BC 60 [ 460.985264] EtherCAT DEBUG 0-3: Uploaded data: [ 460.985265] EtherCAT DEBUG: 20 00 BC 60 [ 460.985268] EtherCAT DEBUG 0-3: PDO entry 0x60BC:00, 32 bit, "???". [ 460.985271] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:06. [ 460.985272] EtherCAT DEBUG 0-3: Upload request: [ 460.985273] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 460.991253] EtherCAT DEBUG 0-3: Upload response: [ 460.991260] EtherCAT DEBUG: 00 30 43 00 1A 06 10 00 3F 60 [ 460.991267] EtherCAT DEBUG 0-3: Uploaded data: [ 460.991269] EtherCAT DEBUG: 10 00 3F 60 [ 460.991272] EtherCAT DEBUG 0-3: PDO entry 0x603F:00, 16 bit, "???". [ 460.991275] EtherCAT DEBUG 0-3: Uploading SDO 0x1A00:07. [ 460.991276] EtherCAT DEBUG 0-3: Upload request: [ 460.991277] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 460.997251] EtherCAT DEBUG 0-3: Upload response: [ 460.997258] EtherCAT DEBUG: 00 30 43 00 1A 07 20 00 FD 60 [ 460.997265] EtherCAT DEBUG 0-3: Uploaded data: [ 460.997266] EtherCAT DEBUG: 20 00 FD 60 [ 460.997269] EtherCAT DEBUG 0-3: PDO entry 0x60FD:00, 32 bit, "???". [ 460.997272] EtherCAT DEBUG 0-3: Changing mapping of PDO 0x1A00. [ 460.997273] EtherCAT DEBUG 0-3: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x60B9:00/16 0x60BA:00/32 0x60BC:00/32 0x603F:00/16 0x60FD:00/32. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16 [ 460.997293] EtherCAT DEBUG 0-3: Setting entry count to zero. [ 460.997294] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:00. [ 460.997296] EtherCAT DEBUG: 00 [ 460.997298] EtherCAT DEBUG 0-3: Expedited download request: [ 460.997299] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 [ 461.003252] EtherCAT DEBUG 0-3: Download response: [ 461.003260] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 [ 461.003267] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [ 461.003269] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:01. [ 461.003271] EtherCAT DEBUG: 10 00 41 60 [ 461.003274] EtherCAT DEBUG 0-3: Expedited download request: [ 461.003276] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 [ 461.009252] EtherCAT DEBUG 0-3: Download response: [ 461.009259] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 [ 461.009266] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6061:00 (8 bit) at position 2. [ 461.009268] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:02. [ 461.009270] EtherCAT DEBUG: 08 00 61 60 [ 461.009273] EtherCAT DEBUG 0-3: Expedited download request: [ 461.009274] EtherCAT DEBUG: 00 20 23 00 1A 02 08 00 61 60 [ 461.015251] EtherCAT DEBUG 0-3: Download response: [ 461.015258] EtherCAT DEBUG: 00 30 60 00 1A 02 08 00 61 60 [ 461.015265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6064:00 (32 bit) at position 3. [ 461.015268] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:03. [ 461.015269] EtherCAT DEBUG: 20 00 64 60 [ 461.015272] EtherCAT DEBUG 0-3: Expedited download request: [ 461.015273] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60 [ 461.021251] EtherCAT DEBUG 0-3: Download response: [ 461.021258] EtherCAT DEBUG: 00 30 60 00 1A 03 20 00 64 60 [ 461.021265] EtherCAT DEBUG 0-3: Mapping PDO entry 0x606C:00 (32 bit) at position 4. [ 461.021267] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:04. [ 461.021269] EtherCAT DEBUG: 20 00 6C 60 [ 461.021272] EtherCAT DEBUG 0-3: Expedited download request: [ 461.021273] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 6C 60 [ 461.027251] EtherCAT DEBUG 0-3: Download response: [ 461.027259] EtherCAT DEBUG: 00 30 60 00 1A 04 20 00 6C 60 [ 461.027266] EtherCAT DEBUG 0-3: Mapping PDO entry 0x6077:00 (16 bit) at position 5. [ 461.027269] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:05. [ 461.027270] EtherCAT DEBUG: 10 00 77 60 [ 461.027273] EtherCAT DEBUG 0-3: Expedited download request: [ 461.027275] EtherCAT DEBUG: 00 20 23 00 1A 05 10 00 77 60 [ 461.033251] EtherCAT DEBUG 0-3: Download response: [ 461.033258] EtherCAT DEBUG: 00 30 60 00 1A 05 10 00 77 60 [ 461.033265] EtherCAT DEBUG 0-3: Setting number of PDO entries to 5. [ 461.033266] EtherCAT DEBUG 0-3: Downloading SDO 0x1A00:00. [ 461.033268] EtherCAT DEBUG: 05 [ 461.033269] EtherCAT DEBUG 0-3: Expedited download request: [ 461.033270] EtherCAT DEBUG: 00 20 2F 00 1A 00 05 00 00 00 [ 461.039251] EtherCAT DEBUG 0-3: Download response: [ 461.039259] EtherCAT DEBUG: 00 30 60 00 1A 00 05 00 00 00 [ 461.039265] EtherCAT DEBUG 0-3: Successfully configured mapping for PDO 0x1A00. [ 461.039268] EtherCAT DEBUG 0-3: Setting PDO assignment of SM3: [ 461.039269] EtherCAT DEBUG 0-3: Currently assigned PDOs: 0x1B01. PDOs to assign: 0x1A00 [ 461.039273] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to zero. [ 461.039274] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00. [ 461.039276] EtherCAT DEBUG: 00 [ 461.039277] EtherCAT DEBUG 0-3: Expedited download request: [ 461.039278] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 [ 461.045251] EtherCAT DEBUG 0-3: Download response: [ 461.045258] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 [ 461.045266] EtherCAT DEBUG 0-3: Assigning PDO 0x1A00 at position 1. [ 461.045269] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:01. [ 461.045270] EtherCAT DEBUG: 00 1A [ 461.045272] EtherCAT DEBUG 0-3: Expedited download request: [ 461.045273] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 [ 461.051251] EtherCAT DEBUG 0-3: Download response: [ 461.051258] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 [ 461.051264] EtherCAT DEBUG 0-3: Setting number of assigned PDOs to 1. [ 461.051266] EtherCAT DEBUG 0-3: Downloading SDO 0x1C13:00. [ 461.051267] EtherCAT DEBUG: 01 [ 461.051269] EtherCAT DEBUG 0-3: Expedited download request: [ 461.051270] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 [ 461.057251] EtherCAT DEBUG 0-3: Download response: [ 461.057258] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 [ 461.057266] EtherCAT DEBUG 0-3: Successfully configured PDO assignment of SM3. [ 461.057269] EtherCAT DEBUG 0-3: Setting watchdog divider to 2498. [ 461.059251] EtherCAT DEBUG 0-3: Setting process data watchdog intervals to 1000. [ 461.061252] EtherCAT DEBUG 0-3: SM2: Addr 0x1800, Size 28, Ctrl 0x64, En 1 [ 461.061261] EtherCAT DEBUG 0-3: SM3: Addr 0x1C00, Size 13, Ctrl 0x20, En 1 [ 461.063254] EtherCAT DEBUG 0 0:3: FMMU: LogAddr 0x0000007B, Size 28, PhysAddr 0x1800, SM2, Dir out [ 461.063263] EtherCAT DEBUG 0 0:3: FMMU: LogAddr 0x00000097, Size 13, PhysAddr 0x1C00, SM3, Dir in [ 461.065252] EtherCAT DEBUG 0-3: Setting DC cycle times to 1000000 / 0. [ 461.067251] EtherCAT DEBUG 0-3: Checking for synchrony. [ 461.069251] EtherCAT DEBUG 0-3: 2196 ns difference after 0 ms. [ 461.069258] EtherCAT DEBUG 0-3: ref_time=821893504695851000 [ 461.069260] EtherCAT DEBUG 0-3: app_time=821893516156115384 [ 461.069261] EtherCAT DEBUG 0-3: start_time=821893516256115384 [ 461.069263] EtherCAT DEBUG 0-3: cycle=1000000 [ 461.069264] EtherCAT DEBUG 0-3: shift_time=25000 [ 461.069265] EtherCAT DEBUG 0-3: remainder=264384 [ 461.069267] EtherCAT DEBUG 0-3: start=821893516256876000 [ 461.069268] EtherCAT DEBUG 0-3: Setting DC cyclic operation start time to 821893516256876000. [ 461.071251] EtherCAT DEBUG 0-3: Setting DC AssignActivate to 0x0300. [ 461.077251] EtherCAT DEBUG 0-3: Now in SAFEOP. [ 461.371251] EtherCAT DEBUG 0-3: Now in OP. Finished configuration. [ 461.377933] EtherCAT 0: Slave states on main device: OP. root@AndreCNC:/home/ich#