pi@linuxcnc:~/linuxcnc/configs/sim.axis $ sudo dmesg -w [27200.176457] EtherCAT: Requesting master 0... [27200.176468] EtherCAT DEBUG 0: IDLE -> OPERATION. [27200.176476] EtherCAT: Successfully requested master 0. [27200.176486] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x12b82692) [27200.176493] EtherCAT DEBUG 0: Created domain 0. [27200.176503] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.176509] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000FFFF/0x00000001. [27200.176518] EtherCAT DEBUG 0 0:0: Attached slave 0. [27200.176540] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xf906e795, index = 0x2000, subindex = 0x00, data = 0xe1fdbf89, size = 2) [27200.176647] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0xf906e795, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0 [27200.176658] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf906e795, sync_index = 0, dir = 1, watchdog_mode = 0) [27200.176668] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf906e795, sync_index = 0) [27200.176677] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf906e795, sync_index = 1, dir = 2, watchdog_mode = 0) [27200.176686] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf906e795, sync_index = 1) [27200.176696] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf906e795, sync_index = 2, dir = 1, watchdog_mode = 0) [27200.176705] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf906e795, sync_index = 2) [27200.176716] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf906e795, sync_index = 2, pdo_index = 0x1600) [27200.176724] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600. [27200.176732] EtherCAT DEBUG 0 0:0: Entry 0x6040:00. [27200.176738] EtherCAT DEBUG 0 0:0: Entry 0x6060:00. [27200.176744] EtherCAT DEBUG 0 0:0: Entry 0x607A:00. [27200.176750] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00. [27200.176759] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf906e795, pdo_index = 0x1600) [27200.176771] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16) [27200.176782] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8) [27200.176792] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32) [27200.176803] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32) [27200.176812] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xf906e795, sync_index = 3, dir = 2, watchdog_mode = 0) [27200.176821] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xf906e795, sync_index = 3) [27200.176832] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xf906e795, sync_index = 3, pdo_index = 0x1A00) [27200.176839] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00. [27200.176846] EtherCAT DEBUG 0 0:0: Entry 0x6041:00. [27200.176853] EtherCAT DEBUG 0 0:0: Entry 0x6061:00. [27200.176859] EtherCAT DEBUG 0 0:0: Entry 0x6064:00. [27200.176865] EtherCAT DEBUG 0 0:0: Entry 0x606C:00. [27200.176871] EtherCAT DEBUG 0 0:0: Entry 0x6077:00. [27200.176879] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xf906e795, pdo_index = 0x1A00) [27200.176890] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16) [27200.176901] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8) [27200.176911] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32) [27200.176921] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32) [27200.176931] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xf906e795, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 32) [27200.177006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177020] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6040, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177028] EtherCAT DEBUG 0: Domain 0: Added 11 bytes, total 11. [27200.177037] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177051] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6060, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177059] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177073] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x607A, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177081] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177095] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x60FF, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177103] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177116] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6041, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177124] EtherCAT DEBUG 0: Domain 0: Added 15 bytes, total 26. [27200.177132] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177145] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6061, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177154] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177167] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6064, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177175] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177189] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x606C, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177197] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x12b82692, alias = 0, position = 0, vendor_id = 0x0000ffff, product_code = 0x00000001) [27200.177210] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xf906e795, index = 0x6077, subindex = 0x00, domain = 0x659775fe, bit_position = 0xb9fd9ff1) [27200.177237] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x659775fe, mem = 0x254f3fcf) [27200.177246] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x12b82692, send_cb = 0xa694336a, receive_cb = 0x24e0c5cb, cb_data = 0x12b82692) [27200.177252] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x12b82692) [27200.177261] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3. [27200.177268] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3. [27200.177274] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW. [27200.177281] EtherCAT DEBUG 0: Stopping master thread. [27200.177300] EtherCAT DEBUG 0: Master IDLE thread exiting... [27200.177429] EtherCAT 0: Master thread exited. [27200.177440] EtherCAT DEBUG 0: FSM datagram is 8c772043. [27200.177446] EtherCAT 0: Starting EtherCAT-OP thread. [27200.177557] EtherCAT DEBUG 0: Operation thread running with fsm interval = 10000 us, max data size=112500 [27200.177559] EtherCAT DEBUG 0: mmap() [27200.177566] EtherCAT WARNING 0: 1 datagram UNMATCHED! [27200.177579] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 81c7a49e [27200.253712] EtherCAT DEBUG 0: Configuration changed. [27200.253720] EtherCAT DEBUG 0-0: Checking system time offset. [27200.273760] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=696792865921838302 (corrected with 20000000), app_time=696792865920851988, diff=-986314 [27200.273768] EtherCAT DEBUG 0-0: Not touching time offset. [27200.293741] EtherCAT DEBUG 0: Requesting OP... [27200.333725] EtherCAT DEBUG 0-0: Changing state from PREOP to OP. [27200.333733] EtherCAT DEBUG 0-0: Configuring... [27200.336020] EtherCAT DEBUG 0-0: Now in INIT. [27200.336026] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [27200.337018] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [27200.338019] EtherCAT DEBUG 0-0: Clearing DC assignment... [27200.339023] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [27200.339034] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 64, Ctrl 0x26, En 1 [27200.339041] EtherCAT DEBUG 0-0: SM1: Addr 0x1100, Size 64, Ctrl 0x22, En 1 [27200.341025] EtherCAT DEBUG 0-0: Assigning SII access to PDI. [27200.344313] EtherCAT DEBUG 0-0: Now in PREOP. [27200.344321] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. [27200.346027] EtherCAT DEBUG 0-0: Downloading SDO 0x2000:00. [27200.346035] EtherCAT DEBUG: [27200.346041] DC [27200.346046] 05 [27200.346059] EtherCAT DEBUG 0-0: Expedited download request: [27200.346064] EtherCAT DEBUG: [27200.346069] 00 [27200.346134] 20 [27200.346139] 2B [27200.346144] 00 [27200.346150] 20 [27200.346155] 00 [27200.346160] DC [27200.346166] 05 [27200.346171] 00 [27200.346176] 00 [27200.350024] EtherCAT DEBUG 0-0: Download response: [27200.350031] EtherCAT DEBUG: [27200.350037] 00 [27200.350043] 30 [27200.350048] 60 [27200.350053] 00 [27200.350110] 20 [27200.350116] 00 [27200.350121] 00 [27200.350126] 00 [27200.350132] 00 [27200.350137] 00 [27200.350162] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600. [27200.350168] EtherCAT DEBUG 0-0: [27200.350174] Currently mapped PDO entries: [27200.350180] 0x6040:00/16 [27200.350186] [27200.350191] 0x6060:00/8 [27200.350197] [27200.350202] 0x607A:00/32 [27200.350208] [27200.350213] 0x60FF:00/32 [27200.350219] . Entries to map: [27200.350225] 0x6040:00/16 [27200.350230] [27200.350235] 0x6060:00/8 [27200.350241] [27200.350246] 0x607A:00/32 [27200.350251] [27200.350257] 0x60FF:00/32 [27200.350269] EtherCAT DEBUG 0-0: Setting entry count to zero. [27200.350277] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00. [27200.350282] EtherCAT DEBUG: [27200.350287] 00 [27200.350299] EtherCAT DEBUG 0-0: Expedited download request: [27200.350304] EtherCAT DEBUG: [27200.350310] 00 [27200.350315] 20 [27200.350320] 2F [27200.350326] 00 [27200.350331] 16 [27200.350336] 00 [27200.350341] 00 [27200.350347] 00 [27200.350352] 00 [27200.350357] 00 [27200.354748] EtherCAT DEBUG 0-0: Download response: [27200.354756] EtherCAT DEBUG: [27200.354762] 00 [27200.354767] 30 [27200.354772] 60 [27200.354778] 00 [27200.354783] 16 [27200.354789] 00 [27200.354795] 00 [27200.354800] 00 [27200.354805] 00 [27200.354810] 00 [27200.354824] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1. [27200.354832] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01. [27200.354837] EtherCAT DEBUG: [27200.354843] 10 [27200.354848] 00 [27200.354854] 40 [27200.354859] 60 [27200.354871] EtherCAT DEBUG 0-0: Expedited download request: [27200.354876] EtherCAT DEBUG: [27200.354881] 00 [27200.354887] 20 [27200.354892] 23 [27200.354897] 00 [27200.354903] 16 [27200.354908] 01 [27200.354913] 10 [27200.354919] 00 [27200.354924] 40 [27200.354929] 60 [27200.358038] EtherCAT DEBUG 0-0: Download response: [27200.358048] EtherCAT DEBUG: [27200.358054] 00 [27200.358059] 30 [27200.358065] 60 [27200.358070] 00 [27200.358075] 16 [27200.358081] 01 [27200.358086] 00 [27200.358148] 00 [27200.358153] 00 [27200.358159] 00 [27200.358172] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 2. [27200.358180] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02. [27200.358185] EtherCAT DEBUG: [27200.358190] 08 [27200.358196] 00 [27200.358201] 60 [27200.358207] 60 [27200.358219] EtherCAT DEBUG 0-0: Expedited download request: [27200.358224] EtherCAT DEBUG: [27200.358229] 00 [27200.358235] 20 [27200.358240] 23 [27200.358246] 00 [27200.358251] 16 [27200.358256] 02 [27200.358261] 08 [27200.358267] 00 [27200.358272] 60 [27200.358277] 60 [27200.363036] EtherCAT DEBUG 0-0: Download response: [27200.363045] EtherCAT DEBUG: [27200.363051] 00 [27200.363056] 30 [27200.363062] 60 [27200.363067] 00 [27200.363072] 16 [27200.363078] 02 [27200.363083] 00 [27200.363088] 00 [27200.363154] 00 [27200.363159] 00 [27200.363173] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 3. [27200.363182] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03. [27200.363187] EtherCAT DEBUG: [27200.363192] 20 [27200.363198] 00 [27200.363203] 7A [27200.363208] 60 [27200.363220] EtherCAT DEBUG 0-0: Expedited download request: [27200.363225] EtherCAT DEBUG: [27200.363231] 00 [27200.363236] 20 [27200.363241] 23 [27200.363246] 00 [27200.363252] 16 [27200.363257] 03 [27200.363262] 20 [27200.363267] 00 [27200.363273] 7A [27200.363278] 60 [27200.368038] EtherCAT DEBUG 0-0: Download response: [27200.368047] EtherCAT DEBUG: [27200.368053] 00 [27200.368059] 30 [27200.368064] 60 [27200.368069] 00 [27200.368075] 16 [27200.368080] 03 [27200.368086] 00 [27200.368091] 00 [27200.368157] 00 [27200.368162] 00 [27200.368176] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 4. [27200.368184] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04. [27200.368189] EtherCAT DEBUG: [27200.368194] 20 [27200.368200] 00 [27200.368205] FF [27200.368210] 60 [27200.368222] EtherCAT DEBUG 0-0: Expedited download request: [27200.368227] EtherCAT DEBUG: [27200.368233] 00 [27200.368238] 20 [27200.368243] 23 [27200.368248] 00 [27200.368254] 16 [27200.368259] 04 [27200.368264] 20 [27200.368269] 00 [27200.368275] FF [27200.368280] 60 [27200.372047] EtherCAT DEBUG 0-0: Download response: [27200.372058] EtherCAT DEBUG: [27200.372065] 00 [27200.372071] 30 [27200.372077] 60 [27200.372082] 00 [27200.372088] 16 [27200.372093] 04 [27200.372098] 00 [27200.372104] 00 [27200.372110] 00 [27200.372115] 00 [27200.372128] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4. [27200.372138] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00. [27200.372232] EtherCAT DEBUG: [27200.372240] 04 [27200.372253] EtherCAT DEBUG 0-0: Expedited download request: [27200.372258] EtherCAT DEBUG: [27200.372264] 00 [27200.372269] 20 [27200.372274] 2F [27200.372280] 00 [27200.372285] 16 [27200.372290] 00 [27200.372295] 04 [27200.372300] 00 [27200.372306] 00 [27200.372311] 00 [27200.377042] EtherCAT DEBUG 0-0: Download response: [27200.377056] EtherCAT DEBUG: [27200.377062] 00 [27200.377067] 30 [27200.377073] 60 [27200.377079] 00 [27200.377084] 16 [27200.377089] 00 [27200.377098] 00 [27200.377103] 00 [27200.377109] 00 [27200.377115] 00 [27200.377127] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600. [27200.377208] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2: [27200.377214] EtherCAT DEBUG 0-0: [27200.377220] Currently assigned PDOs: [27200.377227] 0x1600 [27200.377232] . PDOs to assign: [27200.377238] 0x1600 [27200.377250] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. [27200.377259] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. [27200.377264] EtherCAT DEBUG: [27200.377270] 00 [27200.377285] EtherCAT DEBUG 0-0: Expedited download request: [27200.377290] EtherCAT DEBUG: [27200.377295] 00 [27200.377300] 20 [27200.377306] 2F [27200.377311] 12 [27200.377316] 1C [27200.377322] 00 [27200.377327] 00 [27200.377332] 00 [27200.377337] 00 [27200.377343] 00 [27200.381043] EtherCAT DEBUG 0-0: Download response: [27200.381051] EtherCAT DEBUG: [27200.381057] 00 [27200.381063] 30 [27200.381068] 60 [27200.381074] 12 [27200.381079] 1C [27200.381084] 00 [27200.381090] 00 [27200.381095] 00 [27200.381100] 00 [27200.381105] 00 [27200.381198] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1. [27200.381206] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01. [27200.381212] EtherCAT DEBUG: [27200.381217] 00 [27200.381223] 16 [27200.381236] EtherCAT DEBUG 0-0: Expedited download request: [27200.381241] EtherCAT DEBUG: [27200.381246] 00 [27200.381252] 20 [27200.381257] 2B [27200.381262] 12 [27200.381267] 1C [27200.381273] 01 [27200.381278] 00 [27200.381283] 16 [27200.381288] 00 [27200.381293] 00 [27200.386029] EtherCAT DEBUG 0-0: Download response: [27200.386038] EtherCAT DEBUG: [27200.386044] 00 [27200.386049] 30 [27200.386055] 60 [27200.386060] 12 [27200.386066] 1C [27200.386128] 01 [27200.386134] 00 [27200.386139] 00 [27200.386145] 00 [27200.386150] 00 [27200.386163] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. [27200.386170] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00. [27200.386175] EtherCAT DEBUG: [27200.386181] 01 [27200.386192] EtherCAT DEBUG 0-0: Expedited download request: [27200.386197] EtherCAT DEBUG: [27200.386203] 00 [27200.386208] 20 [27200.386213] 2F [27200.386218] 12 [27200.386224] 1C [27200.386229] 00 [27200.386234] 01 [27200.386239] 00 [27200.386245] 00 [27200.386250] 00 [27200.390045] EtherCAT DEBUG 0-0: Download response: [27200.390053] EtherCAT DEBUG: [27200.390059] 00 [27200.390064] 30 [27200.390070] 60 [27200.390075] 12 [27200.390080] 1C [27200.390086] 00 [27200.390150] 00 [27200.390155] 00 [27200.390160] 00 [27200.390166] 00 [27200.390183] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2. [27200.390195] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00. [27200.390201] EtherCAT DEBUG 0-0: [27200.390207] Currently mapped PDO entries: [27200.390213] 0x6041:00/16 [27200.390218] [27200.390224] 0x6061:00/8 [27200.390229] [27200.390235] 0x6064:00/32 [27200.390240] [27200.390246] 0x606C:00/32 [27200.390251] [27200.390257] 0x6077:00/32 [27200.390262] . Entries to map: [27200.390268] 0x6041:00/16 [27200.390273] [27200.390279] 0x6061:00/8 [27200.390284] [27200.390290] 0x6064:00/32 [27200.390295] [27200.390301] 0x606C:00/32 [27200.390306] [27200.390312] 0x6077:00/32 [27200.390324] EtherCAT DEBUG 0-0: Setting entry count to zero. [27200.390333] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00. [27200.390338] EtherCAT DEBUG: [27200.390344] 00 [27200.390356] EtherCAT DEBUG 0-0: Expedited download request: [27200.390593] EtherCAT DEBUG: [27200.390599] 00 [27200.390605] 20 [27200.390610] 2F [27200.390615] 00 [27200.390621] 1A [27200.390626] 00 [27200.390667] 00 [27200.390672] 00 [27200.390712] 00 [27200.390717] 00 [27200.394880] EtherCAT DEBUG 0-0: Download response: [27200.394887] EtherCAT DEBUG: [27200.394893] 00 [27200.394899] 30 [27200.394905] 60 [27200.394911] 00 [27200.394916] 1A [27200.394922] 00 [27200.394927] 00 [27200.394933] 00 [27200.394939] 00 [27200.394944] 00 [27200.394958] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1. [27200.394966] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01. [27200.394971] EtherCAT DEBUG: [27200.394976] 10 [27200.394983] 00 [27200.394988] 41 [27200.394993] 60 [27200.395005] EtherCAT DEBUG 0-0: Expedited download request: [27200.395010] EtherCAT DEBUG: [27200.395017] 00 [27200.395023] 20 [27200.395028] 23 [27200.395033] 00 [27200.395039] 1A [27200.395044] 01 [27200.395049] 10 [27200.395054] 00 [27200.395060] 41 [27200.395065] 60 [27200.399025] EtherCAT DEBUG 0-0: Download response: [27200.399033] EtherCAT DEBUG: [27200.399039] 00 [27200.399044] 30 [27200.399050] 60 [27200.399055] 00 [27200.399061] 1A [27200.399122] 01 [27200.399127] 00 [27200.399132] 00 [27200.399138] 00 [27200.399143] 00 [27200.399156] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 2. [27200.399163] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02. [27200.399169] EtherCAT DEBUG: [27200.399174] 08 [27200.399179] 00 [27200.399185] 61 [27200.399190] 60 [27200.399202] EtherCAT DEBUG 0-0: Expedited download request: [27200.399207] EtherCAT DEBUG: [27200.399213] 00 [27200.399218] 20 [27200.399223] 23 [27200.399229] 00 [27200.399234] 1A [27200.399239] 02 [27200.399244] 08 [27200.399250] 00 [27200.399255] 61 [27200.399260] 60 [27200.403053] EtherCAT DEBUG 0-0: Download response: [27200.403062] EtherCAT DEBUG: [27200.403069] 00 [27200.403077] 30 [27200.403084] 60 [27200.403089] 00 [27200.403094] 1A [27200.403100] 02 [27200.403105] 00 [27200.403110] 00 [27200.403116] 00 [27200.403121] 00 [27200.403208] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 3. [27200.403216] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03. [27200.403223] EtherCAT DEBUG: [27200.403228] 20 [27200.403233] 00 [27200.403239] 64 [27200.403244] 60 [27200.403256] EtherCAT DEBUG 0-0: Expedited download request: [27200.403262] EtherCAT DEBUG: [27200.403267] 00 [27200.403272] 20 [27200.403277] 23 [27200.403283] 00 [27200.403288] 1A [27200.403293] 03 [27200.403298] 20 [27200.403303] 00 [27200.403309] 64 [27200.403314] 60 [27200.408028] EtherCAT DEBUG 0-0: Download response: [27200.408037] EtherCAT DEBUG: [27200.408042] 00 [27200.408048] 30 [27200.408053] 60 [27200.408059] 00 [27200.408064] 1A [27200.408130] 03 [27200.408135] 00 [27200.408140] 00 [27200.408146] 00 [27200.408151] 00 [27200.408165] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 4. [27200.408173] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04. [27200.408178] EtherCAT DEBUG: [27200.408183] 20 [27200.408189] 00 [27200.408194] 6C [27200.408199] 60 [27200.408211] EtherCAT DEBUG 0-0: Expedited download request: [27200.408216] EtherCAT DEBUG: [27200.408222] 00 [27200.408227] 20 [27200.408232] 23 [27200.408469] 00 [27200.408475] 1A [27200.408480] 04 [27200.408485] 20 [27200.408490] 00 [27200.408495] 6C [27200.408537] 60 [27200.412029] EtherCAT DEBUG 0-0: Download response: [27200.412036] EtherCAT DEBUG: [27200.412042] 00 [27200.412047] 30 [27200.412053] 60 [27200.412058] 00 [27200.412063] 1A [27200.412128] 04 [27200.412133] 00 [27200.412139] 00 [27200.412144] 00 [27200.412150] 00 [27200.412164] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6077:00 (32 bit) at position 5. [27200.412172] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:05. [27200.412177] EtherCAT DEBUG: [27200.412182] 20 [27200.412188] 00 [27200.412193] 77 [27200.412199] 60 [27200.412211] EtherCAT DEBUG 0-0: Expedited download request: [27200.412216] EtherCAT DEBUG: [27200.412221] 00 [27200.412226] 20 [27200.412232] 23 [27200.412237] 00 [27200.412242] 1A [27200.412248] 05 [27200.412253] 20 [27200.412258] 00 [27200.412264] 77 [27200.412269] 60 [27200.417036] EtherCAT DEBUG 0-0: Download response: [27200.417045] EtherCAT DEBUG: [27200.417051] 00 [27200.417057] 30 [27200.417062] 60 [27200.417067] 00 [27200.417073] 1A [27200.417078] 05 [27200.417164] 00 [27200.417170] 00 [27200.417175] 00 [27200.417180] 00 [27200.417195] EtherCAT DEBUG 0-0: Setting number of PDO entries to 5. [27200.417203] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00. [27200.417208] EtherCAT DEBUG: [27200.417214] 05 [27200.417226] EtherCAT DEBUG 0-0: Expedited download request: [27200.417231] EtherCAT DEBUG: [27200.417236] 00 [27200.417242] 20 [27200.417247] 2F [27200.417252] 00 [27200.417258] 1A [27200.417263] 00 [27200.417268] 05 [27200.417273] 00 [27200.417279] 00 [27200.417284] 00 [27200.422031] EtherCAT DEBUG 0-0: Download response: [27200.422039] EtherCAT DEBUG: [27200.422044] 00 [27200.422050] 30 [27200.422055] 60 [27200.422061] 00 [27200.422066] 1A [27200.422071] 00 [27200.422140] 00 [27200.422146] 00 [27200.422151] 00 [27200.422156] 00 [27200.422169] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00. [27200.422177] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3: [27200.422182] EtherCAT DEBUG 0-0: [27200.422188] Currently assigned PDOs: [27200.422194] 0x1A00 [27200.422200] . PDOs to assign: [27200.422205] 0x1A00 [27200.422217] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero. [27200.422225] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. [27200.422230] EtherCAT DEBUG: [27200.422235] 00 [27200.422247] EtherCAT DEBUG 0-0: Expedited download request: [27200.422252] EtherCAT DEBUG: [27200.422258] 00 [27200.422263] 20 [27200.422269] 2F [27200.422274] 13 [27200.422279] 1C [27200.422285] 00 [27200.422290] 00 [27200.422295] 00 [27200.422301] 00 [27200.422306] 00 [27200.427767] EtherCAT DEBUG 0-0: Download response: [27200.427776] EtherCAT DEBUG: [27200.427783] 00 [27200.427788] 30 [27200.427794] 60 [27200.427799] 13 [27200.427805] 1C [27200.427810] 00 [27200.427815] 00 [27200.427821] 00 [27200.427826] 00 [27200.427831] 00 [27200.427851] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1. [27200.427858] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01. [27200.427863] EtherCAT DEBUG: [27200.427868] 00 [27200.427874] 1A [27200.427885] EtherCAT DEBUG 0-0: Expedited download request: [27200.427891] EtherCAT DEBUG: [27200.427896] 00 [27200.427901] 20 [27200.427907] 2B [27200.427912] 13 [27200.427917] 1C [27200.427922] 01 [27200.427928] 00 [27200.427933] 1A [27200.427938] 00 [27200.427943] 00 [27200.431027] EtherCAT DEBUG 0-0: Download response: [27200.431035] EtherCAT DEBUG: [27200.431040] 00 [27200.431046] 30 [27200.431051] 60 [27200.431057] 13 [27200.431062] 1C [27200.431069] 01 [27200.431125] 00 [27200.431131] 00 [27200.431136] 00 [27200.431142] 00 [27200.431154] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1. [27200.431161] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00. [27200.431167] EtherCAT DEBUG: [27200.431172] 01 [27200.431184] EtherCAT DEBUG 0-0: Expedited download request: [27200.431189] EtherCAT DEBUG: [27200.431194] 00 [27200.431200] 20 [27200.431205] 2F [27200.431210] 13 [27200.431216] 1C [27200.431221] 00 [27200.431226] 01 [27200.431231] 00 [27200.431237] 00 [27200.431242] 00 [27200.436038] EtherCAT DEBUG 0-0: Download response: [27200.436047] EtherCAT DEBUG: [27200.436053] 00 [27200.436059] 30 [27200.436064] 60 [27200.436070] 13 [27200.436075] 1C [27200.436080] 00 [27200.436086] 00 [27200.436154] 00 [27200.436160] 00 [27200.436165] 00 [27200.436182] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3. [27200.436195] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size 11, Ctrl 0x64, En 1 [27200.436203] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size 15, Ctrl 0x20, En 1 [27200.438070] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 11, PhysAddr 0x1200, SM2, Dir out [27200.438161] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000B, Size 15, PhysAddr 0x1400, SM3, Dir in [27200.440030] EtherCAT DEBUG 0-0: Setting DC cycle times to 1000000 / 0. [27200.441031] EtherCAT DEBUG 0-0: Checking for synchrony. [27200.442031] EtherCAT DEBUG 0-0: 158 ns difference after 0 ms. [27200.442038] EtherCAT DEBUG 0-0: ref_time=696792865824999000 [27200.442044] EtherCAT DEBUG 0-0: app_time=696792866088829198 [27200.442050] EtherCAT DEBUG 0-0: start_time=696792866188829198 [27200.442056] EtherCAT DEBUG 0-0: cycle=1000000 [27200.442061] EtherCAT DEBUG 0-0: shift_time=0 [27200.442067] EtherCAT DEBUG 0-0: remainder=830198 [27200.442131] EtherCAT DEBUG 0-0: start=696792866188999000 [27200.442137] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 696792866188999000. [27200.444415] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300. [27200.448023] EtherCAT DEBUG 0-0: Now in SAFEOP. [27200.448027] EtherCAT 0: Domain 0: Working counter changed to 2/3 [27200.448033] . [27200.450024] EtherCAT DEBUG 0-0: Now in OP. Finished configuration. [27200.463718] EtherCAT 0: Slave states on main device: OP.