[ +13.375647] EtherCAT: Requesting master 0...
[  +0.000006] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  +0.000003] EtherCAT: Successfully requested master 0.
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x000000002cc2398b)
[  +0.000020] EtherCAT DEBUG 0: Created domain 0.
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000003] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000A79/0x00001000.
[  +0.000004] EtherCAT DEBUG 0 0:0: Attached slave 0.
[  +0.000361] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0x00000000b0550869, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[  +0.000027] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b0550869, sync_index = 2, dir = 1, watchdog_mode = 0)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b0550869, sync_index = 2)
[  +0.000025] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b0550869, sync_index = 2, pdo_index = 0x1600)
[  +0.000004] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.
[  +0.000003] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x6060:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.
[  +0.000003] EtherCAT DEBUG 0 0:0: Entry 0x60FF:00.
[  +0.000006] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b0550869, pdo_index = 0x1600)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000009] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000023] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000b0550869, sync_index = 3, dir = 2, watchdog_mode = 0)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b0550869, sync_index = 3)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b0550869, sync_index = 3, pdo_index = 0x1A00)
[  +0.000003] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[  +0.000003] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x6061:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x606C:00.
[  +0.000002] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.
[  +0.000005] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b0550869, pdo_index = 0x1A00)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b0550869, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000082] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000003] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x00000A79/0x00001000.
[  +0.000004] EtherCAT DEBUG 0 0:1: Attached slave 1.
[  +0.000118] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x00000000b82ad301, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000b82ad301, sync_index = 2, dir = 1, watchdog_mode = 0)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b82ad301, sync_index = 2)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b82ad301, sync_index = 2, pdo_index = 0x1600)
[  +0.000002] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600.
[  +0.000003] EtherCAT DEBUG 0 0:1: Entry 0x6040:00.
[  +0.000018] EtherCAT DEBUG 0 0:1: Entry 0x6060:00.
[  +0.000003] EtherCAT DEBUG 0 0:1: Entry 0x607A:00.
[  +0.000002] EtherCAT DEBUG 0 0:1: Entry 0x60FF:00.
[  +0.000008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b82ad301, pdo_index = 0x1600)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x00000000b82ad301, sync_index = 3, dir = 2, watchdog_mode = 0)
[  +0.000005] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000b82ad301, sync_index = 3)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x00000000b82ad301, sync_index = 3, pdo_index = 0x1A00)
[  +0.000003] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00.
[  +0.000003] EtherCAT DEBUG 0 0:1: Entry 0x6041:00.
[  +0.000002] EtherCAT DEBUG 0 0:1: Entry 0x6061:00.
[  +0.000002] EtherCAT DEBUG 0 0:1: Entry 0x6064:00.
[  +0.000002] EtherCAT DEBUG 0 0:1: Entry 0x606C:00.
[  +0.000002] EtherCAT DEBUG 0 0:1: Entry 0x6077:00.
[  +0.000006] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000b82ad301, pdo_index = 0x1A00)
[  +0.000023] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000b82ad301, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000081] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000003] EtherCAT DEBUG 0: Creating slave configuration for 0:2, 0x00000A79/0x00001000.
[  +0.000003] EtherCAT DEBUG 0 0:2: Attached slave 2.
[  +0.000317] EtherCAT DEBUG 0 0:2: ecrt_slave_config_dc(sc = 0x000000003f356489, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x000000003f356489, sync_index = 2, dir = 1, watchdog_mode = 0)
[  +0.000009] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x000000003f356489, sync_index = 2)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x000000003f356489, sync_index = 2, pdo_index = 0x1600)
[  +0.000003] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1600.
[  +0.000003] EtherCAT DEBUG 0 0:2: Entry 0x6040:00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x6060:00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x607A:00.
[  +0.000003] EtherCAT DEBUG 0 0:2: Entry 0x60FF:00.
[  +0.000025] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000003f356489, pdo_index = 0x1600)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000006] EtherCAT DEBUG 0 0:2: ecrt_slave_config_sync_manager(sc = 0x000000003f356489, sync_index = 3, dir = 2, watchdog_mode = 0)
[  +0.000006] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_clear(sc = 0x000000003f356489, sync_index = 3)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_assign_add(sc = 0x000000003f356489, sync_index = 3, pdo_index = 0x1A00)
[  +0.000003] EtherCAT DEBUG 0 0:2: Loading default mapping for PDO 0x1A00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x6041:00.
[  +0.000003] EtherCAT DEBUG 0 0:2: Entry 0x6041:00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x6061:00.
[  +0.000001] EtherCAT DEBUG 0 0:2: Entry 0x6064:00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x606C:00.
[  +0.000002] EtherCAT DEBUG 0 0:2: Entry 0x6077:00.
[  +0.000010] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000003f356489, pdo_index = 0x1A00)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000026] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000006] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_pdo_mapping_add(sc = 0x000000003f356489, pdo_index = 0x1A00, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  +0.000089] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6040, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000003] EtherCAT DEBUG 0: Domain 0: Added 32 bytes at 0.
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6060, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x607A, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x60FF, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000018] EtherCAT DEBUG 0: Domain 0: Added 11 bytes at 32.
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000011] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000028] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000024] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000023] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6061, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6064, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x606C, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000005] EtherCAT DEBUG 0: Domain 0: Added 15 bytes at 43.
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 0, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b0550869, index = 0x6077, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6040, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000002] EtherCAT DEBUG 0: Domain 0: Added 32 bytes at 58.
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000025] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6060, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x607A, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x60FF, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000003] EtherCAT DEBUG 0: Domain 0: Added 11 bytes at 90.
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6061, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6064, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000025] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x606C, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000003] EtherCAT DEBUG 0: Domain 0: Added 13 bytes at 101.
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 1, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000b82ad301, index = 0x6077, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6040, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000002] EtherCAT DEBUG 0: Domain 0: Added 32 bytes at 114.
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6060, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x607A, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000023] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x60FF, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000019] EtherCAT DEBUG 0: Domain 0: Added 11 bytes at 146.
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000024] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000011] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000024] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000027] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000008] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000008] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6041, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6061, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000007] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000007] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6064, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x606C, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000002] EtherCAT DEBUG 0: Domain 0: Added 15 bytes at 157.
[  +0.000024] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000002cc2398b, alias = 0, position = 2, vendor_id = 0x00000a79, product_code = 0x00001000)
[  +0.000009] EtherCAT DEBUG 0 0:2: ecrt_slave_config_reg_pdo_entry(sc = 0x000000003f356489, index = 0x6077, subindex = 0x00, domain = 0x0000000006b41508, bit_position = 0x00000000604afa32)
[  +0.000033] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x0000000006b41508, mem = 0x000000007e91be0d)
[  +0.000004] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x000000002cc2398b, send_cb = 0x0000000019ed2757, receive_cb = 0x000000000f57df24, cb_data = 0x000000002cc2398b)
[  +0.000002] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x000000002cc2398b)
[  +0.000005] EtherCAT DEBUG 0: Adding datagram pair with expected WC 9.
[  +0.000003] EtherCAT 0: Domain0: Logical address 0x00000000, 172 byte, expected working counter 9.
[  +0.000003] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 172 byte, type LRW at 00000000e1a148b2.
[  +0.000002] EtherCAT DEBUG 0: Stopping master thread.
[  +0.000012] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  +0.000023] EtherCAT 0: Master thread exited.
[  +0.000006] EtherCAT DEBUG 0: FSM datagram is 0000000097e4693a.
[  +0.000002] EtherCAT 0: Starting EtherCAT-OP thread.
[  +0.000125] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[  +0.000005] EtherCAT DEBUG 0: mmap()
[  +0.000002] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[  +0.000011] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 00000000b01118d1
[  +0.177259] EtherCAT DEBUG 0: Configuration changed.
[  +0.000006] EtherCAT DEBUG 0-0: Checking system time offset.
[  +0.008366] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=723483413533668376, app_time=723483413534050509, diff=382133
[  +0.000005] EtherCAT DEBUG 0-0: Setting time offset to 723473441633171137 (was 723473441632789004)
[  +0.019641] EtherCAT DEBUG 0-1: Checking system time offset.
[  +0.007985] EtherCAT DEBUG 0-1: DC 64 bit system time offset calculation: system_time=723483413561873981, app_time=723483413562076725, diff=202744
[  +0.000006] EtherCAT DEBUG 0-1: Setting time offset to 723473441638048920 (was 723473441637846176)
[  +0.015980] EtherCAT DEBUG 0-2: Checking system time offset.
[  +0.007985] EtherCAT DEBUG 0-2: DC 64 bit system time offset calculation: system_time=723483413585701042, app_time=723483413586042102, diff=341060
[  +0.000006] EtherCAT DEBUG 0-2: Setting time offset to 723473441511936399 (was 723473441511595339)
[  +0.016005] EtherCAT DEBUG 0: Requesting OP...
[  +0.020034] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  +0.000007] EtherCAT DEBUG 0-0: Configuring...
[  +0.002103] EtherCAT DEBUG 0-0: Now in INIT.
[  +0.000003] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  +0.000003] EtherCAT DEBUG 0-0: Clearing mailbox check flag...
[  +0.000987] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  +0.001007] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  +0.000992] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[  +0.000004] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[  +0.000003] EtherCAT DEBUG 0-0: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1
[  +0.000994] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[  +0.005873] EtherCAT DEBUG 0-0: Now in PREOP.
[  +0.000019] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[  +0.001132] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[  +0.000004] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32
[  +0.000014] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[  +0.006820] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[  +0.000015] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[  +0.000007] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[  +0.000005] EtherCAT DEBUG: 10 00 40 60 
[  +0.000012] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[  +0.003959] EtherCAT DEBUG 0-0: Download response:
[  +0.000017] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[  +0.000014] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[  +0.000001] EtherCAT DEBUG: 08 00 60 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60 
[  +0.006088] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 16 02 08 00 60 60 
[  +0.000010] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 3.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[  +0.000001] EtherCAT DEBUG: 20 00 7A 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60 
[  +0.008978] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 7A 60 
[  +0.000010] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 4.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[  +0.000001] EtherCAT DEBUG: 20 00 FF 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60 
[  +0.005070] EtherCAT DEBUG 0-0: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 16 04 20 00 FF 60 
[  +0.000011] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[  +0.000001] EtherCAT DEBUG: 04 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[  +0.004881] EtherCAT DEBUG 0-0: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[  +0.000011] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.
[  +0.000003] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[  +0.000002] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[  +0.000006] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  +0.000002] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[  +0.004644] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[  +0.000001] EtherCAT DEBUG: 00 16 
[  +0.000004] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[  +0.005291] EtherCAT DEBUG 0-0: Download response:
[  +0.000006] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[  +0.000009] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  +0.000001] EtherCAT DEBUG: 01 
[  +0.000004] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[  +0.004972] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[  +0.000015] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[  +0.000003] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16
[  +0.000018] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[  +0.003940] EtherCAT DEBUG 0-0: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[  +0.000009] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[  +0.000001] EtherCAT DEBUG: 10 00 41 60 
[  +0.000008] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[  +0.002971] EtherCAT DEBUG 0-0: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[  +0.000008] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 2.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[  +0.000001] EtherCAT DEBUG: 10 00 41 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 02 10 00 41 60 
[  +0.006986] EtherCAT DEBUG 0-0: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 1A 02 10 00 41 60 
[  +0.000011] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 3.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[  +0.000001] EtherCAT DEBUG: 08 00 61 60 
[  +0.000006] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 03 08 00 61 60 
[  +0.005971] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 03 08 00 61 60 
[  +0.000010] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 4.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[  +0.000002] EtherCAT DEBUG: 20 00 64 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 64 60 
[  +0.002972] EtherCAT DEBUG 0-0: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 04 20 00 64 60 
[  +0.000009] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 5.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:05.
[  +0.000001] EtherCAT DEBUG: 20 00 6C 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 05 20 00 6C 60 
[  +0.005984] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 05 20 00 6C 60 
[  +0.000011] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6077:00 (16 bit) at position 6.
[  +0.000004] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:06.
[  +0.000001] EtherCAT DEBUG: 10 00 77 60 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 06 10 00 77 60 
[  +0.004248] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 06 10 00 77 60 
[  +0.000008] EtherCAT DEBUG 0-0: Setting number of PDO entries to 6.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[  +0.000002] EtherCAT DEBUG: 06 
[  +0.000003] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 1A 00 06 00 00 00 
[  +0.005700] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 00 06 00 00 00 
[  +0.000009] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.
[  +0.000002] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[  +0.000002] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A00
[  +0.000006] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  +0.000002] EtherCAT DEBUG: 00 
[  +0.000003] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[  +0.004970] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[  +0.000001] EtherCAT DEBUG: 00 1A 
[  +0.000005] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[  +0.002972] EtherCAT DEBUG 0-0: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[  +0.000008] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  +0.000003] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  +0.000002] EtherCAT DEBUG: 01 
[  +0.000003] EtherCAT DEBUG 0-0: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[  +0.002982] EtherCAT DEBUG 0-0: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[  +0.000010] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size  11, Ctrl 0x64, En 1
[  +0.000003] EtherCAT DEBUG 0-0: SM3: Addr 0x1300, Size  15, Ctrl 0x20, En 1
[  +0.000968] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size  32, PhysAddr 0x1000, SM0, Dir out
[  +0.000003] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000020, Size  11, PhysAddr 0x1200, SM2, Dir out
[  +0.000003] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x0000002B, Size  15, PhysAddr 0x1300, SM3, Dir in
[  +0.002005] EtherCAT 0: Domain 0: Working counter changed to 2/9.
[  +0.002776] EtherCAT DEBUG 0-0: Setting DC cycle times to 1000000 / 0.
[  +0.001219] EtherCAT DEBUG 0-0: Checking for synchrony.
[  +0.000997] EtherCAT DEBUG 0-0: Sync after    0 ms:      22288 ns
[  +0.010000] EtherCAT DEBUG 0-0: 6726 ns difference after 12 ms.
[  +0.000007] EtherCAT DEBUG 0-0:    ref_time=723483413356355000
[  +0.000002] EtherCAT DEBUG 0-0:    app_time=723483413761000480
[  +0.000002] EtherCAT DEBUG 0-0:  start_time=723483413861000480
[  +0.000002] EtherCAT DEBUG 0-0:       cycle=1000000
[  +0.000002] EtherCAT DEBUG 0-0:  shift_time=0
[  +0.000002] EtherCAT DEBUG 0-0:   remainder=645480
[  +0.000001] EtherCAT DEBUG 0-0:        start=723483413861355000
[  +0.000002] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 723483413861355000.
[  +0.000975] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300.
[  +0.003002] EtherCAT DEBUG 0-0: Now in SAFEOP.
[  +0.296995] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[  +0.010853] EtherCAT DEBUG 0-1: Changing state from PREOP to OP.
[  +0.000005] EtherCAT DEBUG 0-1: Configuring...
[  +0.002137] EtherCAT DEBUG 0-1: Now in INIT.
[  +0.000002] EtherCAT DEBUG 0-1: Clearing FMMU configurations...
[  +0.000002] EtherCAT DEBUG 0-1: Clearing mailbox check flag...
[  +0.001007] EtherCAT DEBUG 0-1: Clearing sync manager configurations...
[  +0.001003] EtherCAT DEBUG 0-1: Clearing DC assignment...
[  +0.001000] EtherCAT DEBUG 0-1: Configuring mailbox sync managers...
[  +0.000007] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[  +0.000003] EtherCAT DEBUG 0-1: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1
[  +0.000986] EtherCAT DEBUG 0-1: Assigning SII access to PDI.
[  +0.002993] EtherCAT DEBUG 0-1: Now in PREOP.
[  +0.000003] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT.
[  +0.001005] EtherCAT DEBUG 0-1: Changing mapping of PDO 0x1600.
[  +0.000002] EtherCAT DEBUG 0-1: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32
[  +0.000013] EtherCAT DEBUG 0-1: Setting entry count to zero.
[  +0.000004] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[  +0.003969] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:01.
[  +0.000001] EtherCAT DEBUG: 10 00 40 60 
[  +0.000005] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[  +0.003977] EtherCAT DEBUG 0-1: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:02.
[  +0.000001] EtherCAT DEBUG: 08 00 60 60 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60 
[  +0.002989] EtherCAT DEBUG 0-1: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 16 02 08 00 60 60 
[  +0.000009] EtherCAT DEBUG 0-1: Mapping PDO entry 0x607A:00 (32 bit) at position 3.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:03.
[  +0.000001] EtherCAT DEBUG: 20 00 7A 60 
[  +0.000008] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60 
[  +0.002967] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 7A 60 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x60FF:00 (32 bit) at position 4.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:04.
[  +0.000002] EtherCAT DEBUG: 20 00 FF 60 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60 
[  +0.003978] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 16 04 20 00 FF 60 
[  +0.000008] EtherCAT DEBUG 0-1: Setting number of PDO entries to 4.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1600:00.
[  +0.000002] EtherCAT DEBUG: 04 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[  +0.002974] EtherCAT DEBUG 0-1: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[  +0.000007] EtherCAT DEBUG 0-1: Successfully configured mapping for PDO 0x1600.
[  +0.000002] EtherCAT DEBUG 0-1: Setting PDO assignment of SM2:
[  +0.000002] EtherCAT DEBUG 0-1: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[  +0.000005] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to zero.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:00.
[  +0.000002] EtherCAT DEBUG: 00 
[  +0.000002] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[  +0.003976] EtherCAT DEBUG 0-1: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[  +0.000010] EtherCAT DEBUG 0-1: Assigning PDO 0x1600 at position 1.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:01.
[  +0.000002] EtherCAT DEBUG: 00 16 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[  +0.003979] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[  +0.000007] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to 1.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1C12:00.
[  +0.000001] EtherCAT DEBUG: 01 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[  +0.002983] EtherCAT DEBUG 0-1: Download response:
[  +0.000001] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[  +0.000009] EtherCAT DEBUG 0-1: Successfully configured PDO assignment of SM2.
[  +0.000007] EtherCAT DEBUG 0-1: Changing mapping of PDO 0x1A00.
[  +0.000001] EtherCAT DEBUG 0-1: Currently mapped PDO entries: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16
[  +0.000014] EtherCAT DEBUG 0-1: Setting entry count to zero.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:00.
[  +0.000002] EtherCAT DEBUG: 00 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[  +0.003960] EtherCAT DEBUG 0-1: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[  +0.000009] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:01.
[  +0.000001] EtherCAT DEBUG: 10 00 41 60 
[  +0.000005] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[  +0.003976] EtherCAT DEBUG 0-1: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6061:00 (8 bit) at position 2.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:02.
[  +0.000001] EtherCAT DEBUG: 08 00 61 60 
[  +0.000007] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 02 08 00 61 60 
[  +0.003980] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 02 08 00 61 60 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6064:00 (32 bit) at position 3.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:03.
[  +0.000002] EtherCAT DEBUG: 20 00 64 60 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 64 60 
[  +0.003981] EtherCAT DEBUG 0-1: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 03 20 00 64 60 
[  +0.000008] EtherCAT DEBUG 0-1: Mapping PDO entry 0x606C:00 (32 bit) at position 4.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:04.
[  +0.000001] EtherCAT DEBUG: 20 00 6C 60 
[  +0.000004] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 6C 60 
[  +0.002989] EtherCAT DEBUG 0-1: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 04 20 00 6C 60 
[  +0.000009] EtherCAT DEBUG 0-1: Mapping PDO entry 0x6077:00 (16 bit) at position 5.
[  +0.000004] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:05.
[  +0.000002] EtherCAT DEBUG: 10 00 77 60 
[  +0.000005] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 05 10 00 77 60 
[  +0.002970] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 05 10 00 77 60 
[  +0.000008] EtherCAT DEBUG 0-1: Setting number of PDO entries to 5.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1A00:00.
[  +0.000004] EtherCAT DEBUG: 05 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 2F 00 1A 00 05 00 00 00 
[  +0.003973] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 00 05 00 00 00 
[  +0.000007] EtherCAT DEBUG 0-1: Successfully configured mapping for PDO 0x1A00.
[  +0.000003] EtherCAT DEBUG 0-1: Setting PDO assignment of SM3:
[  +0.000001] EtherCAT DEBUG 0-1: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A00
[  +0.000005] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to zero.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[  +0.003978] EtherCAT DEBUG 0-1: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[  +0.000013] EtherCAT DEBUG 0-1: Assigning PDO 0x1A00 at position 1.
[  +0.000003] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:01.
[  +0.000001] EtherCAT DEBUG: 00 1A 
[  +0.000005] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[  +0.003970] EtherCAT DEBUG 0-1: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[  +0.000008] EtherCAT DEBUG 0-1: Setting number of assigned PDOs to 1.
[  +0.000002] EtherCAT DEBUG 0-1: Downloading SDO 0x1C13:00.
[  +0.000002] EtherCAT DEBUG: 01 
[  +0.000003] EtherCAT DEBUG 0-1: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[  +0.002980] EtherCAT DEBUG 0-1: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-1: Successfully configured PDO assignment of SM3.
[  +0.000008] EtherCAT DEBUG 0-1: SM2: Addr 0x1200, Size  11, Ctrl 0x64, En 1
[  +0.000003] EtherCAT DEBUG 0-1: SM3: Addr 0x1300, Size  13, Ctrl 0x20, En 1
[  +0.001977] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x0000003A, Size  32, PhysAddr 0x1000, SM0, Dir out
[  +0.000005] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x0000005A, Size  11, PhysAddr 0x1200, SM2, Dir out
[  +0.000002] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000065, Size  13, PhysAddr 0x1300, SM3, Dir in
[  +0.000988] EtherCAT DEBUG 0-1: Setting DC cycle times to 1000000 / 0.
[  +0.000998] EtherCAT DEBUG 0-1: Checking for synchrony.
[  +0.097005] EtherCAT DEBUG 0-1: Sync after  100 ms:     -23963 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after  200 ms:     -27389 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after  300 ms:     -30701 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after  400 ms:     -33855 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after  500 ms:     -36855 ns
[  +0.096003] EtherCAT 0: Domain 0: 2 working counter changes - now 5/9.
[  +0.003994] EtherCAT DEBUG 0-1: Sync after  600 ms:     -39686 ns
[  +0.100003] EtherCAT DEBUG 0-1: Sync after  700 ms:     -42333 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after  800 ms:     -44767 ns
[  +0.099998] EtherCAT DEBUG 0-1: Sync after  900 ms:     -47056 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after 1000 ms:     -49151 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after 1100 ms:     -51042 ns
[  +0.100002] EtherCAT DEBUG 0-1: Sync after 1200 ms:     -52728 ns
[  +0.099996] EtherCAT DEBUG 0-1: Sync after 1300 ms:     -54168 ns
[  +0.100002] EtherCAT DEBUG 0-1: Sync after 1400 ms:     -55352 ns
[  +0.099998] EtherCAT DEBUG 0-1: Sync after 1500 ms:     -56279 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 1600 ms:     -56944 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 1700 ms:     -57311 ns
[  +0.099998] EtherCAT DEBUG 0-1: Sync after 1800 ms:     -57359 ns
[  +0.100001] EtherCAT DEBUG 0-1: Sync after 1900 ms:     -57044 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after 2000 ms:     -56331 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 2100 ms:     -55148 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 2200 ms:     -53481 ns
[  +0.100003] EtherCAT DEBUG 0-1: Sync after 2300 ms:     -51275 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after 2400 ms:     -48429 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after 2500 ms:     -44842 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 2600 ms:     -40379 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 2700 ms:     -34876 ns
[  +0.099999] EtherCAT DEBUG 0-1: Sync after 2800 ms:     -28075 ns
[  +0.100000] EtherCAT DEBUG 0-1: Sync after 2900 ms:     -19622 ns
[  +0.093001] EtherCAT DEBUG 0-1: -9929 ns difference after 2992 ms.
[  +0.000004] EtherCAT DEBUG 0-1:    ref_time=723483413356355000
[  +0.000002] EtherCAT DEBUG 0-1:    app_time=723483417145979498
[  +0.000002] EtherCAT DEBUG 0-1:  start_time=723483417245979498
[  +0.000002] EtherCAT DEBUG 0-1:       cycle=1000000
[  +0.000002] EtherCAT DEBUG 0-1:  shift_time=0
[  +0.000001] EtherCAT DEBUG 0-1:   remainder=624498
[  +0.000002] EtherCAT DEBUG 0-1:        start=723483417246355000
[  +0.000002] EtherCAT DEBUG 0-1: Setting DC cyclic operation start time to 723483417246355000.
[  +0.000980] EtherCAT DEBUG 0-1: Setting DC AssignActivate to 0x0300.
[  +0.003002] EtherCAT DEBUG 0-1: Now in SAFEOP.
[  +0.000004] EtherCAT 0: Domain 0: Working counter changed to 6/9.
[  +0.296997] EtherCAT DEBUG 0-1: Now in OP. Finished configuration.
[  +0.005871] EtherCAT DEBUG 0-2: Changing state from PREOP to OP.
[  +0.000005] EtherCAT DEBUG 0-2: Configuring...
[  +0.002124] EtherCAT DEBUG 0-2: Now in INIT.
[  +0.000003] EtherCAT DEBUG 0-2: Clearing FMMU configurations...
[  +0.000002] EtherCAT DEBUG 0-2: Clearing mailbox check flag...
[  +0.000994] EtherCAT DEBUG 0-2: Clearing sync manager configurations...
[  +0.001009] EtherCAT DEBUG 0-2: Clearing DC assignment...
[  +0.000996] EtherCAT DEBUG 0-2: Configuring mailbox sync managers...
[  +0.000005] EtherCAT DEBUG 0-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[  +0.000003] EtherCAT DEBUG 0-2: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1
[  +0.000989] EtherCAT DEBUG 0-2: Assigning SII access to PDI.
[  +0.003000] EtherCAT DEBUG 0-2: Now in PREOP.
[  +0.000004] EtherCAT DEBUG 0-2: Assigning SII access back to EtherCAT.
[  +0.001008] EtherCAT DEBUG 0-2: Changing mapping of PDO 0x1600.
[  +0.000003] EtherCAT DEBUG 0-2: Currently mapped PDO entries: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32. Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 0x60FF:00/32
[  +0.000013] EtherCAT DEBUG 0-2: Setting entry count to zero.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[  +0.003973] EtherCAT DEBUG 0-2: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:01.
[  +0.000002] EtherCAT DEBUG: 10 00 40 60 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[  +0.002971] EtherCAT DEBUG 0-2: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6060:00 (8 bit) at position 2.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:02.
[  +0.000002] EtherCAT DEBUG: 08 00 60 60 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 02 08 00 60 60 
[  +0.002976] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 16 02 08 00 60 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x607A:00 (32 bit) at position 3.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:03.
[  +0.000001] EtherCAT DEBUG: 20 00 7A 60 
[  +0.000007] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 7A 60 
[  +0.002974] EtherCAT DEBUG 0-2: Download response:
[  +0.000001] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 7A 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x60FF:00 (32 bit) at position 4.
[  +0.000002] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:04.
[  +0.000002] EtherCAT DEBUG: 20 00 FF 60 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 16 04 20 00 FF 60 
[  +0.002981] EtherCAT DEBUG 0-2: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 16 04 20 00 FF 60 
[  +0.000008] EtherCAT DEBUG 0-2: Setting number of PDO entries to 4.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1600:00.
[  +0.000001] EtherCAT DEBUG: 04 
[  +0.000003] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[  +0.002980] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[  +0.000007] EtherCAT DEBUG 0-2: Successfully configured mapping for PDO 0x1600.
[  +0.000004] EtherCAT DEBUG 0-2: Setting PDO assignment of SM2:
[  +0.000001] EtherCAT DEBUG 0-2: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[  +0.000006] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to zero.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[  +0.003969] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[  +0.000010] EtherCAT DEBUG 0-2: Assigning PDO 0x1600 at position 1.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:01.
[  +0.000001] EtherCAT DEBUG: 00 16 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[  +0.003992] EtherCAT DEBUG 0-2: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[  +0.000009] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to 1.
[  +0.000005] EtherCAT DEBUG 0-2: Downloading SDO 0x1C12:00.
[  +0.000001] EtherCAT DEBUG: 01 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[  +0.002969] EtherCAT DEBUG 0-2: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-2: Successfully configured PDO assignment of SM2.
[  +0.000013] EtherCAT DEBUG 0-2: Changing mapping of PDO 0x1A00.
[  +0.000002] EtherCAT DEBUG 0-2: Currently mapped PDO entries: 0x6041:00/16 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x6041:00/16 0x6061:00/8 0x6064:00/32 0x606C:00/32 0x6077:00/16
[  +0.000017] EtherCAT DEBUG 0-2: Setting entry count to zero.
[  +0.000002] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000003] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000003] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[  +0.002937] EtherCAT DEBUG 0-2: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:01.
[  +0.000001] EtherCAT DEBUG: 10 00 41 60 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[  +0.002978] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6041:00 (16 bit) at position 2.
[  +0.000005] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:02.
[  +0.000001] EtherCAT DEBUG: 10 00 41 60 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 02 10 00 41 60 
[  +0.002973] EtherCAT DEBUG 0-2: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 02 10 00 41 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6061:00 (8 bit) at position 3.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:03.
[  +0.000001] EtherCAT DEBUG: 08 00 61 60 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 1A 03 08 00 61 60 
[  +0.003001] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 03 08 00 61 60 
[  +0.000009] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6064:00 (32 bit) at position 4.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:04.
[  +0.000001] EtherCAT DEBUG: 20 00 64 60 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 23 00 1A 04 20 00 64 60 
[  +0.002953] EtherCAT DEBUG 0-2: Download response:
[  +0.000002] EtherCAT DEBUG: 00 30 60 00 1A 04 20 00 64 60 
[  +0.000009] EtherCAT DEBUG 0-2: Mapping PDO entry 0x606C:00 (32 bit) at position 5.
[  +0.000002] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:05.
[  +0.000002] EtherCAT DEBUG: 20 00 6C 60 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 1A 05 20 00 6C 60 
[  +0.002982] EtherCAT DEBUG 0-2: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 00 1A 05 20 00 6C 60 
[  +0.000008] EtherCAT DEBUG 0-2: Mapping PDO entry 0x6077:00 (16 bit) at position 6.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:06.
[  +0.000001] EtherCAT DEBUG: 10 00 77 60 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 23 00 1A 06 10 00 77 60 
[  +0.003987] EtherCAT DEBUG 0-2: Download response:
[  +0.000005] EtherCAT DEBUG: 00 30 60 00 1A 06 10 00 77 60 
[  +0.000009] EtherCAT DEBUG 0-2: Setting number of PDO entries to 6.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1A00:00.
[  +0.000001] EtherCAT DEBUG: 06 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 00 1A 00 06 00 00 00 
[  +0.002965] EtherCAT DEBUG 0-2: Download response:
[  +0.000004] EtherCAT DEBUG: 00 30 60 00 1A 00 06 00 00 00 
[  +0.000007] EtherCAT DEBUG 0-2: Successfully configured mapping for PDO 0x1A00.
[  +0.000003] EtherCAT DEBUG 0-2: Setting PDO assignment of SM3:
[  +0.000002] EtherCAT DEBUG 0-2: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A00
[  +0.000006] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to zero.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:00.
[  +0.000001] EtherCAT DEBUG: 00 
[  +0.000004] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[  +0.003972] EtherCAT DEBUG 0-2: Download response:
[  +0.000006] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[  +0.000011] EtherCAT DEBUG 0-2: Assigning PDO 0x1A00 at position 1.
[  +0.000003] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:01.
[  +0.000001] EtherCAT DEBUG: 00 1A 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000002] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[  +0.002977] EtherCAT DEBUG 0-2: Download response:
[  +0.000006] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[  +0.000008] EtherCAT DEBUG 0-2: Setting number of assigned PDOs to 1.
[  +0.000004] EtherCAT DEBUG 0-2: Downloading SDO 0x1C13:00.
[  +0.000001] EtherCAT DEBUG: 01 
[  +0.000005] EtherCAT DEBUG 0-2: Expedited download request:
[  +0.000001] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[  +0.003977] EtherCAT DEBUG 0-2: Download response:
[  +0.000003] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[  +0.000012] EtherCAT DEBUG 0-2: Successfully configured PDO assignment of SM3.
[  +0.000008] EtherCAT DEBUG 0-2: SM2: Addr 0x1200, Size  11, Ctrl 0x64, En 1
[  +0.000004] EtherCAT DEBUG 0-2: SM3: Addr 0x1300, Size  15, Ctrl 0x20, En 1
[  +0.000966] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000072, Size  32, PhysAddr 0x1000, SM0, Dir out
[  +0.000004] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x00000092, Size  11, PhysAddr 0x1200, SM2, Dir out
[  +0.000002] EtherCAT DEBUG 0 0:2: FMMU: LogOff 0x0000009D, Size  15, PhysAddr 0x1300, SM3, Dir in
[  +0.001001] EtherCAT DEBUG 0-2: Setting DC cycle times to 1000000 / 0.
[  +0.000997] EtherCAT DEBUG 0-2: Checking for synchrony.
[  +0.001005] EtherCAT DEBUG 0-2: -4816 ns difference after 4 ms.
[  +0.000005] EtherCAT DEBUG 0-2:    ref_time=723483413356355000
[  +0.000002] EtherCAT DEBUG 0-2:    app_time=723483417533046132
[  +0.000002] EtherCAT DEBUG 0-2:  start_time=723483417633046132
[  +0.000002] EtherCAT DEBUG 0-2:       cycle=1000000
[  +0.000002] EtherCAT DEBUG 0-2:  shift_time=0
[  +0.000001] EtherCAT DEBUG 0-2:   remainder=691132
[  +0.000002] EtherCAT DEBUG 0-2:        start=723483417633355000
[  +0.000002] EtherCAT DEBUG 0-2: Setting DC cyclic operation start time to 723483417633355000.
[  +0.000976] EtherCAT DEBUG 0-2: Setting DC AssignActivate to 0x0300.
[  +0.003010] EtherCAT DEBUG 0-2: Now in SAFEOP.
[  +0.296981] EtherCAT DEBUG 0-2: Now in OP. Finished configuration.
[  +0.006879] EtherCAT 0: Slave states on main device: OP.
[  +0.312124] EtherCAT 0: Domain 0: 2 working counter changes - now 9/9.