[Dec 4 15:40] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x000000002cc2398b) [ +0.000004] EtherCAT DEBUG 0: Stopping master thread. [ +0.000012] EtherCAT DEBUG 0: Master OP thread exiting... [ +0.000019] EtherCAT 0: Master thread exited. [ +0.000031] EtherCAT 0: Starting EtherCAT-IDLE thread. [ +0.000146] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000 [ +0.000011] EtherCAT DEBUG 0: UNMATCHED datagram: [ +0.000002] EtherCAT DEBUG: 0C E2 00 00 00 00 AC 80 00 00 00 00 [ +0.000035] EtherCAT 0: Releasing master... [ +0.000003] EtherCAT DEBUG 0: OPERATION -> IDLE. [ +0.000003] EtherCAT 0: Released. [ +0.000512] 00 00 00 00 [ +0.000007] EtherCAT DEBUG: 00 00 00 00 00 00 00 04 00 00 00 00 00 00 00 00 [ +0.000010] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ +0.000007] EtherCAT DEBUG: 00 00 00 00 00 31 02 31 02 00 FB FF FF FF 00 00 [ +0.000008] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ +0.000011] EtherCAT DEBUG: 00 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ +0.000008] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 31 [ +0.000008] EtherCAT DEBUG: 02 00 FB FF FF FF 00 00 00 00 00 00 00 00 00 00 [ +0.000008] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 04 00 00 00 00 00 00 [ +0.000008] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 [ +0.000023] EtherCAT DEBUG: 00 00 00 00 00 00 00 31 02 31 02 00 00 00 00 00 [ +0.000008] EtherCAT DEBUG: 00 00 00 00 00 00 09 00 [ +0.000027] EtherCAT 0: 0 slave(s) responding on main device. [ +0.000088] EtherCAT DEBUG 0: Datagram 0000000097e4693a already queued (skipping). [ +0.009792] EtherCAT 0: 3 slave(s) responding on main device. [ +0.000004] EtherCAT 0: Slave states on main device: SAFEOP + ERROR. [ +0.000299] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. [ +0.000263] EtherCAT DEBUG 0: 3 slaves responded to delay measuring on main link. [ +0.000018] EtherCAT 0: Scanning bus. [ +0.000002] EtherCAT DEBUG 0: Scanning slave 0 on main link. [ +0.000546] EtherCAT WARNING 0-0: Slave has state error bit set (SAFEOP + ERROR)! [ +0.000531] EtherCAT DEBUG 0-0: Slave has the System Time register. [ +0.000547] EtherCAT DEBUG 0-0: Port 0 link status changed to up. [ +0.000003] EtherCAT DEBUG 0-0: Port 0 loop status changed to open. [ +0.000002] EtherCAT DEBUG 0-0: Port 0 signal status changed to yes. [ +0.000002] EtherCAT DEBUG 0-0: Port 1 link status changed to up. [ +0.000002] EtherCAT DEBUG 0-0: Port 1 loop status changed to open. [ +0.000002] EtherCAT DEBUG 0-0: Port 1 signal status changed to yes. [ +0.000002] EtherCAT DEBUG 0-0: Assigning SII access to EtherCAT. [ +0.000279] EtherCAT DEBUG 0-0: Determining SII size. [ +0.000513] EtherCAT DEBUG 0-0: Found category type 10 with size 220. Proceeding to offset 286. [ +0.000532] EtherCAT DEBUG 0-0: Found category type 30 with size 16. Proceeding to offset 304. [ +0.003249] EtherCAT DEBUG 0-0: Found category type 40 with size 2. Proceeding to offset 308. [ +0.000545] EtherCAT DEBUG 0-0: Found category type 41 with size 16. Proceeding to offset 326. [ +0.000516] EtherCAT DEBUG 0-0: Found category type 50 with size 56. Proceeding to offset 384. [ +0.000530] EtherCAT DEBUG 0-0: Found category type 51 with size 48. Proceeding to offset 434. [ +0.113761] EtherCAT DEBUG 0-0: Slave announces to support CoE. [ +0.000028] EtherCAT DEBUG 0-0: Reading mailbox sync manager configuration. [ +0.000257] EtherCAT DEBUG 0-0: Mailbox configuration: [ +0.000003] EtherCAT DEBUG 0-0: RX offset=0x1000 size=128 [ +0.000003] EtherCAT DEBUG 0-0: TX offset=0x1100 size=128 [ +0.000002] EtherCAT DEBUG 0-0: Scanning PDO assignment and mapping. [ +0.000003] EtherCAT DEBUG 0-0: Reading PDO assignment of SM2. [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:00. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ +0.000773] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000002] EtherCAT DEBUG: 01 [ +0.000003] EtherCAT DEBUG 0-0: 1 PDOs assigned. [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1C12:01. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ +0.000847] EtherCAT DEBUG 0-0: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 00 16 [ +0.000004] EtherCAT DEBUG 0-0: PDO 0x1600. [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ +0.000783] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000002] EtherCAT DEBUG: 04 [ +0.000003] EtherCAT DEBUG 0-0: 4 PDO entries mapped. [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ +0.000778] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 40 60 [ +0.000006] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???". [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60 [ +0.000014] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 08 00 60 60 [ +0.000005] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???". [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ +0.000775] EtherCAT DEBUG 0-0: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 7A 60 [ +0.000006] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 [ +0.000839] EtherCAT DEBUG 0-0: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000002] EtherCAT DEBUG: 20 00 FF 60 [ +0.000005] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???". [ +0.000009] EtherCAT DEBUG 0-0: Reading PDO assignment of SM3. [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:00. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ +0.000785] EtherCAT DEBUG 0-0: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 01 [ +0.000006] EtherCAT DEBUG 0-0: 1 PDOs assigned. [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1C13:01. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ +0.000777] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 00 1A [ +0.000005] EtherCAT DEBUG 0-0: PDO 0x1A00. [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000004] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ +0.000777] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 00 1A 00 06 00 00 00 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 06 [ +0.000003] EtherCAT DEBUG 0-0: 6 PDO entries mapped. [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01. [ +0.000005] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ +0.000771] EtherCAT DEBUG 0-0: Upload response: [ +0.000004] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 41 60 [ +0.000005] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???". [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ +0.000781] EtherCAT DEBUG 0-0: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 1A 02 10 00 41 60 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 41 60 [ +0.000006] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???". [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03. [ +0.000003] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ +0.000783] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 03 08 00 61 60 [ +0.000007] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 08 00 61 60 [ +0.000005] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???". [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:04. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ +0.000779] EtherCAT DEBUG 0-0: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 64 60 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 64 60 [ +0.000005] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???". [ +0.000003] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:05. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 05 20 00 6C 60 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 6C 60 [ +0.000006] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:06. [ +0.000002] EtherCAT DEBUG 0-0: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-0: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 06 10 00 77 60 [ +0.000008] EtherCAT DEBUG 0-0: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 77 60 [ +0.000008] EtherCAT DEBUG 0-0: PDO entry 0x6077:00, 16 bit, "???". [ +0.000010] EtherCAT DEBUG 0-0: Reading of PDO configuration finished. [ +0.000003] EtherCAT DEBUG 0: Scanning slave 1 on main link. [ +0.000516] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)! [ +0.000663] EtherCAT DEBUG 0-1: Slave has the System Time register. [ +0.000517] EtherCAT DEBUG 0-1: Port 0 link status changed to up. [ +0.000002] EtherCAT DEBUG 0-1: Port 0 loop status changed to open. [ +0.000002] EtherCAT DEBUG 0-1: Port 0 signal status changed to yes. [ +0.000002] EtherCAT DEBUG 0-1: Port 1 link status changed to up. [ +0.000002] EtherCAT DEBUG 0-1: Port 1 loop status changed to open. [ +0.000002] EtherCAT DEBUG 0-1: Port 1 signal status changed to yes. [ +0.000002] EtherCAT DEBUG 0-1: Assigning SII access to EtherCAT. [ +0.000258] EtherCAT DEBUG 0-1: Determining SII size. [ +0.000518] EtherCAT DEBUG 0-1: Found category type 10 with size 220. Proceeding to offset 286. [ +0.000512] EtherCAT DEBUG 0-1: Found category type 30 with size 16. Proceeding to offset 304. [ +0.000516] EtherCAT DEBUG 0-1: Found category type 40 with size 2. Proceeding to offset 308. [ +0.000514] EtherCAT DEBUG 0-1: Found category type 41 with size 16. Proceeding to offset 326. [ +0.000580] EtherCAT DEBUG 0-1: Found category type 50 with size 56. Proceeding to offset 384. [ +0.000509] EtherCAT DEBUG 0-1: Found category type 51 with size 48. Proceeding to offset 434. [ +0.112666] EtherCAT DEBUG 0-1: Slave announces to support CoE. [ +0.000030] EtherCAT DEBUG 0-1: Reading mailbox sync manager configuration. [ +0.000260] EtherCAT DEBUG 0-1: Mailbox configuration: [ +0.000002] EtherCAT DEBUG 0-1: RX offset=0x1000 size=128 [ +0.000003] EtherCAT DEBUG 0-1: TX offset=0x1100 size=128 [ +0.000002] EtherCAT DEBUG 0-1: Scanning PDO assignment and mapping. [ +0.000003] EtherCAT DEBUG 0-1: Reading PDO assignment of SM2. [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1C12:00. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ +0.000716] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 01 [ +0.000003] EtherCAT DEBUG 0-1: 1 PDOs assigned. [ +0.000002] EtherCAT DEBUG 0-1: Uploading SDO 0x1C12:01. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ +0.000768] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 00 16 [ +0.000004] EtherCAT DEBUG 0-1: PDO 0x1600. [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:00. [ +0.000001] EtherCAT DEBUG 0-1: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ +0.000863] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 04 [ +0.000003] EtherCAT DEBUG 0-1: 4 PDO entries mapped. [ +0.000002] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:01. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ +0.000698] EtherCAT DEBUG 0-1: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 [ +0.000009] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 10 00 40 60 [ +0.000007] EtherCAT DEBUG 0-1: PDO entry 0x6040:00, 16 bit, "???". [ +0.000002] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:02. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ +0.000775] EtherCAT DEBUG 0-1: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 08 00 60 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x6060:00, 8 bit, "???". [ +0.000002] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:03. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 7A 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x607A:00, 32 bit, "???". [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1600:04. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-1: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60 [ +0.000006] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 20 00 FF 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x60FF:00, 32 bit, "???". [ +0.000007] EtherCAT DEBUG 0-1: Reading PDO assignment of SM3. [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1C13:00. [ +0.000001] EtherCAT DEBUG 0-1: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ +0.000775] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 [ +0.000008] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 01 [ +0.000003] EtherCAT DEBUG 0-1: 1 PDOs assigned. [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1C13:01. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ +0.000785] EtherCAT DEBUG 0-1: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ +0.000009] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 00 1A [ +0.000003] EtherCAT DEBUG 0-1: PDO 0x1A00. [ +0.000004] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:00. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ +0.000779] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 00 1A 00 05 00 00 00 [ +0.000008] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 05 [ +0.000002] EtherCAT DEBUG 0-1: 5 PDO entries mapped. [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:01. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-1: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 [ +0.000007] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 41 60 [ +0.000006] EtherCAT DEBUG 0-1: PDO entry 0x6041:00, 16 bit, "???". [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:02. [ +0.000001] EtherCAT DEBUG 0-1: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ +0.000772] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 02 08 00 61 60 [ +0.000008] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 08 00 61 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x6061:00, 8 bit, "???". [ +0.000014] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:03. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ +0.000779] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 64 60 [ +0.000008] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000002] EtherCAT DEBUG: 20 00 64 60 [ +0.000006] EtherCAT DEBUG 0-1: PDO entry 0x6064:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:04. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ +0.001086] EtherCAT DEBUG 0-1: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 6C 60 [ +0.000011] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 6C 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x606C:00, 32 bit, "???". [ +0.000003] EtherCAT DEBUG 0-1: Uploading SDO 0x1A00:05. [ +0.000002] EtherCAT DEBUG 0-1: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-1: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 05 10 00 77 60 [ +0.000016] EtherCAT DEBUG 0-1: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 77 60 [ +0.000005] EtherCAT DEBUG 0-1: PDO entry 0x6077:00, 16 bit, "???". [ +0.000010] EtherCAT DEBUG 0-1: Reading of PDO configuration finished. [ +0.000002] EtherCAT DEBUG 0: Scanning slave 2 on main link. [ +0.000526] EtherCAT WARNING 0-2: Slave has state error bit set (SAFEOP + ERROR)! [ +0.000514] EtherCAT DEBUG 0-2: Slave has the System Time register. [ +0.000516] EtherCAT DEBUG 0-2: Port 0 link status changed to up. [ +0.000003] EtherCAT DEBUG 0-2: Port 0 loop status changed to open. [ +0.000002] EtherCAT DEBUG 0-2: Port 0 signal status changed to yes. [ +0.000002] EtherCAT DEBUG 0-2: Assigning SII access to EtherCAT. [ +0.000258] EtherCAT DEBUG 0-2: Determining SII size. [ +0.000775] EtherCAT DEBUG 0-2: Found category type 10 with size 220. Proceeding to offset 286. [ +0.000522] EtherCAT DEBUG 0-2: Found category type 30 with size 16. Proceeding to offset 304. [ +0.000519] EtherCAT DEBUG 0-2: Found category type 40 with size 2. Proceeding to offset 308. [ +0.000513] EtherCAT DEBUG 0-2: Found category type 41 with size 16. Proceeding to offset 326. [ +0.000518] EtherCAT DEBUG 0-2: Found category type 50 with size 56. Proceeding to offset 384. [ +0.000513] EtherCAT DEBUG 0-2: Found category type 51 with size 48. Proceeding to offset 434. [ +0.112768] EtherCAT DEBUG 0-2: Slave announces to support CoE. [ +0.000039] EtherCAT DEBUG 0-2: Reading mailbox sync manager configuration. [ +0.000397] EtherCAT DEBUG 0-2: Mailbox configuration: [ +0.000004] EtherCAT DEBUG 0-2: RX offset=0x1000 size=128 [ +0.000002] EtherCAT DEBUG 0-2: TX offset=0x1100 size=128 [ +0.000003] EtherCAT DEBUG 0-2: Scanning PDO assignment and mapping. [ +0.000005] EtherCAT DEBUG 0-2: Reading PDO assignment of SM2. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1C12:00. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ +0.000786] EtherCAT DEBUG 0-2: Upload response: [ +0.000010] EtherCAT DEBUG: 00 30 4F 12 1C 00 01 00 00 00 [ +0.000008] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 01 [ +0.000003] EtherCAT DEBUG 0-2: 1 PDOs assigned. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1C12:01. [ +0.000001] EtherCAT DEBUG 0-2: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4B 12 1C 01 00 16 00 00 [ +0.000008] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 00 16 [ +0.000005] EtherCAT DEBUG 0-2: PDO 0x1600. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:00. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00 [ +0.000009] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 04 [ +0.000003] EtherCAT DEBUG 0-2: 4 PDO entries mapped. [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:01. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000009] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 40 60 [ +0.000007] EtherCAT DEBUG 0-2: PDO entry 0x6040:00, 16 bit, "???". [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:02. [ +0.000001] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 [ +0.001023] EtherCAT DEBUG 0-2: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 16 02 08 00 60 60 [ +0.000017] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 08 00 60 60 [ +0.000006] EtherCAT DEBUG 0-2: PDO entry 0x6060:00, 8 bit, "???". [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:03. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 [ +0.000783] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 7A 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000002] EtherCAT DEBUG: 20 00 7A 60 [ +0.000006] EtherCAT DEBUG 0-2: PDO entry 0x607A:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1600:04. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 [ +0.000783] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 16 04 20 00 FF 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000002] EtherCAT DEBUG: 20 00 FF 60 [ +0.000005] EtherCAT DEBUG 0-2: PDO entry 0x60FF:00, 32 bit, "???". [ +0.000008] EtherCAT DEBUG 0-2: Reading PDO assignment of SM3. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1C13:00. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ +0.000775] EtherCAT DEBUG 0-2: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 4F 13 1C 00 01 00 00 00 [ +0.000011] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 01 [ +0.000003] EtherCAT DEBUG 0-2: 1 PDOs assigned. [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1C13:01. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ +0.000777] EtherCAT DEBUG 0-2: Upload response: [ +0.000004] EtherCAT DEBUG: 00 30 4B 13 1C 01 00 1A 00 00 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 00 1A [ +0.000004] EtherCAT DEBUG 0-2: PDO 0x1A00. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:00. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ +0.000974] EtherCAT DEBUG 0-2: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 4F 00 1A 00 06 00 00 00 [ +0.000008] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000002] EtherCAT DEBUG: 06 [ +0.000003] EtherCAT DEBUG 0-2: 6 PDO entries mapped. [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:01. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ +0.000778] EtherCAT DEBUG 0-2: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 [ +0.000010] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000002] EtherCAT DEBUG: 10 00 41 60 [ +0.000005] EtherCAT DEBUG 0-2: PDO entry 0x6041:00, 16 bit, "???". [ +0.000003] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:02. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-2: Upload response: [ +0.000001] EtherCAT DEBUG: 00 30 43 00 1A 02 10 00 41 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 41 60 [ +0.000006] EtherCAT DEBUG 0-2: PDO entry 0x6041:00, 16 bit, "???". [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:03. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000002] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 03 08 00 61 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 08 00 61 60 [ +0.000005] EtherCAT DEBUG 0-2: PDO entry 0x6061:00, 8 bit, "???". [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:04. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000003] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ +0.000776] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 04 20 00 64 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 64 60 [ +0.000005] EtherCAT DEBUG 0-2: PDO entry 0x6064:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:05. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ +0.001089] EtherCAT DEBUG 0-2: Upload response: [ +0.000003] EtherCAT DEBUG: 00 30 43 00 1A 05 20 00 6C 60 [ +0.000010] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 20 00 6C 60 [ +0.000006] EtherCAT DEBUG 0-2: PDO entry 0x606C:00, 32 bit, "???". [ +0.000002] EtherCAT DEBUG 0-2: Uploading SDO 0x1A00:06. [ +0.000002] EtherCAT DEBUG 0-2: Upload request: [ +0.000001] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ +0.000774] EtherCAT DEBUG 0-2: Upload response: [ +0.000002] EtherCAT DEBUG: 00 30 43 00 1A 06 10 00 77 60 [ +0.000007] EtherCAT DEBUG 0-2: Uploaded data: [ +0.000001] EtherCAT DEBUG: 10 00 77 60 [ +0.000005] EtherCAT DEBUG 0-2: PDO entry 0x6077:00, 16 bit, "???". [ +0.000012] EtherCAT DEBUG 0-2: Reading of PDO configuration finished. [ +0.000003] EtherCAT 0: Bus scanning completed in 396 ms. [ +0.000002] EtherCAT 0: Using slave 0 as DC reference clock. [ +0.000005] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) [ +0.000002] EtherCAT DEBUG 0-1: ec_slave_calc_transmission_delays_rec(delay = 700 ns) [ +0.000002] EtherCAT DEBUG 0-2: ec_slave_calc_transmission_delays_rec(delay = 1400 ns) [ +0.000002] EtherCAT DEBUG 0: No app_time received up to now. [ +0.018875] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error". [ +0.000516] EtherCAT 0-0: Acknowledged state SAFEOP. [ +0.000006] EtherCAT DEBUG 0-0: Changing state from SAFEOP to PREOP (forced). [ +0.000004] EtherCAT DEBUG 0-0: Configuring... [ +0.000540] EtherCAT DEBUG 0-0: Now in INIT. [ +0.000004] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [ +0.000003] EtherCAT DEBUG 0-0: Clearing mailbox check flag... [ +0.000272] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [ +0.000208] EtherCAT DEBUG 0-0: Clearing DC assignment... [ +0.000266] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [ +0.000007] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ +0.000005] EtherCAT DEBUG 0-0: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1 [ +0.000272] EtherCAT DEBUG 0-0: Assigning SII access to PDI. [ +0.000867] EtherCAT DEBUG 0-0: Now in PREOP. [ +0.000004] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. [ +0.000208] EtherCAT DEBUG 0-0: Finished configuration. [ +0.004768] EtherCAT ERROR 0-1: AL status message 0x001A: "Synchronization error". [ +0.000562] EtherCAT 0-1: Acknowledged state SAFEOP. [ +0.000007] EtherCAT DEBUG 0-1: Changing state from SAFEOP to PREOP (forced). [ +0.000003] EtherCAT DEBUG 0-1: Configuring... [ +0.000559] EtherCAT DEBUG 0-1: Now in INIT. [ +0.000004] EtherCAT DEBUG 0-1: Clearing FMMU configurations... [ +0.000004] EtherCAT DEBUG 0-1: Clearing mailbox check flag... [ +0.000283] EtherCAT DEBUG 0-1: Clearing sync manager configurations... [ +0.000285] EtherCAT DEBUG 0-1: Clearing DC assignment... [ +0.000271] EtherCAT DEBUG 0-1: Configuring mailbox sync managers... [ +0.000005] EtherCAT DEBUG 0-1: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ +0.000004] EtherCAT DEBUG 0-1: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1 [ +0.000275] EtherCAT DEBUG 0-1: Assigning SII access to PDI. [ +0.000809] EtherCAT DEBUG 0-1: Now in PREOP. [ +0.000003] EtherCAT DEBUG 0-1: Assigning SII access back to EtherCAT. [ +0.000274] EtherCAT DEBUG 0-1: Finished configuration. [ +0.008651] EtherCAT WARNING: Datagram 0000000097e4693a (master-fsm) was SKIPPED 1 time. [ +0.000302] EtherCAT ERROR 0-2: AL status message 0x001A: "Synchronization error". [ +0.000559] EtherCAT 0-2: Acknowledged state SAFEOP. [ +0.000006] EtherCAT DEBUG 0-2: Changing state from SAFEOP to PREOP (forced). [ +0.000003] EtherCAT DEBUG 0-2: Configuring... [ +0.000559] EtherCAT DEBUG 0-2: Now in INIT. [ +0.000004] EtherCAT DEBUG 0-2: Clearing FMMU configurations... [ +0.000003] EtherCAT DEBUG 0-2: Clearing mailbox check flag... [ +0.000281] EtherCAT DEBUG 0-2: Clearing sync manager configurations... [ +0.000280] EtherCAT DEBUG 0-2: Clearing DC assignment... [ +0.000280] EtherCAT DEBUG 0-2: Configuring mailbox sync managers... [ +0.000007] EtherCAT DEBUG 0-2: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [ +0.000004] EtherCAT DEBUG 0-2: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1 [ +0.000280] EtherCAT DEBUG 0-2: Assigning SII access to PDI. [ +0.001418] EtherCAT DEBUG 0-2: Now in PREOP. [ +0.000008] EtherCAT DEBUG 0-2: Assigning SII access back to EtherCAT. [ +0.000273] EtherCAT DEBUG 0-2: Finished configuration. [ +0.000005] EtherCAT DEBUG 0-0: Ready for requests. [ +0.000004] EtherCAT DEBUG 0-1: Ready for requests. [ +0.000003] EtherCAT DEBUG 0-2: Ready for requests. [ +0.007562] EtherCAT 0: Slave states on main device: PREOP.