[ 4.629551] EtherCAT: Master driver 1.5.2 unknown [ 4.629628] EtherCAT: 1 master waiting for devices. [ 4.630423] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown [ 4.630433] EtherCAT: Accepting 90:E2:BA:3E:FC:1F as main device for master 0. [ 4.671132] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 6.710712] EtherCAT 0: Link state of ecm0 changed to UP. [ 6.714769] EtherCAT 0: 2 slave(s) responding on main device. [ 6.714772] EtherCAT 0: Slave states on main device: PREOP. [ 6.715581] EtherCAT 0: Scanning bus. [ 7.829192] EtherCAT 0: Bus scanning completed in 1116 ms. [ 7.829195] EtherCAT 0: Using slave main-0 as DC reference clock. [ 7.845334] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 7.857461] EtherCAT 0: Slave states on main device: INIT. [ 7.881719] EtherCAT 0: Slave states on main device: PREOP. [ 25.737798] EtherCAT: Requesting master 0... [ 25.737801] EtherCAT: Successfully requested master 0. [ 25.738356] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 6. [ 25.738359] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW at 00000000649fd078. [ 25.740037] EtherCAT 0: Master thread exited. [ 25.740039] EtherCAT 0: Starting EtherCAT-OP thread. [ 25.792186] EtherCAT 0: Slave states on main device: INIT. [ 25.816251] EtherCAT 0: Slave states on main device: PREOP. [ 25.819006] EtherCAT 0: Domain 0: Working counter changed to 3/6. [ 25.828282] EtherCAT ERROR 0-main-0: SDO download 0xF030 (10 bytes) aborted. [ 25.828287] EtherCAT ERROR 0-main-0: SDO abort message 0x06010000: "Unsupported access to an object". [ 25.828289] EtherCAT ERROR 0-main-0: SDO configuration failed. [ 25.852360] EtherCAT 0: Slave states on main device: PREOP, OP. [ 240.786954] EtherCAT 0: Master thread exited. [ 240.786968] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 240.786995] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized. [ 240.787006] EtherCAT 0: Releasing master... [ 240.787007] EtherCAT 0: Released. [ 240.803058] EtherCAT 0: Slave states on main device: INIT. [ 240.823154] EtherCAT WARNING: Datagram 00000000aa09f609 (master-fsm) was SKIPPED 1 time. [ 240.827289] EtherCAT 0: Slave states on main device: PREOP. [ 275.082597] EtherCAT: Requesting master 0... [ 275.082600] EtherCAT: Successfully requested master 0. [ 275.083124] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 6. [ 275.083126] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW at 0000000024471cd0. [ 275.085341] EtherCAT 0: Master thread exited. [ 275.085343] EtherCAT 0: Starting EtherCAT-OP thread. [ 275.085375] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 275.141518] EtherCAT 0: Slave states on main device: INIT. [ 275.165584] EtherCAT 0: Slave states on main device: PREOP. [ 275.168188] EtherCAT 0: Domain 0: Working counter changed to 2/6. [ 275.177619] EtherCAT ERROR 0-main-0: SDO download 0xF030 (10 bytes) aborted. [ 275.177624] EtherCAT ERROR 0-main-0: SDO abort message 0x06010000: "Unsupported access to an object". [ 275.177626] EtherCAT ERROR 0-main-0: SDO configuration failed. [ 275.201689] EtherCAT 0: Slave states on main device: PREOP, OP. [ 276.170210] EtherCAT 0: Domain 0: Working counter changed to 3/6. [ 350.879535] EtherCAT 0: Master debug level set to 1. [ 378.638996] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x000000009bb3359a) [ 378.638998] EtherCAT DEBUG 0: Stopping master thread. [ 378.641653] EtherCAT DEBUG 0: Master OP thread exiting... [ 378.641660] EtherCAT 0: Master thread exited. [ 378.641671] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 378.641706] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000 [ 378.641710] EtherCAT DEBUG 0: UNMATCHED datagram: [ 378.641711] EtherCAT DEBUG: 0C 05 00 00 00 00 17 80 00 00 00 00 00 00 00 00 [ 378.641715] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 8A 02 00 00 [ 378.641719] EtherCAT DEBUG: 1F 03 00 [ 378.641721] EtherCAT 0: Releasing master... [ 378.641723] EtherCAT DEBUG 0-main-0: Changing state from PREOP to PREOP (forced). [ 378.641724] EtherCAT DEBUG 0-main-0: Configuring... [ 378.641726] EtherCAT DEBUG 0-main-1: Changing state from OP to PREOP (forced). [ 378.641727] EtherCAT DEBUG 0-main-1: Configuring... [ 378.641731] EtherCAT DEBUG 0: OPERATION -> IDLE. [ 378.641732] EtherCAT 0: Released. [ 378.649768] EtherCAT 0: Slave states on main device: INIT. [ 378.649770] EtherCAT DEBUG 0-main-0: Now in INIT. [ 378.649771] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 378.649772] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 378.649773] EtherCAT DEBUG 0-main-1: Now in INIT. [ 378.649774] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 378.649775] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 378.653792] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 378.653794] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 378.657810] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 378.657811] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 378.661829] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 378.661831] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 378.661833] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 378.661835] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 378.661836] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 378.665852] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 378.673898] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 378.673902] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 378.673903] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 378.677924] EtherCAT DEBUG 0-main-0: INIT -> PREOP. [ 378.677927] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 378.677928] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 378.677929] EtherCAT DEBUG 0-main-1: Finished configuration. [ 378.681948] EtherCAT DEBUG 0-main-0: Finished configuration. [ 378.685966] EtherCAT 0: Slave states on main device: PREOP. [ 385.574300] EtherCAT: Requesting master 0... [ 385.574302] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 385.574303] EtherCAT: Successfully requested master 0. [ 385.574306] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x000000009bb3359a) [ 385.574308] EtherCAT DEBUG 0: Created domain 0. [ 385.574310] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574312] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000021/0x07500354. [ 385.574314] EtherCAT DEBUG 0 0:0: Attached slave main-0. [ 385.574559] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000006b05d06a, sync_index = 0, dir = 1, watchdog_mode = 0) [ 385.574561] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000006b05d06a, sync_index = 0) [ 385.574563] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000006b05d06a, sync_index = 1, dir = 2, watchdog_mode = 0) [ 385.574565] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000006b05d06a, sync_index = 1) [ 385.574567] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000006b05d06a, sync_index = 2, dir = 1, watchdog_mode = 0) [ 385.574569] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000006b05d06a, sync_index = 2) [ 385.574573] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000006b05d06a, sync_index = 2, pdo_index = 0x1601) [ 385.574574] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601. [ 385.574576] EtherCAT DEBUG 0 0:0: Entry 0x7010:01. [ 385.574577] EtherCAT DEBUG 0 0:0: Entry 0x7010:02. [ 385.574578] EtherCAT DEBUG 0 0:0: Entry 0x7010:03. [ 385.574579] EtherCAT DEBUG 0 0:0: Entry 0x7010:04. [ 385.574580] EtherCAT DEBUG 0 0:0: Entry 0x7010:05. [ 385.574581] EtherCAT DEBUG 0 0:0: Entry 0x7010:06. [ 385.574582] EtherCAT DEBUG 0 0:0: Entry 0x7010:07. [ 385.574583] EtherCAT DEBUG 0 0:0: Entry 0x7010:08. [ 385.574584] EtherCAT DEBUG 0 0:0: Entry 0x7010:09. [ 385.574585] EtherCAT DEBUG 0 0:0: Entry 0x7010:0A. [ 385.574586] EtherCAT DEBUG 0 0:0: Entry 0x7010:0B. [ 385.574586] EtherCAT DEBUG 0 0:0: Entry 0x7010:0C. [ 385.574587] EtherCAT DEBUG 0 0:0: Entry 0x7010:0D. [ 385.574588] EtherCAT DEBUG 0 0:0: Entry 0x7010:0E. [ 385.574589] EtherCAT DEBUG 0 0:0: Entry 0x7010:0F. [ 385.574590] EtherCAT DEBUG 0 0:0: Entry 0x7010:10. [ 385.574593] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000006b05d06a, pdo_index = 0x1601) [ 385.574596] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x01, entry_bit_length = 1) [ 385.574598] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x02, entry_bit_length = 1) [ 385.574600] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x03, entry_bit_length = 1) [ 385.574602] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x04, entry_bit_length = 1) [ 385.574604] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x05, entry_bit_length = 1) [ 385.574607] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x06, entry_bit_length = 1) [ 385.574609] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x07, entry_bit_length = 1) [ 385.574611] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x08, entry_bit_length = 1) [ 385.574613] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x09, entry_bit_length = 1) [ 385.574615] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0A, entry_bit_length = 1) [ 385.574617] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0B, entry_bit_length = 1) [ 385.574619] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0C, entry_bit_length = 1) [ 385.574622] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0D, entry_bit_length = 1) [ 385.574624] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0E, entry_bit_length = 1) [ 385.574626] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0F, entry_bit_length = 1) [ 385.574628] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x10, entry_bit_length = 1) [ 385.574630] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000006b05d06a, sync_index = 2, pdo_index = 0x16FF) [ 385.574631] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x16FF. [ 385.574632] EtherCAT DEBUG 0 0:0: Entry 0xF200:01. [ 385.574633] EtherCAT DEBUG 0 0:0: Entry 0xF200:02. [ 385.574634] EtherCAT DEBUG 0 0:0: Entry 0xF200:03. [ 385.574635] EtherCAT DEBUG 0 0:0: Entry 0xF200:04. [ 385.574636] EtherCAT DEBUG 0 0:0: Entry 0x0000:00. [ 385.574637] EtherCAT DEBUG 0 0:0: Entry 0xF200:05. [ 385.574639] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000006b05d06a, pdo_index = 0x16FF) [ 385.574641] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x01, entry_bit_length = 1) [ 385.574644] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x02, entry_bit_length = 1) [ 385.574646] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x03, entry_bit_length = 1) [ 385.574648] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x04, entry_bit_length = 1) [ 385.574650] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 12) [ 385.574652] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x05, entry_bit_length = 16) [ 385.574654] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000006b05d06a, sync_index = 3, dir = 2, watchdog_mode = 0) [ 385.574656] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000006b05d06a, sync_index = 3) [ 385.574659] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000006b05d06a, sync_index = 3, pdo_index = 0x1A00) [ 385.574660] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00. [ 385.574662] EtherCAT DEBUG 0 0:0: Entry 0x6000:01. [ 385.574663] EtherCAT DEBUG 0 0:0: Entry 0x6000:02. [ 385.574664] EtherCAT DEBUG 0 0:0: Entry 0x6000:03. [ 385.574665] EtherCAT DEBUG 0 0:0: Entry 0x6000:04. [ 385.574666] EtherCAT DEBUG 0 0:0: Entry 0x6000:05. [ 385.574667] EtherCAT DEBUG 0 0:0: Entry 0x6000:06. [ 385.574668] EtherCAT DEBUG 0 0:0: Entry 0x6000:07. [ 385.574669] EtherCAT DEBUG 0 0:0: Entry 0x6000:08. [ 385.574670] EtherCAT DEBUG 0 0:0: Entry 0x6000:09. [ 385.574671] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A. [ 385.574672] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B. [ 385.574673] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C. [ 385.574674] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D. [ 385.574675] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E. [ 385.574675] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F. [ 385.574676] EtherCAT DEBUG 0 0:0: Entry 0x6000:10. [ 385.574678] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000006b05d06a, pdo_index = 0x1A00) [ 385.574681] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1) [ 385.574683] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1) [ 385.574685] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 1) [ 385.574687] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 1) [ 385.574689] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 1) [ 385.574691] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 1) [ 385.574694] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1) [ 385.574696] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 1) [ 385.574698] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1) [ 385.574700] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1) [ 385.574702] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 1) [ 385.574704] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 1) [ 385.574706] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 1) [ 385.574709] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 1) [ 385.574711] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 1) [ 385.574713] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 1) [ 385.574715] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000006b05d06a, sync_index = 3, pdo_index = 0x1AFF) [ 385.574716] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1AFF. [ 385.574717] EtherCAT DEBUG 0 0:0: Entry 0xF100:01. [ 385.574718] EtherCAT DEBUG 0 0:0: Entry 0xF100:02. [ 385.574719] EtherCAT DEBUG 0 0:0: Entry 0xF100:03. [ 385.574720] EtherCAT DEBUG 0 0:0: Entry 0xF100:04. [ 385.574721] EtherCAT DEBUG 0 0:0: Entry 0x0000:00. [ 385.574722] EtherCAT DEBUG 0 0:0: Entry 0x10F3:04. [ 385.574723] EtherCAT DEBUG 0 0:0: Entry 0xF100:05. [ 385.574725] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000006b05d06a, pdo_index = 0x1AFF) [ 385.574727] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = 1) [ 385.574729] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1) [ 385.574731] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 1) [ 385.574733] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 1) [ 385.574736] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 11) [ 385.574738] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0x10F3, entry_subindex = 0x04, entry_bit_length = 1) [ 385.574740] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x000000006b05d06a, pdo_index = 0x1AFF, entry_index = 0xF100, entry_subindex = 0x05, entry_bit_length = 16) [ 385.574780] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.574781] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x0000079A/0xABE00001. [ 385.574782] EtherCAT DEBUG 0 0:1: Attached slave main-1. [ 385.574838] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x000000005fd4e755, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 2000200000, sync1_cycle = 0, sync1_shift = 0 [ 385.574840] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000005fd4e755, sync_index = 0, dir = 1, watchdog_mode = 0) [ 385.574842] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000005fd4e755, sync_index = 0) [ 385.574845] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000005fd4e755, sync_index = 0, pdo_index = 0x1600) [ 385.574846] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600. [ 385.574847] EtherCAT DEBUG 0 0:1: Found PDO name "Outputs". [ 385.574848] EtherCAT DEBUG 0 0:1: Entry 0x0005:01. [ 385.574849] EtherCAT DEBUG 0 0:1: Entry 0x0005:02. [ 385.574850] EtherCAT DEBUG 0 0:1: Entry 0x0005:03. [ 385.574851] EtherCAT DEBUG 0 0:1: Entry 0x0005:04. [ 385.574852] EtherCAT DEBUG 0 0:1: Entry 0x0005:05. [ 385.574854] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000005fd4e755, pdo_index = 0x1600) [ 385.574857] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x01, entry_bit_length = 16) [ 385.574859] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x02, entry_bit_length = 8) [ 385.574861] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x03, entry_bit_length = 8) [ 385.574863] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x04, entry_bit_length = 8) [ 385.574865] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x05, entry_bit_length = 8) [ 385.574867] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000005fd4e755, sync_index = 1, dir = 2, watchdog_mode = 0) [ 385.574869] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000005fd4e755, sync_index = 1) [ 385.574871] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000005fd4e755, sync_index = 1, pdo_index = 0x1A00) [ 385.574872] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00. [ 385.574873] EtherCAT DEBUG 0 0:1: Found PDO name "Inputs". [ 385.574874] EtherCAT DEBUG 0 0:1: Entry 0x0006:01. [ 385.574875] EtherCAT DEBUG 0 0:1: Entry 0x0006:02. [ 385.574876] EtherCAT DEBUG 0 0:1: Entry 0x0006:03. [ 385.574877] EtherCAT DEBUG 0 0:1: Entry 0x0006:04. [ 385.574879] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000005fd4e755, pdo_index = 0x1A00) [ 385.574881] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x01, entry_bit_length = 16) [ 385.574884] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x02, entry_bit_length = 8) [ 385.574886] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x03, entry_bit_length = 8) [ 385.574888] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000005fd4e755, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x04, entry_bit_length = 8) [ 385.574923] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574926] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574928] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0. [ 385.574930] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574933] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574935] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574937] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574939] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574941] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574943] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574945] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x05, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574947] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574950] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x06, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574951] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574954] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x07, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574956] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574958] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x08, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574960] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574962] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x09, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574964] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574966] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0A, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574968] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574971] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0B, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574972] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574975] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0C, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574977] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574979] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0D, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574981] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574983] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0E, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574985] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574987] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x0F, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574989] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574992] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x7010, subindex = 0x10, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574994] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.574996] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF200, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.574998] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575000] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF200, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575002] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575004] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF200, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575006] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575009] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF200, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575011] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575013] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF200, subindex = 0x05, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575015] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575017] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575018] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 6. [ 385.575020] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575023] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575025] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575027] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575029] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575031] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575033] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575035] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x05, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575037] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575039] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x06, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575041] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575044] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x07, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575046] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575048] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x08, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575050] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575052] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x09, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575054] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575057] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0A, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575059] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575061] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0B, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575063] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0C, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575067] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575070] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0D, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575072] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575074] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0E, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575076] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575078] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x0F, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575080] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575082] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x10, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575085] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575087] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF100, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575089] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575091] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575093] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575095] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575097] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575100] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x6000, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575102] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575104] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0x10F3, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575106] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 385.575109] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x000000006b05d06a, index = 0xF100, subindex = 0x05, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575111] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575113] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0005, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575114] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 12. [ 385.575116] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575119] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0005, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575120] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575123] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0005, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575125] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575127] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0005, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575129] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575131] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0005, subindex = 0x05, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575133] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575135] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0006, subindex = 0x01, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575136] EtherCAT DEBUG 0: Domain 0: Added 5 bytes at 18. [ 385.575138] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575141] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0006, subindex = 0x02, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575143] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575145] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0006, subindex = 0x03, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575147] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 385.575149] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000005fd4e755, index = 0x0006, subindex = 0x04, domain = 0x00000000422f3d59, bit_position = 0x00000000f09b9d35) [ 385.575181] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x00000000422f3d59, mem = 0x0000000045c370d3) [ 385.575183] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x000000009bb3359a, send_cb = 0x0000000073fd653c, receive_cb = 0x0000000068187353, cb_data = 0x000000009bb3359a) [ 385.575184] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x000000009bb3359a) [ 385.575186] EtherCAT DEBUG 0: Adding datagram pair with expected WC 6. [ 385.575187] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 6. [ 385.575189] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW at 0000000080c55d10. [ 385.575190] EtherCAT DEBUG 0: Stopping master thread. [ 385.577136] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 385.577142] EtherCAT 0: Master thread exited. [ 385.577144] EtherCAT DEBUG 0: FSM datagram is 00000000aa09f609. [ 385.577145] EtherCAT 0: Starting EtherCAT-OP thread. [ 385.577175] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 385.577176] EtherCAT DEBUG 0: mmap() [ 385.577177] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 385.577179] EtherCAT DEBUG 0: Vma fault, virtual_address = 00000000a9ed5e6c, offset = 0, page = 000000006eae4e3b [ 385.593222] EtherCAT DEBUG 0: Configuration changed. [ 385.593225] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 385.597238] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=726317426548102417, app_time=726317426548127754, diff=25337 [ 385.597240] EtherCAT DEBUG 0-main-0: Setting time offset to 726316489791147804 (was 726316489791122467) [ 385.605257] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 385.609268] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=726317426560119401, app_time=726317426560127020, diff=7619 [ 385.609270] EtherCAT DEBUG 0-main-1: Setting time offset to 726316765974979299 (was 726316765974971680) [ 385.617285] EtherCAT DEBUG 0: Requesting OP... [ 385.617289] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 385.617291] EtherCAT DEBUG 0-main-0: Configuring... [ 385.617292] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 385.617293] EtherCAT DEBUG 0-main-1: Configuring... [ 385.625310] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 385.625313] EtherCAT DEBUG 0-main-0: Now in INIT. [ 385.625314] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 385.625315] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 385.625316] EtherCAT DEBUG 0-main-1: Now in INIT. [ 385.625317] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 385.625318] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 385.629329] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 385.629331] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 385.633340] EtherCAT 0: Slave states on main device: INIT. [ 385.633341] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 385.633342] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 385.637352] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 385.637355] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 385.637356] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 385.637358] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 385.637360] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 385.641369] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 385.649388] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 385.649389] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 385.653401] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 385.653402] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 385.653407] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1000, Size 6, Ctrl 0x64, En 1 [ 385.653409] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1200, Size 5, Ctrl 0x20, En 1 [ 385.657417] EtherCAT 0: Slave states on main device: PREOP. [ 385.657429] EtherCAT WARNING 0-main-0: Slave does not support assigning PDOs! [ 385.657430] EtherCAT WARNING 0-main-0: Currently assigned PDOs: 0x16FF 0x1601. PDOs to assign: 0x1601 0x16FF [ 385.657441] EtherCAT WARNING 0-main-0: Slave does not support changing the PDO mapping! [ 385.657441] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0xF100:01/1 0xF100:02/1 0xF100:03/1 0xF100:04/1 0x0000:00/11 0x10F3:04/1 0xF100:05/16. Entries to map: 0xF100:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x0000:00/11 0x10F3:04/1 0xF100:05/16 [ 385.657451] EtherCAT WARNING 0-main-0: Slave does not support assigning PDOs! [ 385.657452] EtherCAT WARNING 0-main-0: Currently assigned PDOs: 0x1AFF 0x1A00. PDOs to assign: 0x1A00 0x1AFF [ 385.657457] EtherCAT DEBUG 0-main-0: SM2: Addr 0x1800, Size 6, Ctrl 0x64, En 1 [ 385.657459] EtherCAT DEBUG 0-main-0: SM3: Addr 0x2400, Size 6, Ctrl 0x00, En 1 [ 385.657461] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x0000000C, Size 6, PhysAddr 0x1000, SM0, Dir out [ 385.657463] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000012, Size 5, PhysAddr 0x1200, SM1, Dir in [ 385.659882] EtherCAT 0: Domain 0: Working counter changed to 3/6. [ 385.661470] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1800, SM2, Dir out [ 385.661472] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 6, PhysAddr 0x2400, SM3, Dir in [ 385.661474] EtherCAT DEBUG 0-main-1: Setting DC cycle times to 1000000 / 0. [ 385.665489] EtherCAT DEBUG 0-main-1: Checking for synchrony. [ 385.669501] EtherCAT DEBUG 0-main-1: -903 ns difference after 4 ms. [ 385.669504] EtherCAT DEBUG 0-main-1: ref_time=726317426529392000 [ 385.669505] EtherCAT DEBUG 0-main-1: app_time=726317426623125396 [ 385.669505] EtherCAT DEBUG 0-main-1: start_time=726317426723125396 [ 385.669506] EtherCAT DEBUG 0-main-1: cycle=1000000 [ 385.669507] EtherCAT DEBUG 0-main-1: shift_time=2000200000 [ 385.669508] EtherCAT DEBUG 0-main-1: remainder=733396 [ 385.669509] EtherCAT DEBUG 0-main-1: start=726317428723592000 [ 385.669511] EtherCAT DEBUG 0-main-1: Setting DC cyclic operation start time to 726317428723592000. [ 385.673518] EtherCAT DEBUG 0-main-0: PREOP -> SAFEOP. [ 385.673520] EtherCAT DEBUG 0-main-0: Now in SAFEOP. [ 385.673522] EtherCAT DEBUG 0-main-1: Setting DC AssignActivate to 0x0300. [ 385.681538] EtherCAT 0: Slave states on main device: PREOP, OP. [ 385.681540] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration. [ 385.685551] EtherCAT DEBUG 0-main-1: Now in SAFEOP. [ 385.693572] EtherCAT 0: Slave states on main device: OP. [ 385.693574] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration. [ 386.661869] EtherCAT 0: Domain 0: 2 working counter changes - now 6/6. [ 788.986471] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x000000009bb3359a) [ 788.986474] EtherCAT DEBUG 0: Stopping master thread. [ 788.987840] EtherCAT DEBUG 0: Master OP thread exiting... [ 788.987846] EtherCAT 0: Master thread exited. [ 788.987855] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 788.987882] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000 [ 788.987886] EtherCAT DEBUG 0: UNMATCHED datagram: [ 788.987887] EtherCAT DEBUG: 0C CB 00 00 00 00 17 80 00 00 00 00 00 00 00 00 [ 788.987892] EtherCAT DEBUG: 00 00 00 00 00 40 00 00 00 00 00 [ 788.987895] EtherCAT 0: Releasing master... [ 788.987898] EtherCAT DEBUG 0: OPERATION -> IDLE. [ 788.987899] EtherCAT DEBUG: [ 788.987900] EtherCAT 0: Released. [ 788.987903] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized. [ 788.987908] EtherCAT DEBUG 0-main-0: Changing state from OP to PREOP (forced). [ 788.987909] EtherCAT DEBUG 0-main-0: Configuring... [ 788.987911] EtherCAT DEBUG 0-main-1: Changing state from OP to PREOP (forced). [ 788.987912] EtherCAT DEBUG 0-main-1: Configuring... [ 788.987913] EtherCAT DEBUG 0: Datagram 00000000aa09f609 already queued (skipping). [ 788.995945] EtherCAT DEBUG 0-main-0: OP -> INIT. [ 788.995947] EtherCAT DEBUG 0-main-0: Now in INIT. [ 788.995949] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 788.995950] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 788.995951] EtherCAT DEBUG 0-main-1: Now in INIT. [ 788.995952] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 788.995953] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 788.999970] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 788.999972] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 789.003988] EtherCAT 0: Slave states on main device: INIT. [ 789.003990] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 789.003991] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 789.008009] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 789.008012] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 789.008013] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 789.008015] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 789.008016] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 789.012032] EtherCAT WARNING: Datagram 00000000aa09f609 (master-fsm) was SKIPPED 1 time. [ 789.012037] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 789.020073] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 789.020075] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 789.024095] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 789.024097] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 789.024098] EtherCAT DEBUG 0-main-1: Finished configuration. [ 789.028185] EtherCAT 0: Slave states on main device: PREOP. [ 789.028187] EtherCAT DEBUG 0-main-0: Finished configuration. [ 836.070748] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070751] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0xF200, subindex = 0x03, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070753] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070755] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0xF200, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070757] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070759] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0xF200, subindex = 0x05, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070761] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070763] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x01, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070765] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 6. [ 836.070767] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070769] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x02, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070771] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070773] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x03, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070775] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070777] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070780] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070782] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x05, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070784] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070787] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x06, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070789] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070791] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x07, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070793] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070795] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x08, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070797] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070800] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x09, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070802] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070804] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0A, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070806] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070808] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0B, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070810] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070813] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0C, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070815] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070817] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0D, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070819] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070821] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0E, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070823] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070826] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x0F, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070828] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070830] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x10, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070833] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070835] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0xF100, subindex = 0x01, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070838] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070840] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x02, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070842] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070844] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x03, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070846] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070849] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x6000, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070850] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070853] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0x10F3, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070855] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 836.070857] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000e0e6ecb2, index = 0xF100, subindex = 0x05, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070859] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070862] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0005, subindex = 0x01, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070863] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 12. [ 836.070865] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070867] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0005, subindex = 0x02, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070869] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070871] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0005, subindex = 0x03, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070873] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070875] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0005, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070877] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070880] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0005, subindex = 0x05, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070882] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070884] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0006, subindex = 0x01, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070885] EtherCAT DEBUG 0: Domain 0: Added 5 bytes at 18. [ 836.070887] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070889] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0006, subindex = 0x02, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070891] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070893] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0006, subindex = 0x03, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070895] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 836.070898] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000c7b4beaa, index = 0x0006, subindex = 0x04, domain = 0x000000007f42c5cd, bit_position = 0x00000000fdd39fa2) [ 836.070930] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x000000007f42c5cd, mem = 0x00000000a01f82f4) [ 836.070932] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x000000009bb3359a, send_cb = 0x0000000073fd653c, receive_cb = 0x0000000068187353, cb_data = 0x000000009bb3359a) [ 836.070933] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x000000009bb3359a) [ 836.070935] EtherCAT DEBUG 0: Adding datagram pair with expected WC 6. [ 836.070937] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 6. [ 836.070938] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW at 00000000d99b8297. [ 836.070939] EtherCAT DEBUG 0: Stopping master thread. [ 836.072968] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 836.072975] EtherCAT 0: Master thread exited. [ 836.072978] EtherCAT DEBUG 0: FSM datagram is 00000000aa09f609. [ 836.072979] EtherCAT 0: Starting EtherCAT-OP thread. [ 836.073016] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 836.073017] EtherCAT DEBUG 0: mmap() [ 836.073019] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 836.073021] EtherCAT DEBUG 0: Vma fault, virtual_address = 000000007f3a3bc8, offset = 0, page = 000000002243e1ba [ 836.089053] EtherCAT DEBUG 0: Configuration changed (aborting state check). [ 836.089055] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 836.093068] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=726317877048620136, app_time=726317877048748875, diff=128739 [ 836.093070] EtherCAT DEBUG 0-main-0: Setting time offset to 726316489791276543 (was 726316489791147804) [ 836.101099] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 836.105110] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=726317877060614168, app_time=726317877060743891, diff=129723 [ 836.105112] EtherCAT DEBUG 0-main-1: Setting time offset to 726316765975109022 (was 726316765974979299) [ 836.113128] EtherCAT DEBUG 0: Requesting OP... [ 836.113132] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 836.113133] EtherCAT DEBUG 0-main-0: Configuring... [ 836.113135] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 836.113136] EtherCAT DEBUG 0-main-1: Configuring... [ 836.121157] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 836.121160] EtherCAT DEBUG 0-main-0: Now in INIT. [ 836.121161] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 836.121162] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 836.121163] EtherCAT DEBUG 0-main-1: Now in INIT. [ 836.121164] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 836.121165] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 836.125175] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 836.125177] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 836.129188] EtherCAT 0: Slave states on main device: INIT. [ 836.129190] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 836.129192] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 836.133203] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 836.133207] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 836.133208] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 836.133210] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 836.133211] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 836.137222] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 836.145240] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 836.145242] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 836.149250] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 836.149252] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 836.149257] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1000, Size 6, Ctrl 0x64, En 1 [ 836.149259] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1200, Size 5, Ctrl 0x20, En 1 [ 836.153268] EtherCAT 0: Slave states on main device: PREOP. [ 836.153272] EtherCAT DEBUG 0-main-0: Downloading SDO 0xF030. [ 836.153273] EtherCAT DEBUG: 02 00 01 01 00 80 02 01 00 80 [ 836.153283] EtherCAT DEBUG 0-main-0: Normal download request: [ 836.153283] EtherCAT DEBUG: 00 20 31 30 F0 00 0A 00 00 00 02 00 01 01 00 80 [ 836.153288] EtherCAT DEBUG: 02 01 00 80 [ 836.153292] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x0000000C, Size 6, PhysAddr 0x1000, SM0, Dir out [ 836.153294] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000012, Size 5, PhysAddr 0x1200, SM1, Dir in [ 836.155932] EtherCAT 0: Domain 0: Working counter changed to 3/6. [ 836.157303] EtherCAT DEBUG 0-main-1: Setting DC cycle times to 1000000 / 0. [ 836.161313] EtherCAT DEBUG 0-main-1: Checking for synchrony. [ 836.165323] EtherCAT DEBUG 0-main-0: Download response: [ 836.165324] EtherCAT DEBUG: 00 20 80 30 F0 00 00 00 01 06 [ 836.165330] EtherCAT ERROR 0-main-0: SDO download 0xF030 (10 bytes) aborted. [ 836.165333] EtherCAT ERROR 0-main-0: SDO abort message 0x06010000: "Unsupported access to an object". [ 836.165336] EtherCAT ERROR 0-main-0: SDO configuration failed. [ 836.165338] EtherCAT DEBUG 0-main-1: -1811 ns difference after 0 ms. [ 836.165339] EtherCAT DEBUG 0-main-1: ref_time=726317877029707000 [ 836.165340] EtherCAT DEBUG 0-main-1: app_time=726317877123746729 [ 836.165341] EtherCAT DEBUG 0-main-1: start_time=726317877223746729 [ 836.165342] EtherCAT DEBUG 0-main-1: cycle=1000000 [ 836.165343] EtherCAT DEBUG 0-main-1: shift_time=2000200000 [ 836.165344] EtherCAT DEBUG 0-main-1: remainder=39729 [ 836.165345] EtherCAT DEBUG 0-main-1: start=726317879224907000 [ 836.165346] EtherCAT DEBUG 0-main-1: Setting DC cyclic operation start time to 726317879224907000. [ 836.169356] EtherCAT DEBUG 0-main-1: Setting DC AssignActivate to 0x0300. [ 836.181383] EtherCAT DEBUG 0-main-1: Now in SAFEOP. [ 836.189402] EtherCAT 0: Slave states on main device: PREOP, OP. [ 836.189404] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration. [ 920.222358] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x000000009bb3359a) [ 920.222360] EtherCAT DEBUG 0: Stopping master thread. [ 920.225785] EtherCAT DEBUG 0: Master OP thread exiting... [ 920.225792] EtherCAT 0: Master thread exited. [ 920.225802] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 920.225832] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000 [ 920.225836] EtherCAT DEBUG 0: UNMATCHED datagram: [ 920.225836] EtherCAT DEBUG: 0C C0 00 00 00 00 17 80 00 00 00 00 00 00 00 00 [ 920.225841] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 [ 920.225845] EtherCAT 0: Releasing master... [ 920.225847] EtherCAT DEBUG 0: OPERATION -> IDLE. [ 920.225848] EtherCAT DEBUG: 1F 03 [ 920.225849] EtherCAT 0: Released. [ 920.225852] EtherCAT 0: 0 slave(s) responding on main device. [ 920.225855] EtherCAT DEBUG 0-main-0: Unready for requests. [ 920.225858] EtherCAT DEBUG 0-main-1: Unready for requests. [ 920.225871] EtherCAT DEBUG 0: Datagram 00000000aa09f609 already queued (skipping). [ 920.229888] EtherCAT 0: 2 slave(s) responding on main device. [ 920.229890] EtherCAT 0: Slave states on main device: PREOP, OP. [ 920.229893] EtherCAT DEBUG 0: Reading old port receive times... [ 920.230439] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link. [ 920.230683] EtherCAT DEBUG 0: 2 slaves responded to delay measuring on main link. [ 920.230684] EtherCAT 0: Scanning bus. [ 920.230685] EtherCAT DEBUG 0-main-0: Ready for requests. [ 920.230686] EtherCAT DEBUG 0-main-1: Ready for requests. [ 920.230687] EtherCAT DEBUG 0-main-0: Scanning slave 0 on main link. [ 920.230688] EtherCAT DEBUG 0-main-1: Scanning slave 1 on main link. [ 920.231683] EtherCAT DEBUG 0-main-0: Slave has the System Time register. [ 920.231684] EtherCAT DEBUG 0-main-1: Slave has the System Time register. [ 920.232183] EtherCAT DEBUG 0-main-0: Port 0 link status changed to up. [ 920.232184] EtherCAT DEBUG 0-main-0: Port 0 loop status changed to open. [ 920.232185] EtherCAT DEBUG 0-main-0: Port 0 signal status changed to yes. [ 920.232186] EtherCAT DEBUG 0-main-0: Port 1 link status changed to up. [ 920.232187] EtherCAT DEBUG 0-main-0: Port 1 loop status changed to open. [ 920.232188] EtherCAT DEBUG 0-main-0: Port 1 signal status changed to yes. [ 920.232189] EtherCAT DEBUG 0-main-0: Assigning SII access to EtherCAT. [ 920.232190] EtherCAT DEBUG 0-main-1: Port 0 link status changed to up. [ 920.232191] EtherCAT DEBUG 0-main-1: Port 0 loop status changed to open. [ 920.232192] EtherCAT DEBUG 0-main-1: Port 0 signal status changed to yes. [ 920.232193] EtherCAT DEBUG 0-main-1: Assigning SII access to EtherCAT. [ 920.233434] EtherCAT DEBUG 0-main-0: Alias: 0 [ 920.233435] EtherCAT DEBUG 0-main-1: Alias: 0 [ 920.234435] EtherCAT DEBUG 0-main-1: Serial Number: 0x00000000 [ 920.234436] EtherCAT DEBUG 0-main-1: Slave cannot be uniquely identified. SII image data cannot be re-used! [ 920.234437] EtherCAT DEBUG 0: Creating slave SII image for 1 [ 920.234684] EtherCAT DEBUG 0-main-0: Serial Number: 0x0000093c [ 920.235939] EtherCAT DEBUG 0-main-0: Vendor ID: 0x00000021 [ 920.237182] EtherCAT DEBUG 0-main-0: Product Code: 0x07500354 [ 920.238190] EtherCAT DEBUG 0-main-0: Revision: 0x00000002 [ 920.238192] EtherCAT DEBUG 0: Creating slave SII image for 0 [ 920.370358] EtherCAT DEBUG 0-main-1: Unknown category type 0x003C. [ 920.539792] EtherCAT WARNING: Datagram 00000000aa09f609 (master-fsm) was SKIPPED 1 time. [ 921.289327] EtherCAT DEBUG 0-main-0: Unknown category type 0x7FFF. [ 921.289330] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289330] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289331] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289332] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289332] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289333] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289334] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289335] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289335] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289336] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289337] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289338] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289338] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289339] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289340] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289340] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289341] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289342] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289343] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289343] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289344] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289345] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289345] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289346] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289347] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289347] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289348] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289348] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289349] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289350] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289350] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289351] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289352] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289352] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289353] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289354] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289354] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289355] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289356] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289356] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289357] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289358] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289358] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289359] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289360] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289360] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289361] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289362] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289362] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289363] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289364] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289364] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289365] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289366] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289366] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289367] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289368] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289368] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289369] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289369] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289370] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289371] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289371] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289372] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289373] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289373] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289374] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289375] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289376] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289376] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289377] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289378] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289379] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289379] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289380] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289381] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289381] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289382] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289383] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289383] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289384] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289385] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289385] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289386] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289387] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289387] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289388] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289388] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289389] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289390] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289390] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289391] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289392] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289392] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289393] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289394] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289394] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289395] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289396] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289396] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289397] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289398] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289398] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289399] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289400] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289400] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289401] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289402] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289402] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289403] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289404] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289404] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289405] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289406] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289406] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289407] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289408] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289408] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289409] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289410] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289410] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289411] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289411] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289412] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289413] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289414] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289414] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289415] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289416] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289416] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289417] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289418] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289419] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289419] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289420] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289421] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289421] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289422] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289423] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289423] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289424] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289425] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289425] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289426] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289426] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289427] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289428] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289428] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289429] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289430] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289430] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289431] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289432] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289432] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289433] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289434] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289434] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289435] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289436] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289436] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289437] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289438] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289438] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289439] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289440] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289440] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289441] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289442] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289442] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289443] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289444] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289444] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289445] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289445] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289446] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289447] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289447] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289448] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289449] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289449] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289450] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289451] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289452] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289452] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289453] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289454] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289454] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289455] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289456] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289457] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289457] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289458] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289459] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289459] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289460] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289460] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289461] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289462] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289462] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289463] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289464] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289464] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289465] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289466] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289466] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289467] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289468] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289468] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289469] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289470] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289470] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289471] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289472] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289472] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289473] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289474] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289474] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289475] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289476] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289476] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289477] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289478] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289478] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289479] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289480] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289480] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289481] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289481] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289482] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289483] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289483] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289484] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289485] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289485] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289486] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289487] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289487] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289488] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289489] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289489] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289490] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289491] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289492] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289492] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289493] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289494] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289494] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289495] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289496] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289496] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289497] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289498] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289498] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289499] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289500] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289500] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289501] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289502] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289502] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289503] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289504] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289504] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289505] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289506] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289506] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289507] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289508] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289508] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289509] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289510] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289510] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289511] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289512] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289512] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289513] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289514] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289514] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289515] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289515] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289516] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289517] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289517] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289518] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289519] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289519] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289520] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289521] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289521] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289522] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289523] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289523] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289524] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289525] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289525] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289526] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289527] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289527] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289528] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289529] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289530] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289530] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289531] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289532] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289533] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289533] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289534] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289535] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289535] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289536] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289537] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289537] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289538] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289539] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289539] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289540] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289541] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289541] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289542] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289543] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289543] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289544] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289545] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289545] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289546] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289547] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289547] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289548] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289548] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289549] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289550] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289550] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289551] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289552] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289552] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289553] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289554] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289554] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289555] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289556] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289556] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289557] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289558] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289558] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289559] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289560] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289560] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289561] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289562] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289562] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289563] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289564] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289564] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289565] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289566] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289567] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289567] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289568] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289569] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289569] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289570] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289571] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289571] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289572] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289573] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289573] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289574] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289575] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289575] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289576] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289577] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289577] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289578] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289579] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289579] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289580] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289581] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289581] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289582] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289583] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289583] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289584] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289584] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289585] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289586] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289586] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289587] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289588] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289588] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289589] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289590] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289590] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289591] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289592] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289592] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289593] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289594] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289594] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289595] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289596] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289596] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289597] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289598] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289598] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289599] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289600] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289600] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289601] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289602] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289602] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289603] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289604] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289604] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289605] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289606] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289606] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289607] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289608] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289608] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289609] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289610] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289610] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289611] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289612] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289612] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289613] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289614] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289614] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289615] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289616] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289616] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289617] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289618] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289618] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289619] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289620] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289620] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289621] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289622] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289622] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289623] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289624] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289624] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289625] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289626] EtherCAT DEBUG 0-main-0: Unknown category type 0x0000. [ 921.289627] EtherCAT DEBUG 0-main-0: Reading mailbox sync manager configuration. [ 921.289853] EtherCAT DEBUG 0-main-0: Mailbox configuration: [ 921.289855] EtherCAT DEBUG 0-main-0: RX offset=0x1000 size=512 [ 921.289856] EtherCAT DEBUG 0-main-0: TX offset=0x1400 size=512 [ 921.290074] EtherCAT DEBUG 0-main-0: Scanning PDO assignment and mapping. [ 921.290075] EtherCAT DEBUG 0-main-0: Reading PDO assignment of SM2. [ 921.290077] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C12:00. [ 921.290078] EtherCAT DEBUG 0-main-0: Upload request: [ 921.290079] EtherCAT DEBUG: 00 20 40 12 1C 00 00 00 00 00 [ 921.290850] EtherCAT DEBUG 0-main-0: Upload response: [ 921.290851] EtherCAT DEBUG: 00 30 4F 12 1C 00 02 00 00 00 [ 921.290854] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.290855] EtherCAT DEBUG: 02 [ 921.290856] EtherCAT DEBUG 0-main-0: 2 PDOs assigned. [ 921.290857] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C12:01. [ 921.290858] EtherCAT DEBUG 0-main-0: Upload request: [ 921.290858] EtherCAT DEBUG: 00 20 40 12 1C 01 00 00 00 00 [ 921.291829] EtherCAT DEBUG 0-main-0: Upload response: [ 921.291831] EtherCAT DEBUG: 00 30 4B 12 1C 01 FF 16 00 00 [ 921.291842] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.291844] EtherCAT DEBUG: FF 16 [ 921.291849] EtherCAT DEBUG 0-main-0: PDO 0x16FF. [ 921.291852] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:00. [ 921.291854] EtherCAT DEBUG 0-main-0: Upload request: [ 921.291856] EtherCAT DEBUG: 00 20 40 FF 16 00 00 00 00 00 [ 921.292821] EtherCAT DEBUG 0-main-0: Upload response: [ 921.292822] EtherCAT DEBUG: 00 30 4F FF 16 00 06 00 00 00 [ 921.292825] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.292826] EtherCAT DEBUG: 06 [ 921.292827] EtherCAT DEBUG 0-main-0: 6 PDO entries mapped. [ 921.292828] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:01. [ 921.292829] EtherCAT DEBUG 0-main-0: Upload request: [ 921.292829] EtherCAT DEBUG: 00 20 40 FF 16 01 00 00 00 00 [ 921.293575] EtherCAT DEBUG 0-main-0: Upload response: [ 921.293575] EtherCAT DEBUG: 00 30 43 FF 16 01 01 01 00 F2 [ 921.293578] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.293578] EtherCAT DEBUG: 01 01 00 F2 [ 921.293580] EtherCAT DEBUG 0-main-0: PDO entry 0xF200:01, 1 bit, "???". [ 921.293581] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:02. [ 921.293582] EtherCAT DEBUG 0-main-0: Upload request: [ 921.293582] EtherCAT DEBUG: 00 20 40 FF 16 02 00 00 00 00 [ 921.294321] EtherCAT DEBUG 0-main-0: Upload response: [ 921.294322] EtherCAT DEBUG: 00 30 43 FF 16 02 01 02 00 F2 [ 921.294325] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.294325] EtherCAT DEBUG: 01 02 00 F2 [ 921.294327] EtherCAT DEBUG 0-main-0: PDO entry 0xF200:02, 1 bit, "???". [ 921.294328] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:03. [ 921.294328] EtherCAT DEBUG 0-main-0: Upload request: [ 921.294329] EtherCAT DEBUG: 00 20 40 FF 16 03 00 00 00 00 [ 921.295069] EtherCAT DEBUG 0-main-0: Upload response: [ 921.295070] EtherCAT DEBUG: 00 30 43 FF 16 03 01 03 00 F2 [ 921.295072] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.295072] EtherCAT DEBUG: 01 03 00 F2 [ 921.295074] EtherCAT DEBUG 0-main-0: PDO entry 0xF200:03, 1 bit, "???". [ 921.295075] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:04. [ 921.295075] EtherCAT DEBUG 0-main-0: Upload request: [ 921.295076] EtherCAT DEBUG: 00 20 40 FF 16 04 00 00 00 00 [ 921.295824] EtherCAT DEBUG 0-main-0: Upload response: [ 921.295824] EtherCAT DEBUG: 00 30 43 FF 16 04 01 04 00 F2 [ 921.295827] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.295827] EtherCAT DEBUG: 01 04 00 F2 [ 921.295829] EtherCAT DEBUG 0-main-0: PDO entry 0xF200:04, 1 bit, "???". [ 921.295830] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:05. [ 921.295831] EtherCAT DEBUG 0-main-0: Upload request: [ 921.295832] EtherCAT DEBUG: 00 20 40 FF 16 05 00 00 00 00 [ 921.296572] EtherCAT DEBUG 0-main-0: Upload response: [ 921.296573] EtherCAT DEBUG: 00 30 43 FF 16 05 0C 00 00 00 [ 921.296576] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.296576] EtherCAT DEBUG: 0C 00 00 00 [ 921.296579] EtherCAT DEBUG 0-main-0: PDO entry 0x0000:00, 12 bit, "Gap". [ 921.296580] EtherCAT DEBUG 0-main-0: Uploading SDO 0x16FF:06. [ 921.296581] EtherCAT DEBUG 0-main-0: Upload request: [ 921.296581] EtherCAT DEBUG: 00 20 40 FF 16 06 00 00 00 00 [ 921.297320] EtherCAT DEBUG 0-main-0: Upload response: [ 921.297320] EtherCAT DEBUG: 00 30 43 FF 16 06 10 05 00 F2 [ 921.297323] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.297323] EtherCAT DEBUG: 10 05 00 F2 [ 921.297325] EtherCAT DEBUG 0-main-0: PDO entry 0xF200:05, 16 bit, "???". [ 921.297326] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C12:02. [ 921.297327] EtherCAT DEBUG 0-main-0: Upload request: [ 921.297327] EtherCAT DEBUG: 00 20 40 12 1C 02 00 00 00 00 [ 921.298069] EtherCAT DEBUG 0-main-0: Upload response: [ 921.298069] EtherCAT DEBUG: 00 30 4B 12 1C 02 01 16 00 00 [ 921.298072] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.298072] EtherCAT DEBUG: 01 16 [ 921.298074] EtherCAT DEBUG 0-main-0: PDO 0x1601. [ 921.298075] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:00. [ 921.298075] EtherCAT DEBUG 0-main-0: Upload request: [ 921.298076] EtherCAT DEBUG: 00 20 40 01 16 00 00 00 00 00 [ 921.298818] EtherCAT DEBUG 0-main-0: Upload response: [ 921.298819] EtherCAT DEBUG: 00 30 4F 01 16 00 10 00 00 00 [ 921.298821] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.298822] EtherCAT DEBUG: 10 [ 921.298823] EtherCAT DEBUG 0-main-0: 16 PDO entries mapped. [ 921.298824] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:01. [ 921.298824] EtherCAT DEBUG 0-main-0: Upload request: [ 921.298825] EtherCAT DEBUG: 00 20 40 01 16 01 00 00 00 00 [ 921.299571] EtherCAT DEBUG 0-main-0: Upload response: [ 921.299571] EtherCAT DEBUG: 00 30 43 01 16 01 01 01 10 70 [ 921.299573] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.299574] EtherCAT DEBUG: 01 01 10 70 [ 921.299576] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:01, 1 bit, "???". [ 921.299576] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:02. [ 921.299577] EtherCAT DEBUG 0-main-0: Upload request: [ 921.299577] EtherCAT DEBUG: 00 20 40 01 16 02 00 00 00 00 [ 921.300323] EtherCAT DEBUG 0-main-0: Upload response: [ 921.300323] EtherCAT DEBUG: 00 30 43 01 16 02 01 02 10 70 [ 921.300326] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.300326] EtherCAT DEBUG: 01 02 10 70 [ 921.300328] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:02, 1 bit, "???". [ 921.300329] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:03. [ 921.300329] EtherCAT DEBUG 0-main-0: Upload request: [ 921.300330] EtherCAT DEBUG: 00 20 40 01 16 03 00 00 00 00 [ 921.301069] EtherCAT DEBUG 0-main-0: Upload response: [ 921.301069] EtherCAT DEBUG: 00 30 43 01 16 03 01 03 10 70 [ 921.301072] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.301072] EtherCAT DEBUG: 01 03 10 70 [ 921.301074] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:03, 1 bit, "???". [ 921.301075] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:04. [ 921.301076] EtherCAT DEBUG 0-main-0: Upload request: [ 921.301076] EtherCAT DEBUG: 00 20 40 01 16 04 00 00 00 00 [ 921.301817] EtherCAT DEBUG 0-main-0: Upload response: [ 921.301818] EtherCAT DEBUG: 00 30 43 01 16 04 01 04 10 70 [ 921.301820] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.301821] EtherCAT DEBUG: 01 04 10 70 [ 921.301822] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:04, 1 bit, "???". [ 921.301823] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:05. [ 921.301824] EtherCAT DEBUG 0-main-0: Upload request: [ 921.301824] EtherCAT DEBUG: 00 20 40 01 16 05 00 00 00 00 [ 921.302569] EtherCAT DEBUG 0-main-0: Upload response: [ 921.302570] EtherCAT DEBUG: 00 30 43 01 16 05 01 05 10 70 [ 921.302572] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.302573] EtherCAT DEBUG: 01 05 10 70 [ 921.302574] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:05, 1 bit, "???". [ 921.302575] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:06. [ 921.302576] EtherCAT DEBUG 0-main-0: Upload request: [ 921.302576] EtherCAT DEBUG: 00 20 40 01 16 06 00 00 00 00 [ 921.303316] EtherCAT DEBUG 0-main-0: Upload response: [ 921.303316] EtherCAT DEBUG: 00 30 43 01 16 06 01 06 10 70 [ 921.303319] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.303319] EtherCAT DEBUG: 01 06 10 70 [ 921.303321] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:06, 1 bit, "???". [ 921.303322] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:07. [ 921.303323] EtherCAT DEBUG 0-main-0: Upload request: [ 921.303323] EtherCAT DEBUG: 00 20 40 01 16 07 00 00 00 00 [ 921.304072] EtherCAT DEBUG 0-main-0: Upload response: [ 921.304072] EtherCAT DEBUG: 00 30 43 01 16 07 01 07 10 70 [ 921.304075] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.304075] EtherCAT DEBUG: 01 07 10 70 [ 921.304077] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:07, 1 bit, "???". [ 921.304078] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:08. [ 921.304079] EtherCAT DEBUG 0-main-0: Upload request: [ 921.304079] EtherCAT DEBUG: 00 20 40 01 16 08 00 00 00 00 [ 921.304821] EtherCAT DEBUG 0-main-0: Upload response: [ 921.304822] EtherCAT DEBUG: 00 30 43 01 16 08 01 08 10 70 [ 921.304824] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.304825] EtherCAT DEBUG: 01 08 10 70 [ 921.304827] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:08, 1 bit, "???". [ 921.304828] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:09. [ 921.304828] EtherCAT DEBUG 0-main-0: Upload request: [ 921.304829] EtherCAT DEBUG: 00 20 40 01 16 09 00 00 00 00 [ 921.305569] EtherCAT DEBUG 0-main-0: Upload response: [ 921.305570] EtherCAT DEBUG: 00 30 43 01 16 09 01 09 10 70 [ 921.305573] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.305573] EtherCAT DEBUG: 01 09 10 70 [ 921.305575] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:09, 1 bit, "???". [ 921.305576] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0A. [ 921.305577] EtherCAT DEBUG 0-main-0: Upload request: [ 921.305578] EtherCAT DEBUG: 00 20 40 01 16 0A 00 00 00 00 [ 921.306313] EtherCAT DEBUG 0-main-0: Upload response: [ 921.306314] EtherCAT DEBUG: 00 30 43 01 16 0A 01 0A 10 70 [ 921.306317] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.306317] EtherCAT DEBUG: 01 0A 10 70 [ 921.306319] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0A, 1 bit, "???". [ 921.306320] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0B. [ 921.306321] EtherCAT DEBUG 0-main-0: Upload request: [ 921.306321] EtherCAT DEBUG: 00 20 40 01 16 0B 00 00 00 00 [ 921.307063] EtherCAT DEBUG 0-main-0: Upload response: [ 921.307063] EtherCAT DEBUG: 00 30 43 01 16 0B 01 0B 10 70 [ 921.307066] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.307066] EtherCAT DEBUG: 01 0B 10 70 [ 921.307068] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0B, 1 bit, "???". [ 921.307069] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0C. [ 921.307070] EtherCAT DEBUG 0-main-0: Upload request: [ 921.307071] EtherCAT DEBUG: 00 20 40 01 16 0C 00 00 00 00 [ 921.307814] EtherCAT DEBUG 0-main-0: Upload response: [ 921.307815] EtherCAT DEBUG: 00 30 43 01 16 0C 01 0C 10 70 [ 921.307817] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.307818] EtherCAT DEBUG: 01 0C 10 70 [ 921.307820] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0C, 1 bit, "???". [ 921.307821] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0D. [ 921.307822] EtherCAT DEBUG 0-main-0: Upload request: [ 921.307822] EtherCAT DEBUG: 00 20 40 01 16 0D 00 00 00 00 [ 921.308561] EtherCAT DEBUG 0-main-0: Upload response: [ 921.308561] EtherCAT DEBUG: 00 30 43 01 16 0D 01 0D 10 70 [ 921.308563] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.308564] EtherCAT DEBUG: 01 0D 10 70 [ 921.308565] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0D, 1 bit, "???". [ 921.308566] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0E. [ 921.308566] EtherCAT DEBUG 0-main-0: Upload request: [ 921.308567] EtherCAT DEBUG: 00 20 40 01 16 0E 00 00 00 00 [ 921.309311] EtherCAT DEBUG 0-main-0: Upload response: [ 921.309311] EtherCAT DEBUG: 00 30 43 01 16 0E 01 0E 10 70 [ 921.309313] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.309313] EtherCAT DEBUG: 01 0E 10 70 [ 921.309315] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0E, 1 bit, "???". [ 921.309315] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:0F. [ 921.309316] EtherCAT DEBUG 0-main-0: Upload request: [ 921.309316] EtherCAT DEBUG: 00 20 40 01 16 0F 00 00 00 00 [ 921.310062] EtherCAT DEBUG 0-main-0: Upload response: [ 921.310062] EtherCAT DEBUG: 00 30 43 01 16 0F 01 0F 10 70 [ 921.310064] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.310065] EtherCAT DEBUG: 01 0F 10 70 [ 921.310066] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:0F, 1 bit, "???". [ 921.310067] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1601:10. [ 921.310068] EtherCAT DEBUG 0-main-0: Upload request: [ 921.310068] EtherCAT DEBUG: 00 20 40 01 16 10 00 00 00 00 [ 921.310813] EtherCAT DEBUG 0-main-0: Upload response: [ 921.310813] EtherCAT DEBUG: 00 30 43 01 16 10 01 10 10 70 [ 921.310815] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.310815] EtherCAT DEBUG: 01 10 10 70 [ 921.310817] EtherCAT DEBUG 0-main-0: PDO entry 0x7010:10, 1 bit, "???". [ 921.310820] EtherCAT DEBUG 0-main-0: Reading PDO assignment of SM3. [ 921.310821] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C13:00. [ 921.310822] EtherCAT DEBUG 0-main-0: Upload request: [ 921.310822] EtherCAT DEBUG: 00 20 40 13 1C 00 00 00 00 00 [ 921.311558] EtherCAT DEBUG 0-main-0: Upload response: [ 921.311559] EtherCAT DEBUG: 00 30 4F 13 1C 00 02 00 00 00 [ 921.311561] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.311561] EtherCAT DEBUG: 02 [ 921.311562] EtherCAT DEBUG 0-main-0: 2 PDOs assigned. [ 921.311563] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C13:01. [ 921.311564] EtherCAT DEBUG 0-main-0: Upload request: [ 921.311564] EtherCAT DEBUG: 00 20 40 13 1C 01 00 00 00 00 [ 921.312311] EtherCAT DEBUG 0-main-0: Upload response: [ 921.312312] EtherCAT DEBUG: 00 30 4B 13 1C 01 FF 1A 00 00 [ 921.312314] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.312315] EtherCAT DEBUG: FF 1A [ 921.312316] EtherCAT DEBUG 0-main-0: PDO 0x1AFF. [ 921.312317] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:00. [ 921.312318] EtherCAT DEBUG 0-main-0: Upload request: [ 921.312318] EtherCAT DEBUG: 00 20 40 FF 1A 00 00 00 00 00 [ 921.313058] EtherCAT DEBUG 0-main-0: Upload response: [ 921.313058] EtherCAT DEBUG: 00 30 4F FF 1A 00 07 00 00 00 [ 921.313060] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.313061] EtherCAT DEBUG: 07 [ 921.313062] EtherCAT DEBUG 0-main-0: 7 PDO entries mapped. [ 921.313062] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:01. [ 921.313063] EtherCAT DEBUG 0-main-0: Upload request: [ 921.313063] EtherCAT DEBUG: 00 20 40 FF 1A 01 00 00 00 00 [ 921.313808] EtherCAT DEBUG 0-main-0: Upload response: [ 921.313809] EtherCAT DEBUG: 00 30 43 FF 1A 01 01 01 00 F1 [ 921.313811] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.313811] EtherCAT DEBUG: 01 01 00 F1 [ 921.313813] EtherCAT DEBUG 0-main-0: PDO entry 0xF100:01, 1 bit, "???". [ 921.313814] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:02. [ 921.313814] EtherCAT DEBUG 0-main-0: Upload request: [ 921.313814] EtherCAT DEBUG: 00 20 40 FF 1A 02 00 00 00 00 [ 921.314561] EtherCAT DEBUG 0-main-0: Upload response: [ 921.314562] EtherCAT DEBUG: 00 30 43 FF 1A 02 01 02 00 F1 [ 921.314564] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.314564] EtherCAT DEBUG: 01 02 00 F1 [ 921.314566] EtherCAT DEBUG 0-main-0: PDO entry 0xF100:02, 1 bit, "???". [ 921.314566] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:03. [ 921.314567] EtherCAT DEBUG 0-main-0: Upload request: [ 921.314567] EtherCAT DEBUG: 00 20 40 FF 1A 03 00 00 00 00 [ 921.315307] EtherCAT DEBUG 0-main-0: Upload response: [ 921.315307] EtherCAT DEBUG: 00 30 43 FF 1A 03 01 03 00 F1 [ 921.315309] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.315310] EtherCAT DEBUG: 01 03 00 F1 [ 921.315311] EtherCAT DEBUG 0-main-0: PDO entry 0xF100:03, 1 bit, "???". [ 921.315312] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:04. [ 921.315312] EtherCAT DEBUG 0-main-0: Upload request: [ 921.315313] EtherCAT DEBUG: 00 20 40 FF 1A 04 00 00 00 00 [ 921.316061] EtherCAT DEBUG 0-main-0: Upload response: [ 921.316061] EtherCAT DEBUG: 00 30 43 FF 1A 04 01 04 00 F1 [ 921.316063] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.316064] EtherCAT DEBUG: 01 04 00 F1 [ 921.316065] EtherCAT DEBUG 0-main-0: PDO entry 0xF100:04, 1 bit, "???". [ 921.316066] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:05. [ 921.316066] EtherCAT DEBUG 0-main-0: Upload request: [ 921.316067] EtherCAT DEBUG: 00 20 40 FF 1A 05 00 00 00 00 [ 921.316806] EtherCAT DEBUG 0-main-0: Upload response: [ 921.316807] EtherCAT DEBUG: 00 30 43 FF 1A 05 0B 00 00 00 [ 921.316809] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.316809] EtherCAT DEBUG: 0B 00 00 00 [ 921.316811] EtherCAT DEBUG 0-main-0: PDO entry 0x0000:00, 11 bit, "Gap". [ 921.316812] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:06. [ 921.316812] EtherCAT DEBUG 0-main-0: Upload request: [ 921.316813] EtherCAT DEBUG: 00 20 40 FF 1A 06 00 00 00 00 [ 921.317557] EtherCAT DEBUG 0-main-0: Upload response: [ 921.317557] EtherCAT DEBUG: 00 30 43 FF 1A 06 01 04 F3 10 [ 921.317559] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.317559] EtherCAT DEBUG: 01 04 F3 10 [ 921.317561] EtherCAT DEBUG 0-main-0: PDO entry 0x10F3:04, 1 bit, "???". [ 921.317562] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1AFF:07. [ 921.317562] EtherCAT DEBUG 0-main-0: Upload request: [ 921.317563] EtherCAT DEBUG: 00 20 40 FF 1A 07 00 00 00 00 [ 921.318306] EtherCAT DEBUG 0-main-0: Upload response: [ 921.318306] EtherCAT DEBUG: 00 30 43 FF 1A 07 10 05 00 F1 [ 921.318308] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.318308] EtherCAT DEBUG: 10 05 00 F1 [ 921.318310] EtherCAT DEBUG 0-main-0: PDO entry 0xF100:05, 16 bit, "???". [ 921.318311] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1C13:02. [ 921.318311] EtherCAT DEBUG 0-main-0: Upload request: [ 921.318312] EtherCAT DEBUG: 00 20 40 13 1C 02 00 00 00 00 [ 921.319055] EtherCAT DEBUG 0-main-0: Upload response: [ 921.319055] EtherCAT DEBUG: 00 30 4B 13 1C 02 00 1A 00 00 [ 921.319057] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.319057] EtherCAT DEBUG: 00 1A [ 921.319058] EtherCAT DEBUG 0-main-0: PDO 0x1A00. [ 921.319059] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:00. [ 921.319060] EtherCAT DEBUG 0-main-0: Upload request: [ 921.319060] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 [ 921.319807] EtherCAT DEBUG 0-main-0: Upload response: [ 921.319808] EtherCAT DEBUG: 00 30 4F 00 1A 00 10 00 00 00 [ 921.319810] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.319810] EtherCAT DEBUG: 10 [ 921.319811] EtherCAT DEBUG 0-main-0: 16 PDO entries mapped. [ 921.319812] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:01. [ 921.319813] EtherCAT DEBUG 0-main-0: Upload request: [ 921.319813] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 [ 921.320556] EtherCAT DEBUG 0-main-0: Upload response: [ 921.320557] EtherCAT DEBUG: 00 30 43 00 1A 01 01 01 00 60 [ 921.320559] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.320559] EtherCAT DEBUG: 01 01 00 60 [ 921.320561] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:01, 1 bit, "???". [ 921.320561] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:02. [ 921.320562] EtherCAT DEBUG 0-main-0: Upload request: [ 921.320562] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 [ 921.321305] EtherCAT DEBUG 0-main-0: Upload response: [ 921.321305] EtherCAT DEBUG: 00 30 43 00 1A 02 01 02 00 60 [ 921.321307] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.321308] EtherCAT DEBUG: 01 02 00 60 [ 921.321309] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:02, 1 bit, "???". [ 921.321310] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:03. [ 921.321310] EtherCAT DEBUG 0-main-0: Upload request: [ 921.321311] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 [ 921.322053] EtherCAT DEBUG 0-main-0: Upload response: [ 921.322053] EtherCAT DEBUG: 00 30 43 00 1A 03 01 03 00 60 [ 921.322055] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.322056] EtherCAT DEBUG: 01 03 00 60 [ 921.322057] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:03, 1 bit, "???". [ 921.322058] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:04. [ 921.322058] EtherCAT DEBUG 0-main-0: Upload request: [ 921.322059] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 [ 921.322804] EtherCAT DEBUG 0-main-0: Upload response: [ 921.322805] EtherCAT DEBUG: 00 30 43 00 1A 04 01 04 00 60 [ 921.322807] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.322807] EtherCAT DEBUG: 01 04 00 60 [ 921.322808] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:04, 1 bit, "???". [ 921.322809] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:05. [ 921.322810] EtherCAT DEBUG 0-main-0: Upload request: [ 921.322810] EtherCAT DEBUG: 00 20 40 00 1A 05 00 00 00 00 [ 921.323553] EtherCAT DEBUG 0-main-0: Upload response: [ 921.323554] EtherCAT DEBUG: 00 30 43 00 1A 05 01 05 00 60 [ 921.323556] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.323556] EtherCAT DEBUG: 01 05 00 60 [ 921.323557] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:05, 1 bit, "???". [ 921.323558] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:06. [ 921.323559] EtherCAT DEBUG 0-main-0: Upload request: [ 921.323559] EtherCAT DEBUG: 00 20 40 00 1A 06 00 00 00 00 [ 921.324301] EtherCAT DEBUG 0-main-0: Upload response: [ 921.324302] EtherCAT DEBUG: 00 30 43 00 1A 06 01 06 00 60 [ 921.324304] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.324304] EtherCAT DEBUG: 01 06 00 60 [ 921.324306] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:06, 1 bit, "???". [ 921.324307] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:07. [ 921.324307] EtherCAT DEBUG 0-main-0: Upload request: [ 921.324307] EtherCAT DEBUG: 00 20 40 00 1A 07 00 00 00 00 [ 921.325054] EtherCAT DEBUG 0-main-0: Upload response: [ 921.325054] EtherCAT DEBUG: 00 30 43 00 1A 07 01 07 00 60 [ 921.325056] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.325056] EtherCAT DEBUG: 01 07 00 60 [ 921.325058] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:07, 1 bit, "???". [ 921.325058] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:08. [ 921.325059] EtherCAT DEBUG 0-main-0: Upload request: [ 921.325059] EtherCAT DEBUG: 00 20 40 00 1A 08 00 00 00 00 [ 921.325802] EtherCAT DEBUG 0-main-0: Upload response: [ 921.325803] EtherCAT DEBUG: 00 30 43 00 1A 08 01 08 00 60 [ 921.325805] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.325806] EtherCAT DEBUG: 01 08 00 60 [ 921.325808] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:08, 1 bit, "???". [ 921.325809] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:09. [ 921.325809] EtherCAT DEBUG 0-main-0: Upload request: [ 921.325810] EtherCAT DEBUG: 00 20 40 00 1A 09 00 00 00 00 [ 921.326550] EtherCAT DEBUG 0-main-0: Upload response: [ 921.326551] EtherCAT DEBUG: 00 30 43 00 1A 09 01 09 00 60 [ 921.326553] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.326553] EtherCAT DEBUG: 01 09 00 60 [ 921.326554] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:09, 1 bit, "???". [ 921.326555] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0A. [ 921.326556] EtherCAT DEBUG 0-main-0: Upload request: [ 921.326556] EtherCAT DEBUG: 00 20 40 00 1A 0A 00 00 00 00 [ 921.327302] EtherCAT DEBUG 0-main-0: Upload response: [ 921.327303] EtherCAT DEBUG: 00 30 43 00 1A 0A 01 0A 00 60 [ 921.327305] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.327305] EtherCAT DEBUG: 01 0A 00 60 [ 921.327307] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0A, 1 bit, "???". [ 921.327307] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0B. [ 921.327308] EtherCAT DEBUG 0-main-0: Upload request: [ 921.327308] EtherCAT DEBUG: 00 20 40 00 1A 0B 00 00 00 00 [ 921.328052] EtherCAT DEBUG 0-main-0: Upload response: [ 921.328052] EtherCAT DEBUG: 00 30 43 00 1A 0B 01 0B 00 60 [ 921.328054] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.328055] EtherCAT DEBUG: 01 0B 00 60 [ 921.328057] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0B, 1 bit, "???". [ 921.328057] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0C. [ 921.328058] EtherCAT DEBUG 0-main-0: Upload request: [ 921.328058] EtherCAT DEBUG: 00 20 40 00 1A 0C 00 00 00 00 [ 921.328798] EtherCAT DEBUG 0-main-0: Upload response: [ 921.328799] EtherCAT DEBUG: 00 30 43 00 1A 0C 01 0C 00 60 [ 921.328801] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.328801] EtherCAT DEBUG: 01 0C 00 60 [ 921.328803] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0C, 1 bit, "???". [ 921.328803] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0D. [ 921.328804] EtherCAT DEBUG 0-main-0: Upload request: [ 921.328804] EtherCAT DEBUG: 00 20 40 00 1A 0D 00 00 00 00 [ 921.329548] EtherCAT DEBUG 0-main-0: Upload response: [ 921.329548] EtherCAT DEBUG: 00 30 43 00 1A 0D 01 0D 00 60 [ 921.329550] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.329550] EtherCAT DEBUG: 01 0D 00 60 [ 921.329552] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0D, 1 bit, "???". [ 921.329552] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0E. [ 921.329553] EtherCAT DEBUG 0-main-0: Upload request: [ 921.329553] EtherCAT DEBUG: 00 20 40 00 1A 0E 00 00 00 00 [ 921.330298] EtherCAT DEBUG 0-main-0: Upload response: [ 921.330299] EtherCAT DEBUG: 00 30 43 00 1A 0E 01 0E 00 60 [ 921.330302] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.330302] EtherCAT DEBUG: 01 0E 00 60 [ 921.330303] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0E, 1 bit, "???". [ 921.330304] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:0F. [ 921.330305] EtherCAT DEBUG 0-main-0: Upload request: [ 921.330305] EtherCAT DEBUG: 00 20 40 00 1A 0F 00 00 00 00 [ 921.331046] EtherCAT DEBUG 0-main-0: Upload response: [ 921.331047] EtherCAT DEBUG: 00 30 43 00 1A 0F 01 0F 00 60 [ 921.331049] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.331049] EtherCAT DEBUG: 01 0F 00 60 [ 921.331051] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:0F, 1 bit, "???". [ 921.331051] EtherCAT DEBUG 0-main-0: Uploading SDO 0x1A00:10. [ 921.331052] EtherCAT DEBUG 0-main-0: Upload request: [ 921.331053] EtherCAT DEBUG: 00 20 40 00 1A 10 00 00 00 00 [ 921.331800] EtherCAT DEBUG 0-main-0: Upload response: [ 921.331800] EtherCAT DEBUG: 00 30 43 00 1A 10 01 10 00 60 [ 921.331803] EtherCAT DEBUG 0-main-0: Uploaded data: [ 921.331803] EtherCAT DEBUG: 01 10 00 60 [ 921.331805] EtherCAT DEBUG 0-main-0: PDO entry 0x6000:10, 1 bit, "???". [ 921.331808] EtherCAT DEBUG 0-main-0: Reading of PDO configuration finished. [ 921.331817] EtherCAT 0: Bus scanning completed in 1104 ms. [ 921.331819] EtherCAT 0: Using slave main-0 as DC reference clock. [ 921.331821] EtherCAT DEBUG 0-main-0: upstream port = 0 [ 921.331823] EtherCAT DEBUG 0-main-1: upstream port = 0 [ 921.331826] EtherCAT DEBUG 0-main-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns) [ 921.331829] EtherCAT DEBUG 0-main-1: ec_slave_calc_transmission_delays_rec(delay = 639 ns) [ 921.331832] EtherCAT DEBUG 0: No app_time received up to now. [ 921.339856] EtherCAT DEBUG 0-main-0: Ready for requests. [ 921.339858] EtherCAT DEBUG 0-main-0: Changing state from PREOP to PREOP (forced). [ 921.339859] EtherCAT DEBUG 0-main-0: Configuring... [ 921.343870] EtherCAT DEBUG 0-main-1: Ready for requests. [ 921.343872] EtherCAT DEBUG 0-main-1: Changing state from OP to PREOP (forced). [ 921.343873] EtherCAT DEBUG 0-main-1: Configuring... [ 921.347885] EtherCAT 0: Slave states on main device: INIT, OP. [ 921.347887] EtherCAT DEBUG 0-main-0: Now in INIT. [ 921.347888] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 921.347889] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 921.351904] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 921.351905] EtherCAT DEBUG 0-main-1: Now in INIT. [ 921.351905] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 921.351906] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 921.355926] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 921.355928] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 921.359952] EtherCAT 0: Slave states on main device: INIT. [ 921.359955] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 921.359957] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 921.359958] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 921.359960] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 921.364032] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 921.364035] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 921.364036] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 921.376239] EtherCAT DEBUG 0-main-0: INIT -> PREOP. [ 921.376242] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 921.376243] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 921.376244] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 921.376245] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 921.380309] EtherCAT DEBUG 0-main-0: Finished configuration. [ 921.380313] EtherCAT DEBUG 0-main-1: Finished configuration. [ 921.384385] EtherCAT 0: Slave states on main device: PREOP. [ 965.564155] EtherCAT: Requesting master 0... [ 965.564157] EtherCAT DEBUG 0: IDLE -> OPERATION. [ 965.564158] EtherCAT: Successfully requested master 0. [ 965.564162] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x000000009bb3359a) [ 965.564163] EtherCAT DEBUG 0: Created domain 0. [ 965.564166] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564167] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000021/0x07500354. [ 965.564170] EtherCAT DEBUG 0 0:0: Attached slave main-0. [ 965.564448] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000828e75e3, sync_index = 0, dir = 1, watchdog_mode = 0) [ 965.564451] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000828e75e3, sync_index = 0) [ 965.564453] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000828e75e3, sync_index = 1, dir = 2, watchdog_mode = 0) [ 965.564455] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000828e75e3, sync_index = 1) [ 965.564456] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000828e75e3, sync_index = 2, dir = 1, watchdog_mode = 0) [ 965.564458] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000828e75e3, sync_index = 2) [ 965.564462] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000828e75e3, sync_index = 2, pdo_index = 0x1601) [ 965.564464] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601. [ 965.564466] EtherCAT DEBUG 0 0:0: Entry 0x7010:01. [ 965.564467] EtherCAT DEBUG 0 0:0: Entry 0x7010:02. [ 965.564468] EtherCAT DEBUG 0 0:0: Entry 0x7010:03. [ 965.564469] EtherCAT DEBUG 0 0:0: Entry 0x7010:04. [ 965.564470] EtherCAT DEBUG 0 0:0: Entry 0x7010:05. [ 965.564471] EtherCAT DEBUG 0 0:0: Entry 0x7010:06. [ 965.564472] EtherCAT DEBUG 0 0:0: Entry 0x7010:07. [ 965.564473] EtherCAT DEBUG 0 0:0: Entry 0x7010:08. [ 965.564474] EtherCAT DEBUG 0 0:0: Entry 0x7010:09. [ 965.564475] EtherCAT DEBUG 0 0:0: Entry 0x7010:0A. [ 965.564476] EtherCAT DEBUG 0 0:0: Entry 0x7010:0B. [ 965.564477] EtherCAT DEBUG 0 0:0: Entry 0x7010:0C. [ 965.564478] EtherCAT DEBUG 0 0:0: Entry 0x7010:0D. [ 965.564479] EtherCAT DEBUG 0 0:0: Entry 0x7010:0E. [ 965.564480] EtherCAT DEBUG 0 0:0: Entry 0x7010:0F. [ 965.564481] EtherCAT DEBUG 0 0:0: Entry 0x7010:10. [ 965.564484] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000828e75e3, pdo_index = 0x1601) [ 965.564487] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x01, entry_bit_length = 1) [ 965.564489] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x02, entry_bit_length = 1) [ 965.564491] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x03, entry_bit_length = 1) [ 965.564493] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x04, entry_bit_length = 1) [ 965.564495] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x05, entry_bit_length = 1) [ 965.564498] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x06, entry_bit_length = 1) [ 965.564500] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x07, entry_bit_length = 1) [ 965.564502] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x08, entry_bit_length = 1) [ 965.564505] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x09, entry_bit_length = 1) [ 965.564507] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0A, entry_bit_length = 1) [ 965.564509] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0B, entry_bit_length = 1) [ 965.564511] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0C, entry_bit_length = 1) [ 965.564513] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0D, entry_bit_length = 1) [ 965.564516] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0E, entry_bit_length = 1) [ 965.564518] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x0F, entry_bit_length = 1) [ 965.564520] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1601, entry_index = 0x7010, entry_subindex = 0x10, entry_bit_length = 1) [ 965.564522] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000828e75e3, sync_index = 2, pdo_index = 0x16FF) [ 965.564523] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x16FF. [ 965.564525] EtherCAT DEBUG 0 0:0: Entry 0xF200:01. [ 965.564526] EtherCAT DEBUG 0 0:0: Entry 0xF200:02. [ 965.564527] EtherCAT DEBUG 0 0:0: Entry 0xF200:03. [ 965.564528] EtherCAT DEBUG 0 0:0: Entry 0xF200:04. [ 965.564529] EtherCAT DEBUG 0 0:0: Entry 0x0000:00. [ 965.564530] EtherCAT DEBUG 0 0:0: Entry 0xF200:05. [ 965.564532] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000828e75e3, pdo_index = 0x16FF) [ 965.564534] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x01, entry_bit_length = 1) [ 965.564536] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x02, entry_bit_length = 1) [ 965.564538] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x03, entry_bit_length = 1) [ 965.564540] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x04, entry_bit_length = 1) [ 965.564543] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 12) [ 965.564545] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x16FF, entry_index = 0xF200, entry_subindex = 0x05, entry_bit_length = 16) [ 965.564547] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x00000000828e75e3, sync_index = 3, dir = 2, watchdog_mode = 0) [ 965.564549] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x00000000828e75e3, sync_index = 3) [ 965.564551] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000828e75e3, sync_index = 3, pdo_index = 0x1A00) [ 965.564553] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00. [ 965.564555] EtherCAT DEBUG 0 0:0: Entry 0x6000:01. [ 965.564556] EtherCAT DEBUG 0 0:0: Entry 0x6000:02. [ 965.564557] EtherCAT DEBUG 0 0:0: Entry 0x6000:03. [ 965.564558] EtherCAT DEBUG 0 0:0: Entry 0x6000:04. [ 965.564559] EtherCAT DEBUG 0 0:0: Entry 0x6000:05. [ 965.564560] EtherCAT DEBUG 0 0:0: Entry 0x6000:06. [ 965.564560] EtherCAT DEBUG 0 0:0: Entry 0x6000:07. [ 965.564561] EtherCAT DEBUG 0 0:0: Entry 0x6000:08. [ 965.564562] EtherCAT DEBUG 0 0:0: Entry 0x6000:09. [ 965.564563] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A. [ 965.564564] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B. [ 965.564565] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C. [ 965.564566] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D. [ 965.564567] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E. [ 965.564568] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F. [ 965.564569] EtherCAT DEBUG 0 0:0: Entry 0x6000:10. [ 965.564571] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000828e75e3, pdo_index = 0x1A00) [ 965.564574] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01, entry_bit_length = 1) [ 965.564576] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1) [ 965.564578] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 1) [ 965.564580] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 1) [ 965.564582] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05, entry_bit_length = 1) [ 965.564584] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x06, entry_bit_length = 1) [ 965.564587] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07, entry_bit_length = 1) [ 965.564589] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x08, entry_bit_length = 1) [ 965.564591] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x09, entry_bit_length = 1) [ 965.564593] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0A, entry_bit_length = 1) [ 965.564595] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B, entry_bit_length = 1) [ 965.564597] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C, entry_bit_length = 1) [ 965.564600] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0D, entry_bit_length = 1) [ 965.564602] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E, entry_bit_length = 1) [ 965.564604] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0F, entry_bit_length = 1) [ 965.564606] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1A00, entry_index = 0x6000, entry_subindex = 0x10, entry_bit_length = 1) [ 965.564608] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x00000000828e75e3, sync_index = 3, pdo_index = 0x1AFF) [ 965.564609] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1AFF. [ 965.564610] EtherCAT DEBUG 0 0:0: Entry 0xF100:01. [ 965.564611] EtherCAT DEBUG 0 0:0: Entry 0xF100:02. [ 965.564612] EtherCAT DEBUG 0 0:0: Entry 0xF100:03. [ 965.564613] EtherCAT DEBUG 0 0:0: Entry 0xF100:04. [ 965.564614] EtherCAT DEBUG 0 0:0: Entry 0x0000:00. [ 965.564615] EtherCAT DEBUG 0 0:0: Entry 0x10F3:04. [ 965.564616] EtherCAT DEBUG 0 0:0: Entry 0xF100:05. [ 965.564618] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x00000000828e75e3, pdo_index = 0x1AFF) [ 965.564621] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0xF100, entry_subindex = 0x01, entry_bit_length = 1) [ 965.564623] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x02, entry_bit_length = 1) [ 965.564625] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x03, entry_bit_length = 1) [ 965.564627] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0x6000, entry_subindex = 0x04, entry_bit_length = 1) [ 965.564629] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0x0000, entry_subindex = 0x00, entry_bit_length = 11) [ 965.564631] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0x10F3, entry_subindex = 0x04, entry_bit_length = 1) [ 965.564633] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x00000000828e75e3, pdo_index = 0x1AFF, entry_index = 0xF100, entry_subindex = 0x05, entry_bit_length = 16) [ 965.564674] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.564675] EtherCAT DEBUG 0: Creating slave configuration for 0:1, 0x0000079A/0xABE00001. [ 965.564677] EtherCAT DEBUG 0 0:1: Attached slave main-1. [ 965.564731] EtherCAT DEBUG 0 0:1: ecrt_slave_config_dc(sc = 0x000000007636efc7, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 2000200000, sync1_cycle = 0, sync1_shift = 0 [ 965.564734] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000007636efc7, sync_index = 0, dir = 1, watchdog_mode = 0) [ 965.564736] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000007636efc7, sync_index = 0) [ 965.564738] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000007636efc7, sync_index = 0, pdo_index = 0x1600) [ 965.564739] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1600. [ 965.564740] EtherCAT DEBUG 0 0:1: Found PDO name "Outputs". [ 965.564742] EtherCAT DEBUG 0 0:1: Entry 0x0005:01. [ 965.564743] EtherCAT DEBUG 0 0:1: Entry 0x0005:02. [ 965.564744] EtherCAT DEBUG 0 0:1: Entry 0x0005:03. [ 965.564745] EtherCAT DEBUG 0 0:1: Entry 0x0005:04. [ 965.564746] EtherCAT DEBUG 0 0:1: Entry 0x0005:05. [ 965.564748] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000007636efc7, pdo_index = 0x1600) [ 965.564750] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x01, entry_bit_length = 16) [ 965.564752] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x02, entry_bit_length = 8) [ 965.564754] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x03, entry_bit_length = 8) [ 965.564756] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x04, entry_bit_length = 8) [ 965.564758] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1600, entry_index = 0x0005, entry_subindex = 0x05, entry_bit_length = 8) [ 965.564761] EtherCAT DEBUG 0 0:1: ecrt_slave_config_sync_manager(sc = 0x000000007636efc7, sync_index = 1, dir = 2, watchdog_mode = 0) [ 965.564762] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_clear(sc = 0x000000007636efc7, sync_index = 1) [ 965.564764] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_assign_add(sc = 0x000000007636efc7, sync_index = 1, pdo_index = 0x1A00) [ 965.564765] EtherCAT DEBUG 0 0:1: Loading default mapping for PDO 0x1A00. [ 965.564766] EtherCAT DEBUG 0 0:1: Found PDO name "Inputs". [ 965.564768] EtherCAT DEBUG 0 0:1: Entry 0x0006:01. [ 965.564769] EtherCAT DEBUG 0 0:1: Entry 0x0006:02. [ 965.564770] EtherCAT DEBUG 0 0:1: Entry 0x0006:03. [ 965.564771] EtherCAT DEBUG 0 0:1: Entry 0x0006:04. [ 965.564773] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000007636efc7, pdo_index = 0x1A00) [ 965.564775] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x01, entry_bit_length = 16) [ 965.564777] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x02, entry_bit_length = 8) [ 965.564779] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x03, entry_bit_length = 8) [ 965.564781] EtherCAT DEBUG 0 0:1: ecrt_slave_config_pdo_mapping_add(sc = 0x000000007636efc7, pdo_index = 0x1A00, entry_index = 0x0006, entry_subindex = 0x04, entry_bit_length = 8) [ 965.564815] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564818] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564821] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 0. [ 965.564823] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564825] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564827] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564829] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564831] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564833] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564835] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564838] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x05, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564840] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564842] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x06, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564844] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564846] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x07, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564848] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564850] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x08, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564852] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564855] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x09, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564857] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564859] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0A, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564861] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564864] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0B, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564866] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564868] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0C, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564870] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564872] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0D, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564874] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564877] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0E, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564879] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564881] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x0F, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564883] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564885] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x7010, subindex = 0x10, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564887] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564890] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF200, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564892] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564894] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF200, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564896] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564898] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF200, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564900] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564902] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF200, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564905] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564907] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF200, subindex = 0x05, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564909] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564911] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564913] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 6. [ 965.564915] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564917] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564919] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564921] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564923] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564925] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564927] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564930] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x05, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564932] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564934] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x06, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564936] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564938] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x07, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564940] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564942] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x08, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564944] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564947] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x09, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564949] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564951] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0A, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564953] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564955] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0B, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564957] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564959] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0C, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564961] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564964] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0D, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564966] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0E, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564970] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564972] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x0F, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564974] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564976] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x10, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564978] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564981] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF100, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564983] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564985] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564987] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564989] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564991] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564994] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x6000, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.564996] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.564998] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0x10F3, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565000] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 0, vendor_id = 0x00000021, product_code = 0x07500354) [ 965.565002] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x00000000828e75e3, index = 0xF100, subindex = 0x05, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565005] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565007] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0005, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565008] EtherCAT DEBUG 0: Domain 0: Added 6 bytes at 12. [ 965.565010] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565013] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0005, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565014] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565017] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0005, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565019] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565021] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0005, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565023] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565025] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0005, subindex = 0x05, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565027] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565029] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0006, subindex = 0x01, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565030] EtherCAT DEBUG 0: Domain 0: Added 5 bytes at 18. [ 965.565032] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565035] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0006, subindex = 0x02, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565036] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565039] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0006, subindex = 0x03, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565041] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000009bb3359a, alias = 0, position = 1, vendor_id = 0x0000079a, product_code = 0xabe00001) [ 965.565043] EtherCAT DEBUG 0 0:1: ecrt_slave_config_reg_pdo_entry(sc = 0x000000007636efc7, index = 0x0006, subindex = 0x04, domain = 0x0000000088997973, bit_position = 0x0000000004763d1a) [ 965.565080] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x0000000088997973, mem = 0x000000009a5e7246) [ 965.565082] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x000000009bb3359a, send_cb = 0x0000000073fd653c, receive_cb = 0x0000000068187353, cb_data = 0x000000009bb3359a) [ 965.565083] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x000000009bb3359a) [ 965.565085] EtherCAT DEBUG 0: Adding datagram pair with expected WC 6. [ 965.565086] EtherCAT 0: Domain0: Logical address 0x00000000, 23 byte, expected working counter 6. [ 965.565087] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 23 byte, type LRW at 00000000aaa99bf4. [ 965.565088] EtherCAT DEBUG 0: Stopping master thread. [ 965.568179] EtherCAT DEBUG 0: Master IDLE thread exiting... [ 965.568187] EtherCAT 0: Master thread exited. [ 965.568190] EtherCAT DEBUG 0: FSM datagram is 00000000aa09f609. [ 965.568192] EtherCAT 0: Starting EtherCAT-OP thread. [ 965.568219] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000 [ 965.568221] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 965.568222] EtherCAT DEBUG 0: mmap() [ 965.568226] EtherCAT DEBUG 0: Vma fault, virtual_address = 00000000f2d06a94, offset = 0, page = 000000006ef73c0b [ 965.580246] EtherCAT DEBUG 0: Configuration changed (aborting state check). [ 965.580248] EtherCAT DEBUG 0-main-0: Checking system time offset. [ 965.584259] EtherCAT DEBUG 0-main-0: DC 64 bit system time offset calculation: system_time=726318006541974913, app_time=726318006542099099, diff=124186 [ 965.584261] EtherCAT DEBUG 0-main-0: Setting time offset to 726316489791400729 (was 726316489791276543) [ 965.592280] EtherCAT DEBUG 0-main-1: Checking system time offset. [ 965.596292] EtherCAT DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=726318006554075950, app_time=726318006554092831, diff=16881 [ 965.596294] EtherCAT DEBUG 0-main-1: Setting time offset to 726316765975125903 (was 726316765975109022) [ 965.604308] EtherCAT DEBUG 0: Requesting OP... [ 965.604312] EtherCAT DEBUG 0-main-0: Changing state from PREOP to OP. [ 965.604313] EtherCAT DEBUG 0-main-0: Configuring... [ 965.604315] EtherCAT DEBUG 0-main-1: Changing state from PREOP to OP. [ 965.604316] EtherCAT DEBUG 0-main-1: Configuring... [ 965.612334] EtherCAT DEBUG 0-main-0: PREOP -> INIT. [ 965.612337] EtherCAT DEBUG 0-main-0: Now in INIT. [ 965.612338] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 965.612339] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 965.612340] EtherCAT DEBUG 0-main-1: Now in INIT. [ 965.612341] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 965.612342] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 965.616353] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 965.616355] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 965.620364] EtherCAT 0: Slave states on main device: INIT. [ 965.620366] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 965.620367] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 965.624377] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 965.624380] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 965.624382] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 965.624385] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 965.624386] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 965.628395] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 965.636416] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 965.636418] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 965.640426] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 965.640428] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 965.640433] EtherCAT DEBUG 0-main-1: SM0: Addr 0x1000, Size 6, Ctrl 0x64, En 1 [ 965.640434] EtherCAT DEBUG 0-main-1: SM1: Addr 0x1200, Size 5, Ctrl 0x20, En 1 [ 965.644445] EtherCAT 0: Slave states on main device: PREOP. [ 965.644457] EtherCAT WARNING 0-main-0: Slave does not support assigning PDOs! [ 965.644458] EtherCAT WARNING 0-main-0: Currently assigned PDOs: 0x16FF 0x1601. PDOs to assign: 0x1601 0x16FF [ 965.644469] EtherCAT WARNING 0-main-0: Slave does not support changing the PDO mapping! [ 965.644470] EtherCAT WARNING 0-main-0: Currently mapped PDO entries: 0xF100:01/1 0xF100:02/1 0xF100:03/1 0xF100:04/1 0x0000:00/11 0x10F3:04/1 0xF100:05/16. Entries to map: 0xF100:01/1 0x6000:02/1 0x6000:03/1 0x6000:04/1 0x0000:00/11 0x10F3:04/1 0xF100:05/16 [ 965.644480] EtherCAT WARNING 0-main-0: Slave does not support assigning PDOs! [ 965.644480] EtherCAT WARNING 0-main-0: Currently assigned PDOs: 0x1AFF 0x1A00. PDOs to assign: 0x1A00 0x1AFF [ 965.644486] EtherCAT DEBUG 0-main-0: SM2: Addr 0x1800, Size 6, Ctrl 0x64, En 1 [ 965.644487] EtherCAT DEBUG 0-main-0: SM3: Addr 0x2400, Size 6, Ctrl 0x00, En 1 [ 965.644490] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x0000000C, Size 6, PhysAddr 0x1000, SM0, Dir out [ 965.644492] EtherCAT DEBUG 0 0:1: FMMU: LogOff 0x00000012, Size 5, PhysAddr 0x1200, SM1, Dir in [ 965.647221] EtherCAT 0: Domain 0: Working counter changed to 2/6. [ 965.648504] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000000, Size 6, PhysAddr 0x1800, SM2, Dir out [ 965.648505] EtherCAT DEBUG 0 0:0: FMMU: LogOff 0x00000006, Size 6, PhysAddr 0x2400, SM3, Dir in [ 965.648508] EtherCAT DEBUG 0-main-1: Setting DC cycle times to 1000000 / 0. [ 965.652518] EtherCAT DEBUG 0-main-1: Checking for synchrony. [ 965.656530] EtherCAT DEBUG 0-main-1: -1767 ns difference after 0 ms. [ 965.656532] EtherCAT DEBUG 0-main-1: ref_time=726318006525915000 [ 965.656533] EtherCAT DEBUG 0-main-1: app_time=726318006617088898 [ 965.656534] EtherCAT DEBUG 0-main-1: start_time=726318006717088898 [ 965.656535] EtherCAT DEBUG 0-main-1: cycle=1000000 [ 965.656536] EtherCAT DEBUG 0-main-1: shift_time=2000200000 [ 965.656537] EtherCAT DEBUG 0-main-1: remainder=173898 [ 965.656538] EtherCAT DEBUG 0-main-1: start=726318008718115000 [ 965.656539] EtherCAT DEBUG 0-main-1: Setting DC cyclic operation start time to 726318008718115000. [ 965.660549] EtherCAT DEBUG 0-main-0: PREOP -> SAFEOP. [ 965.660551] EtherCAT DEBUG 0-main-0: Now in SAFEOP. [ 965.660553] EtherCAT DEBUG 0-main-1: Setting DC AssignActivate to 0x0300. [ 965.668569] EtherCAT 0: Slave states on main device: PREOP, OP. [ 965.668571] EtherCAT DEBUG 0-main-0: Now in OP. Finished configuration. [ 965.672580] EtherCAT DEBUG 0-main-1: Now in SAFEOP. [ 965.680597] EtherCAT 0: Slave states on main device: OP. [ 965.680599] EtherCAT DEBUG 0-main-1: Now in OP. Finished configuration. [ 966.651204] EtherCAT 0: Domain 0: 3 working counter changes - now 6/6. [ 2859.310223] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0x000000009bb3359a) [ 2859.310225] EtherCAT DEBUG 0: Stopping master thread. [ 2859.311038] EtherCAT DEBUG 0: Master OP thread exiting... [ 2859.311045] EtherCAT 0: Master thread exited. [ 2859.311055] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 2859.311086] EtherCAT DEBUG 0: Idle thread running with send interval = 4000 us, max data size=45000 [ 2859.311089] EtherCAT DEBUG 0: UNMATCHED datagram: [ 2859.311090] EtherCAT DEBUG: 0C 1C 00 00 00 00 17 80 00 00 00 00 00 00 00 00 [ 2859.311095] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 8A 02 00 00 [ 2859.311100] EtherCAT DEBUG: 1F 06 00 [ 2859.311103] EtherCAT ERROR 0-main-1: Failed to receive AL state datagram: Datagram initialized. [ 2859.311105] EtherCAT 0: Releasing master... [ 2859.311108] EtherCAT DEBUG 0-main-0: Changing state from OP to PREOP (forced). [ 2859.311109] EtherCAT DEBUG 0-main-0: Configuring... [ 2859.311110] EtherCAT DEBUG 0-main-1: Changing state from OP to PREOP (forced). [ 2859.311111] EtherCAT DEBUG 0-main-1: Configuring... [ 2859.311114] EtherCAT DEBUG 0: Datagram 00000000aa09f609 already queued (skipping). [ 2859.311115] EtherCAT DEBUG 0: OPERATION -> IDLE. [ 2859.311116] EtherCAT 0: Released. [ 2859.319145] EtherCAT DEBUG 0-main-0: OP -> INIT. [ 2859.319147] EtherCAT DEBUG 0-main-0: Now in INIT. [ 2859.319148] EtherCAT DEBUG 0-main-0: Clearing FMMU configurations... [ 2859.319149] EtherCAT DEBUG 0-main-0: Clearing mailbox check flag... [ 2859.319150] EtherCAT DEBUG 0-main-1: Now in INIT. [ 2859.319151] EtherCAT DEBUG 0-main-1: Clearing FMMU configurations... [ 2859.319152] EtherCAT DEBUG 0-main-1: Clearing mailbox check flag... [ 2859.323167] EtherCAT DEBUG 0-main-0: Clearing sync manager configurations... [ 2859.323169] EtherCAT DEBUG 0-main-1: Clearing sync manager configurations... [ 2859.327183] EtherCAT 0: Slave states on main device: INIT. [ 2859.327185] EtherCAT DEBUG 0-main-0: Clearing DC assignment... [ 2859.327186] EtherCAT DEBUG 0-main-1: Clearing DC assignment... [ 2859.331201] EtherCAT DEBUG 0-main-0: Configuring mailbox sync managers... [ 2859.331204] EtherCAT DEBUG 0-main-0: SM0: Addr 0x1000, Size 512, Ctrl 0x26, En 1 [ 2859.331205] EtherCAT DEBUG 0-main-0: SM1: Addr 0x1400, Size 512, Ctrl 0x22, En 1 [ 2859.331207] EtherCAT DEBUG 0-main-1: Slave does not support mailbox communication. [ 2859.331208] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI. [ 2859.335226] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI. [ 2859.343263] EtherCAT DEBUG 0-main-1: Now in PREOP. [ 2859.343265] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT. [ 2859.347334] EtherCAT DEBUG 0-main-0: Now in PREOP. [ 2859.347335] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT. [ 2859.347336] EtherCAT DEBUG 0-main-1: Finished configuration. [ 2859.351426] EtherCAT 0: Slave states on main device: PREOP. [ 2859.351428] EtherCAT DEBUG 0-main-0: Finished configuration. [ 2860.278310] EtherCAT WARNING: Datagram 00000000aa09f609 (master-fsm) was SKIPPED 1 time.