[ 1952.178097] EtherCAT: Requesting master 0...
[ 1952.178100] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 1952.178101] EtherCAT: Successfully requested master 0.
[ 1952.178104] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x00000000ccf40129)
[ 1952.178105] EtherCAT DEBUG 0: Created domain 0.
[ 1952.178108] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x00000000ccf40129, alias = 0, position = 0, vendor_id = 0x00000539, product_code = 0x02200301)
[ 1952.178109] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000539/0x02200301.
[ 1952.178111] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 1952.178117] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0x000000003b802824, assign_activate = 0x0300, sync0_cycle = 1000000, sync0_shift = 0, sync1_cycle = 0, sync1_shift = 0
[ 1952.178119] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000003b802824, sync_index = 2, dir = 1, watchdog_mode = 0)
[ 1952.178121] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000003b802824, sync_index = 2)
[ 1952.178124] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000003b802824, sync_index = 2, pdo_index = 0x1600)
[ 1952.178125] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.
[ 1952.178126] EtherCAT DEBUG 0 0:0: Found PDO name "1st Receive PDO mapping".
[ 1952.178128] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000003b802824, pdo_index = 0x1600)
[ 1952.178130] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x000000003b802824, sync_index = 3, dir = 2, watchdog_mode = 0)
[ 1952.178131] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x000000003b802824, sync_index = 3)
[ 1952.178133] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x000000003b802824, sync_index = 3, pdo_index = 0x1A00)
[ 1952.178134] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[ 1952.178134] EtherCAT DEBUG 0 0:0: Found PDO name "1st Transmit PDO mapping".
[ 1952.178136] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x000000003b802824, pdo_index = 0x1A00)
[ 1952.178177] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x00000000ccf40129, send_cb = 0x000000005e8dc841, receive_cb = 0x0000000007b5b15a, cb_data = 0x00000000ccf40129)
[ 1952.178178] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x00000000ccf40129)
[ 1952.178180] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0.
[ 1952.178181] EtherCAT DEBUG 0: Stopping master thread.
[ 1952.178186] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 1952.178192] EtherCAT 0: Master thread exited.
[ 1952.178194] EtherCAT DEBUG 0: FSM datagram is 00000000e1401ec8.
[ 1952.178195] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1952.178226] EtherCAT DEBUG 0: Operation thread running with fsm interval = 4000 us, max data size=45000
[ 1952.230463] EtherCAT DEBUG 0: Configuration changed.
[ 1952.230465] EtherCAT DEBUG 0-0: Checking system time offset.
[ 1952.242472] EtherCAT DEBUG 0-0: DC 32 bit system time offset calculation: system_time=1117884837 (corrected with 12000000), app_time=743076407576515696, diff=-998709
[ 1952.242474] EtherCAT DEBUG 0-0: Not touching time offset.
[ 1952.254463] EtherCAT DEBUG 0: Requesting OP...
[ 1952.270461] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 1952.270468] EtherCAT DEBUG 0-0: Configuring...
[ 1952.273426] EtherCAT DEBUG 0-0: Now in INIT.
[ 1952.273427] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1952.274424] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1952.275426] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1952.276424] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1952.276426] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x36, En 1
[ 1952.276428] EtherCAT DEBUG 0-0: SM1: Addr 0x1080, Size 128, Ctrl 0x32, En 1
[ 1952.277424] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1952.280425] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1952.280427] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1952.281429] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1600.
[ 1952.281431] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[ 1952.281432] EtherCAT DEBUG 0-0: Upload request:
[ 1952.281433] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 
[ 1952.285444] EtherCAT DEBUG 0-0: Upload response:
[ 1952.285446] EtherCAT DEBUG: 00 30 4F 00 16 00 00 00 00 00 
[ 1952.285450] EtherCAT DEBUG 0-0: Uploaded data:
[ 1952.285450] EtherCAT DEBUG: 00 
[ 1952.285451] EtherCAT DEBUG 0-0: 0 PDO entries mapped.
[ 1952.285453] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[ 1952.285453] EtherCAT DEBUG 0-0: Currently mapped PDO entries: (none). Entries to map: (none)
[ 1952.285456] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1952.285457] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1952.285458] EtherCAT DEBUG: 00 
[ 1952.285459] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.285459] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[ 1952.289430] EtherCAT DEBUG 0-0: Download response:
[ 1952.289431] EtherCAT DEBUG: 00 30 62 00 16 00 00 00 00 00 
[ 1952.289434] EtherCAT DEBUG 0-0: No entries to map.
[ 1952.289435] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 1952.289436] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600. PDOs to assign: 0x1600
[ 1952.289438] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1952.289439] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1952.289440] EtherCAT DEBUG: 00 
[ 1952.289441] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.289441] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[ 1952.293428] EtherCAT DEBUG 0-0: Download response:
[ 1952.293430] EtherCAT DEBUG: 00 30 62 12 1C 00 00 00 00 00 
[ 1952.293434] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
[ 1952.293436] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 1952.293436] EtherCAT DEBUG: 00 16 
[ 1952.293438] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.293438] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[ 1952.297424] EtherCAT DEBUG 0-0: Download response:
[ 1952.297425] EtherCAT DEBUG: 00 30 62 12 1C 01 00 16 00 00 
[ 1952.297428] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1952.297430] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1952.297430] EtherCAT DEBUG: 01 
[ 1952.297431] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.297432] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[ 1952.301428] EtherCAT DEBUG 0-0: Download response:
[ 1952.301430] EtherCAT DEBUG: 00 30 62 12 1C 00 01 00 00 00 
[ 1952.301435] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[ 1952.301437] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A00.
[ 1952.301439] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[ 1952.301440] EtherCAT DEBUG 0-0: Upload request:
[ 1952.301440] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 
[ 1952.305426] EtherCAT DEBUG 0-0: Upload response:
[ 1952.305428] EtherCAT DEBUG: 00 30 4F 00 1A 00 00 00 00 00 
[ 1952.305431] EtherCAT DEBUG 0-0: Uploaded data:
[ 1952.305431] EtherCAT DEBUG: 00 
[ 1952.305432] EtherCAT DEBUG 0-0: 0 PDO entries mapped.
[ 1952.305434] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[ 1952.305434] EtherCAT DEBUG 0-0: Currently mapped PDO entries: (none). Entries to map: (none)
[ 1952.305436] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1952.305438] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1952.305438] EtherCAT DEBUG: 00 
[ 1952.305439] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.305440] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[ 1952.309424] EtherCAT DEBUG 0-0: Download response:
[ 1952.309424] EtherCAT DEBUG: 00 30 62 00 1A 00 00 00 00 00 
[ 1952.309427] EtherCAT DEBUG 0-0: No entries to map.
[ 1952.309428] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 1952.309429] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A00. PDOs to assign: 0x1A00
[ 1952.309431] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1952.309432] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1952.309432] EtherCAT DEBUG: 00 
[ 1952.309433] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.309433] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[ 1952.313422] EtherCAT DEBUG 0-0: Download response:
[ 1952.313422] EtherCAT DEBUG: 00 30 62 13 1C 00 00 00 00 00 
[ 1952.313426] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
[ 1952.313427] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 1952.313427] EtherCAT DEBUG: 00 1A 
[ 1952.313428] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.313429] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[ 1952.317450] EtherCAT DEBUG 0-0: Download response:
[ 1952.317453] EtherCAT DEBUG: 00 30 62 13 1C 01 00 1A 00 00 
[ 1952.317457] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1952.317458] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1952.317459] EtherCAT DEBUG: 01 
[ 1952.317461] EtherCAT DEBUG 0-0: Expedited download request:
[ 1952.317461] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[ 1952.321425] EtherCAT DEBUG 0-0: Download response:
[ 1952.321427] EtherCAT DEBUG: 00 30 62 13 1C 00 01 00 00 00 
[ 1952.321431] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 1952.321434] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size   0, Ctrl 0x74, En 0
[ 1952.321436] EtherCAT DEBUG 0-0: SM3: Addr 0x1400, Size   0, Ctrl 0x30, En 0
[ 1952.324423] EtherCAT DEBUG 0-0: Setting DC cycle times to 1000000 / 0.
[ 1952.325423] EtherCAT DEBUG 0-0: Checking for synchrony.
[ 1952.326421] EtherCAT DEBUG 0-0: 6091 ns difference after 0 ms.
[ 1952.326422] EtherCAT DEBUG 0-0:    ref_time=743076407512259000
[ 1952.326423] EtherCAT DEBUG 0-0:    app_time=743076407659513631
[ 1952.326423] EtherCAT DEBUG 0-0:  start_time=743076407759513631
[ 1952.326424] EtherCAT DEBUG 0-0:       cycle=1000000
[ 1952.326425] EtherCAT DEBUG 0-0:  shift_time=0
[ 1952.326425] EtherCAT DEBUG 0-0:   remainder=254631
[ 1952.326426] EtherCAT DEBUG 0-0:        start=743076407760259000
[ 1952.326427] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 743076407760259000.
[ 1952.328421] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300.
[ 1952.331425] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 1952.332421] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[ 1952.334423] EtherCAT 0-0: Acknowledged state PREOP.