PROCESSOR-SDK-AM335X: Issues with IgH EtherCAT Master

Dirk Zenker

Part Number: PROCESSOR-SDK-AM335X
Other Parts Discussed in Thread: AM3357, AMIC110

Hello,

we are using the PRU-ICSS-EtherCAT_Slave on AM3357 within our servo inverter.
The design is originally based on the code from TI but has been substantial functional enhanced over the years.
The device works since two years without problems by a number of customers with several masters like TwinCAT, Acontis, 3S and some more.

Now one of our customers insist on using the servo inverter with the IgH master and found serious communication problems.
We reproduced the problems with IgH EtherCAT master v1.5.2 and are experiencing a PRU hang up problems.
We checked the master configuration and come to the conclusion, that this is a internal PRU problem.

As soon as the master configured SM2/3 and the FMMUs and starts setting the DCcycle times the communication breaks down. Even reading the SII EPROM or mailbox communication is broken.
This behaviour can be seen at the attached master log:
...
[ 464.909065] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 464.909069] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size 10, Ctrl 0x64, En 1
[ 464.909070] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size 12, Ctrl 0x60, En 1
[ 464.910075] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 10, PhysAddr 0x1800, SM2, Dir out
[ 464.910077] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000A, Size 12, PhysAddr 0x1C00, SM3, Dir in
[ 464.911082] EtherCAT DEBUG 0-0: Setting DC cycle times to 500000 / 0.
...
[ 464.913378] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index EC waited 2000 us.
[ 464.982475] EtherCAT ERROR 0-0: Failed to receive SII read datagram: Datagram timed out.
[ 464.982478] EtherCAT ERROR 0-0: Failed to determine SII content size: Reading word offset 0x0040 failed. Assuming 64 words.
...
[ 465.001531] EtherCAT DEBUG 0 0:0: Slave 0 has no matching vendor ID (0x00000000) for configuration (0x0000088F).
...
[ 465.018586] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ 465.020593] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[ 465.021598] EtherCAT ERROR 0-0: AL status message 0x0016: "Invalid mailbox configuration".
[ 465.023604] EtherCAT 0-0: Acknowledged state INIT.
[ 465.023606] EtherCAT DEBUG 0-0: Ready for requests.
[ 465.837522] EtherCAT WARNING 0: 34 datagrams TIMED OUT!

The slave stack is up to date (PRU-ICSS-EtherCAT_Slave_01.00.05.00) and TI-ESC reports build 04EC.

We asking the EtherCAT team to have a look at the attached wireshark log (and the master log) to identify and hopefully solve this issue.

Thank you.

3250.dmesg.txt

[   38.776976] EtherCAT: Master driver 1.5.2 2eff7c993a63
[   38.777039] EtherCAT: 1 master waiting for devices.
[   38.780095] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63
[   38.780105] EtherCAT: Accepting 00:1B:21:0F:18:C3 as main device for master 0.
[   38.783954] EtherCAT 0: Starting EtherCAT-IDLE thread.
[   46.720934] EtherCAT 0: Master debug level set to 1.
[  230.635931] EtherCAT: Requesting master 0...
[  230.635933] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  230.635935] EtherCAT: Successfully requested master 0.
[  230.635937] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff8801069de000)
[  230.635938] EtherCAT DEBUG 0: Created domain 0.
[  230.635941] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.635943] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000088F/0x4D490002.
[  230.635946] EtherCAT DEBUG 0 0:0: Failed to find slave for configuration.
[  230.635956] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff880101dc7000, index = 0x3A00, subindex = 0x06, data = 0xffff88002f5db7a0, size = 2)
[  230.635963] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff880101dc7000, index = 0x6060, subindex = 0x00, data = 0xffff88002f5db7a0, size = 1)
[  230.635973] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 0, dir = 1, watchdog_mode = 2)
[  230.635975] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 1, dir = 2, watchdog_mode = 2)
[  230.635978] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 2, dir = 1, watchdog_mode = 1)
[  230.635980] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880101dc7000, sync_index = 2)
[  230.635983] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880101dc7000, sync_index = 2, pdo_index = 0x1601)
[  230.635986] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880101dc7000, pdo_index = 0x1601)
[  230.635988] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  230.635991] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  230.635994] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x60B1, entry_subindex = 0x00, entry_bit_length = 32)
[  230.635997] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 3, dir = 2, watchdog_mode = 1)
[  230.635999] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880101dc7000, sync_index = 3)
[  230.636001] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880101dc7000, sync_index = 3, pdo_index = 0x1A01)
[  230.636003] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880101dc7000, pdo_index = 0x1A01)
[  230.636005] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  230.636007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  230.636010] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  230.636013] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  230.636016] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636019] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6040, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636022] EtherCAT DEBUG 0: Domain 0: Added 10 bytes, total 10.
[  230.636023] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636026] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x607A, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636028] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636031] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x60B1, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636033] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636036] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6041, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636038] EtherCAT DEBUG 0: Domain 0: Added 12 bytes, total 22.
[  230.636039] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636042] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6064, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636044] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x606C, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636049] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  230.636052] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6077, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
[  230.636055] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0xffff880101dc7000, assign_activate = 0x0300, sync0_cycle = 500000, sync0_shift = 4000, sync1_cycle = 0, sync1_shift = 0
[  230.636068] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff880106859d40, mem = 0xffffc90005756000)
[  230.636070] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff8801069de000, send_cb = 0xffffffffa049a750, receive_cb = 0xffffffffa0498d20, cb_data = 0xffff8801069de000)
[  230.636072] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff8801069de000)
[  230.636074] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[  230.636076] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
[  230.636077] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.
[  230.636079] EtherCAT DEBUG 0: Stopping master thread.
[  230.636397] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  230.636402] EtherCAT 0: Master thread exited.
[  230.636404] EtherCAT DEBUG 0: FSM datagram is ffff8801069de678.
[  230.636406] EtherCAT 0: Starting EtherCAT-OP thread.
[  230.636426] EtherCAT DEBUG 0: mmap()
[  230.636429] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007fb7866fd000, offset = 0, page = ffffea00039729e0
[  230.636441] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[  315.329812] EtherCAT 0: Releasing master...
[  315.329814] EtherCAT DEBUG 0: ecrt_master_deactivate(master = 0xffff8801069de000)
[  315.329816] EtherCAT DEBUG 0: Stopping master thread.
[  315.329959] EtherCAT DEBUG 0: Master OP thread exiting...
[  315.329963] EtherCAT 0: Master thread exited.
[  315.329968] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  315.329989] EtherCAT DEBUG 0: OPERATION -> IDLE.
[  315.329991] EtherCAT DEBUG 0: Idle thread running with send interval = 1000 us, max data size=11250
[  315.329994] EtherCAT 0: Released.
[  315.329995] EtherCAT DEBUG 0: Datagram ffff8801069de678 already queued (skipping).
[  315.790508] EtherCAT WARNING: Datagram ffff8801069de678 (master-fsm) was SKIPPED 1 time.
[  383.719457] EtherCAT DEBUG 0: IDLE -> ORPHANED.
[  383.719459] EtherCAT DEBUG 0: Stopping master thread.
[  383.719678] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  383.719682] EtherCAT 0: Master thread exited.
[  383.719685] EtherCAT 0: Releasing main device 00:1B:21:0F:18:C3.
[  383.725557] EtherCAT: Master module cleaned up.
[  385.741008] EtherCAT: Master driver 1.5.2 2eff7c993a63
[  385.741077] EtherCAT: 1 master waiting for devices.
[  385.742782] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 2eff7c993a63
[  385.742789] EtherCAT: Accepting BC:AE:C5:71:2C:F7 as main device for master 0.
[  385.746715] EtherCAT 0: Starting EtherCAT-IDLE thread.
[  385.746730] EtherCAT 0: Link state of ecm0 changed to UP.
[  385.747743] EtherCAT 0: 1 slave(s) responding on main device.
[  385.747745] EtherCAT 0: Slave states on main device: PREOP.
[  385.747809] EtherCAT 0: Scanning bus.
[  385.798943] EtherCAT 0: Bus scanning completed in 51 ms.
[  385.798946] EtherCAT 0: Using slave 0 as DC reference clock.
[  396.424818] EtherCAT 0: Master debug level set to 1.
[  464.837888] EtherCAT: Requesting master 0...
[  464.837891] EtherCAT DEBUG 0: IDLE -> OPERATION.
[  464.837892] EtherCAT: Successfully requested master 0.
[  464.837894] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0xffff8800d93be000)
[  464.837896] EtherCAT DEBUG 0: Created domain 0.
[  464.837898] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.837901] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000088F/0x4D490002.
[  464.837903] EtherCAT DEBUG 0 0:0: Attached slave 0.
[  464.837938] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff88011a54b000, index = 0x3A00, subindex = 0x06, data = 0xffff8800d99908e0, size = 2)
[  464.837943] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff88011a54b000, index = 0x6060, subindex = 0x00, data = 0xffff8800d99908e0, size = 1)
[  464.837953] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011a54b000, sync_index = 0, dir = 1, watchdog_mode = 2)
[  464.837955] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011a54b000, sync_index = 1, dir = 2, watchdog_mode = 2)
[  464.837957] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011a54b000, sync_index = 2, dir = 1, watchdog_mode = 1)
[  464.837960] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88011a54b000, sync_index = 2)
[  464.837969] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff88011a54b000, sync_index = 2, pdo_index = 0x1601)
[  464.837971] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1601.
[  464.837972] EtherCAT DEBUG 0 0:0: Found PDO name "RPDO mapping CSP".
[  464.837975] EtherCAT DEBUG 0 0:0: Entry 0x6040:00.
[  464.837976] EtherCAT DEBUG 0 0:0: Entry 0x607A:00.
[  464.837977] EtherCAT DEBUG 0 0:0: Entry 0x60B1:00.
[  464.837978] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.837979] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.837980] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.837981] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.837982] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.837984] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88011a54b000, pdo_index = 0x1601)
[  464.837988] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[  464.837990] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[  464.837993] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1601, entry_index = 0x60B1, entry_subindex = 0x00, entry_bit_length = 32)
[  464.837995] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff88011a54b000, sync_index = 3, dir = 2, watchdog_mode = 1)
[  464.837997] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff88011a54b000, sync_index = 3)
[  464.838002] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff88011a54b000, sync_index = 3, pdo_index = 0x1A01)
[  464.838004] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A01.
[  464.838005] EtherCAT DEBUG 0 0:0: Found PDO name "TPDO mapping CSX HM ST CAL IND".
[  464.838008] EtherCAT DEBUG 0 0:0: Entry 0x6041:00.
[  464.838009] EtherCAT DEBUG 0 0:0: Entry 0x6064:00.
[  464.838010] EtherCAT DEBUG 0 0:0: Entry 0x606C:00.
[  464.838011] EtherCAT DEBUG 0 0:0: Entry 0x6077:00.
[  464.838012] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.838013] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.838014] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.838015] EtherCAT DEBUG 0 0:0: Entry 0x0000:00.
[  464.838016] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff88011a54b000, pdo_index = 0x1A01)
[  464.838019] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[  464.838021] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[  464.838024] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[  464.838027] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff88011a54b000, pdo_index = 0x1A01, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
[  464.838030] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838033] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x6040, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838035] EtherCAT DEBUG 0: Domain 0: Added 10 bytes, total 10.
[  464.838037] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838040] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x607A, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838042] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838044] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x60B1, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838047] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838049] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x6041, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838051] EtherCAT DEBUG 0: Domain 0: Added 12 bytes, total 22.
[  464.838053] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838055] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x6064, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838058] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838060] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x606C, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838062] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8800d93be000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
[  464.838065] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff88011a54b000, index = 0x6077, subindex = 0x00, domain = 0xffff8800d8da46c0, bit_position = 0xffff8800d7e4de24)
[  464.838068] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0xffff88011a54b000, assign_activate = 0x0300, sync0_cycle = 500000, sync0_shift = 4000, sync1_cycle = 0, sync1_shift = 0
[  464.838082] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff8800d8da46c0, mem = 0xffffc90005756000)
[  464.838084] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff8800d93be000, send_cb = 0xffffffffa0527750, receive_cb = 0xffffffffa0525d20, cb_data = 0xffff8800d93be000)
[  464.838086] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff8800d93be000)
[  464.838089] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[  464.838090] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
[  464.838092] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.
[  464.838093] EtherCAT DEBUG 0: Stopping master thread.
[  464.838405] EtherCAT DEBUG 0: Master IDLE thread exiting...
[  464.838410] EtherCAT 0: Master thread exited.
[  464.838414] EtherCAT DEBUG 0: FSM datagram is ffff8800d93be678.
[  464.838416] EtherCAT 0: Starting EtherCAT-OP thread.
[  464.838435] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[  464.838437] EtherCAT DEBUG 0: mmap()
[  464.838440] EtherCAT DEBUG 0: Vma fault, virtual_address = 00007f1965db3000, offset = 0, page = ffffea0002f71770
[  464.839441] EtherCAT DEBUG 0: Configuration changed.
[  464.839443] EtherCAT DEBUG 0-0: Checking system time offset.
[  464.840448] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=609559393263 (corrected with 1000000), app_time=465189578329, diff=-144369814934
[  464.840451] EtherCAT DEBUG 0-0: Setting time offset to 18446743929339736682 (was 0)
[  464.841454] EtherCAT DEBUG 0: Requesting OP...
[  464.843461] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  464.843462] EtherCAT DEBUG 0-0: Configuring...
[  464.845469] EtherCAT DEBUG 0-0: Now in INIT.
[  464.845470] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  464.846474] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  464.847477] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  464.848481] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[  464.848484] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[  464.848485] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
[  464.851505] EtherCAT DEBUG 0-0: Now in PREOP.
[  464.851508] EtherCAT DEBUG 0-0: Downloading SDO 0x3A00:06.
[  464.851509] EtherCAT DEBUG: DC DD 
[  464.851511] EtherCAT DEBUG 0-0: Expedited download request:
[  464.851512] EtherCAT DEBUG: 00 20 2B 00 3A 06 DC DD 00 00 
[  464.854540] EtherCAT DEBUG 0-0: Download response:
[  464.854544] EtherCAT DEBUG: 00 30 60 00 3A 06 DC DD 00 00 
[  464.854550] EtherCAT DEBUG 0-0: Downloading SDO 0x6060:00.
[  464.854551] EtherCAT DEBUG: 08 
[  464.854554] EtherCAT DEBUG 0-0: Expedited download request:
[  464.854555] EtherCAT DEBUG: 00 20 2F 60 60 00 08 00 00 00 
[  464.857576] EtherCAT DEBUG 0-0: Download response:
[  464.857578] EtherCAT DEBUG: 00 30 60 60 60 00 08 00 00 00 
[  464.857587] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1601.
[  464.857588] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60B1:00/32 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0. Entries to map: 0x6040:00/16 0x607A:00/32 0x60B1:00/32
[  464.857597] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  464.857599] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
[  464.857600] EtherCAT DEBUG: 00 
[  464.857602] EtherCAT DEBUG 0-0: Expedited download request:
[  464.857603] EtherCAT DEBUG: 00 20 2F 01 16 00 00 00 00 00 
[  464.860626] EtherCAT DEBUG 0-0: Download response:
[  464.860629] EtherCAT DEBUG: 00 30 60 01 16 00 00 00 00 00 
[  464.860634] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[  464.860637] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:01.
[  464.860638] EtherCAT DEBUG: 10 00 40 60 
[  464.860641] EtherCAT DEBUG 0-0: Expedited download request:
[  464.860642] EtherCAT DEBUG: 00 20 23 01 16 01 10 00 40 60 
[  464.863664] EtherCAT DEBUG 0-0: Download response:
[  464.863665] EtherCAT DEBUG: 00 30 60 01 16 01 10 00 40 60 
[  464.863670] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2.
[  464.863672] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:02.
[  464.863673] EtherCAT DEBUG: 20 00 7A 60 
[  464.863675] EtherCAT DEBUG 0-0: Expedited download request:
[  464.863676] EtherCAT DEBUG: 00 20 23 01 16 02 20 00 7A 60 
[  464.866702] EtherCAT DEBUG 0-0: Download response:
[  464.866704] EtherCAT DEBUG: 00 30 60 01 16 02 20 00 7A 60 
[  464.866709] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60B1:00 (32 bit) at position 3.
[  464.866711] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:03.
[  464.866711] EtherCAT DEBUG: 20 00 B1 60 
[  464.866714] EtherCAT DEBUG 0-0: Expedited download request:
[  464.866715] EtherCAT DEBUG: 00 20 23 01 16 03 20 00 B1 60 
[  464.869731] EtherCAT DEBUG 0-0: Download response:
[  464.869733] EtherCAT DEBUG: 00 30 60 01 16 03 20 00 B1 60 
[  464.869737] EtherCAT DEBUG 0-0: Setting number of PDO entries to 3.
[  464.869739] EtherCAT DEBUG 0-0: Downloading SDO 0x1601:00.
[  464.869740] EtherCAT DEBUG: 03 
[  464.869741] EtherCAT DEBUG 0-0: Expedited download request:
[  464.869742] EtherCAT DEBUG: 00 20 2F 01 16 00 03 00 00 00 
[  464.872756] EtherCAT DEBUG 0-0: Download response:
[  464.872758] EtherCAT DEBUG: 00 30 60 01 16 00 03 00 00 00 
[  464.872762] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1601.
[  464.872764] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[  464.872765] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1600 0x1601 0x1602 0x1603 0x1604 0x1605. PDOs to assign: 0x1601
[  464.872770] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  464.872772] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  464.872773] EtherCAT DEBUG: 00 
[  464.872774] EtherCAT DEBUG 0-0: Expedited download request:
[  464.872775] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[  464.875787] EtherCAT DEBUG 0-0: Download response:
[  464.875788] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[  464.875801] EtherCAT DEBUG 0-0: Assigning PDO 0x1601 at position 1.
[  464.875803] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[  464.875804] EtherCAT DEBUG: 01 16 
[  464.875806] EtherCAT DEBUG 0-0: Expedited download request:
[  464.875807] EtherCAT DEBUG: 00 20 2B 12 1C 01 01 16 00 00 
[  464.878818] EtherCAT DEBUG 0-0: Download response:
[  464.878819] EtherCAT DEBUG: 00 30 60 12 1C 01 01 16 00 00 
[  464.878823] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  464.878825] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[  464.878825] EtherCAT DEBUG: 01 
[  464.878827] EtherCAT DEBUG 0-0: Expedited download request:
[  464.878828] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[  464.881839] EtherCAT DEBUG 0-0: Download response:
[  464.881840] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[  464.881845] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[  464.881852] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A01.
[  464.881853] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6077:00/16 0x0000:00/0 0x0000:00/0 0x0000:00/0 0x0000:00/0. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6077:00/16
[  464.881862] EtherCAT DEBUG 0-0: Setting entry count to zero.
[  464.881863] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
[  464.881864] EtherCAT DEBUG: 00 
[  464.881865] EtherCAT DEBUG 0-0: Expedited download request:
[  464.881866] EtherCAT DEBUG: 00 20 2F 01 1A 00 00 00 00 00 
[  464.884879] EtherCAT DEBUG 0-0: Download response:
[  464.884880] EtherCAT DEBUG: 00 30 60 01 1A 00 00 00 00 00 
[  464.884884] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[  464.884885] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:01.
[  464.884886] EtherCAT DEBUG: 10 00 41 60 
[  464.884888] EtherCAT DEBUG 0-0: Expedited download request:
[  464.884889] EtherCAT DEBUG: 00 20 23 01 1A 01 10 00 41 60 
[  464.887900] EtherCAT DEBUG 0-0: Download response:
[  464.887901] EtherCAT DEBUG: 00 30 60 01 1A 01 10 00 41 60 
[  464.887905] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[  464.887907] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:02.
[  464.887908] EtherCAT DEBUG: 20 00 64 60 
[  464.887910] EtherCAT DEBUG 0-0: Expedited download request:
[  464.887911] EtherCAT DEBUG: 00 20 23 01 1A 02 20 00 64 60 
[  464.890922] EtherCAT DEBUG 0-0: Download response:
[  464.890924] EtherCAT DEBUG: 00 30 60 01 1A 02 20 00 64 60 
[  464.890928] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[  464.890930] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:03.
[  464.890931] EtherCAT DEBUG: 20 00 6C 60 
[  464.890933] EtherCAT DEBUG 0-0: Expedited download request:
[  464.890934] EtherCAT DEBUG: 00 20 23 01 1A 03 20 00 6C 60 
[  464.893946] EtherCAT DEBUG 0-0: Download response:
[  464.893947] EtherCAT DEBUG: 00 30 60 01 1A 03 20 00 6C 60 
[  464.893950] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6077:00 (16 bit) at position 4.
[  464.893952] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:04.
[  464.893953] EtherCAT DEBUG: 10 00 77 60 
[  464.893955] EtherCAT DEBUG 0-0: Expedited download request:
[  464.893955] EtherCAT DEBUG: 00 20 23 01 1A 04 10 00 77 60 
[  464.896967] EtherCAT DEBUG 0-0: Download response:
[  464.896968] EtherCAT DEBUG: 00 30 60 01 1A 04 10 00 77 60 
[  464.896972] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[  464.896974] EtherCAT DEBUG 0-0: Downloading SDO 0x1A01:00.
[  464.896974] EtherCAT DEBUG: 04 
[  464.896976] EtherCAT DEBUG 0-0: Expedited download request:
[  464.896977] EtherCAT DEBUG: 00 20 2F 01 1A 00 04 00 00 00 
[  464.899988] EtherCAT DEBUG 0-0: Download response:
[  464.899989] EtherCAT DEBUG: 00 30 60 01 1A 00 04 00 00 00 
[  464.899993] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A01.
[  464.899994] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[  464.899995] EtherCAT DEBUG 0-0: Currently assigned PDOs: 0x1A00 0x1A01 0x1A02. PDOs to assign: 0x1A01
[  464.899999] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[  464.900000] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  464.900001] EtherCAT DEBUG: 00 
[  464.900002] EtherCAT DEBUG 0-0: Expedited download request:
[  464.900003] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[  464.903015] EtherCAT DEBUG 0-0: Download response:
[  464.903015] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[  464.903023] EtherCAT DEBUG 0-0: Assigning PDO 0x1A01 at position 1.
[  464.903025] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[  464.903025] EtherCAT DEBUG: 01 1A 
[  464.903027] EtherCAT DEBUG 0-0: Expedited download request:
[  464.903028] EtherCAT DEBUG: 00 20 2B 13 1C 01 01 1A 00 00 
[  464.906039] EtherCAT DEBUG 0-0: Download response:
[  464.906040] EtherCAT DEBUG: 00 30 60 13 1C 01 01 1A 00 00 
[  464.906044] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[  464.906045] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[  464.906046] EtherCAT DEBUG: 01 
[  464.906047] EtherCAT DEBUG 0-0: Expedited download request:
[  464.906048] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[  464.909059] EtherCAT DEBUG 0-0: Download response:
[  464.909060] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[  464.909065] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[  464.909069] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size  10, Ctrl 0x64, En 1
[  464.909070] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size  12, Ctrl 0x60, En 1
[  464.910075] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size  10, PhysAddr 0x1800, SM2, Dir out
[  464.910077] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000A, Size  12, PhysAddr 0x1C00, SM3, Dir in
[  464.911082] EtherCAT DEBUG 0-0: Setting DC cycle times to 500000 / 0.
[  464.911381] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[  464.911879] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.911881] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.911882] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.913378] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index EC waited 2000 us.
[  464.913380] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.913381] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.913382] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.914378] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.914380] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.914381] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.914876] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.914877] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.914879] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.915376] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.915378] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.915379] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.915875] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.915876] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.915878] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.916376] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index FF waited 2000 us.
[  464.916378] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.916379] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.916381] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.917375] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.917376] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.917377] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.918099] EtherCAT DEBUG 0-0: Checking for synchrony.
[  464.918374] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.918375] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.918377] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.919104] EtherCAT DEBUG 0-0: Sync after    1 ms:     496868 ns
[  464.919373] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.919374] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.919375] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.920108] EtherCAT DEBUG 0-0: Sync after    2 ms:     496215 ns
[  464.920372] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.920374] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.920375] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.921112] EtherCAT DEBUG 0-0: Sync after    3 ms:     496814 ns
[  464.921371] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.921372] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.921374] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.921869] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.921871] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.921872] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.922370] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.922372] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.922373] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.923369] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 2E waited 2000 us.
[  464.923371] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.923372] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.923373] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.923867] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.923869] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.923870] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.924368] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.924370] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.924371] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.924866] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.924868] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.924869] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.925866] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.925867] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.925868] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.926366] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 41 waited 2000 us.
[  464.926864] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.926866] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.926867] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.927864] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.927865] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.927866] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.928863] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.928864] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.928866] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.929363] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 54 waited 2000 us.
[  464.929861] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.929863] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.929864] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.930861] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.930862] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.930864] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.931860] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.931861] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.931863] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.932360] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 67 waited 2000 us.
[  464.933139] EtherCAT ERROR 0-0: Failed to receive DC sync check datagram: Datagram timed out.
[  464.933359] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.933361] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.933362] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.934358] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.934360] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.934361] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.934857] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.934858] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.934859] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.935357] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.935359] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.935360] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.935855] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.935857] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.935858] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.936356] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 81 waited 2000 us.
[  464.936358] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.936359] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.936360] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.936855] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.936856] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.936857] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.937355] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.937357] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.937358] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.938155] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[  464.938157] EtherCAT DEBUG 0-0: Configuring...
[  464.938354] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.938356] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.938357] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.938853] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.938854] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.938855] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.939353] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.939355] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.939356] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.940352] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 9B waited 2000 us.
[  464.940354] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.940355] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.940357] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.941352] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.941353] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.941355] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.941850] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.941851] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.941852] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.942350] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.942352] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.942353] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.942849] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.942850] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.942851] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.943349] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index AE waited 2000 us.
[  464.943351] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.943352] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.943354] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.943848] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.943849] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.943850] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.944349] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.944350] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.944351] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.944847] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.944848] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.944849] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.945846] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.945848] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.945849] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.946347] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index C1 waited 2000 us.
[  464.946845] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.946846] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.946847] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.947346] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.947347] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.947348] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.947844] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.947845] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.947846] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.948843] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.948845] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.948846] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.949344] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index D4 waited 2000 us.
[  464.949842] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.949843] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.949844] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.950186] EtherCAT ERROR 0-0: Failed to receive state datagram: Datagram timed out.
[  464.950841] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.950843] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.950844] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.951840] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.951842] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.951843] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.952341] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index E7 waited 2000 us.
[  464.952839] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  464.952840] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  464.952842] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.953196] EtherCAT 0: 0 slave(s) responding on main device.
[  464.953339] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.953838] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.954337] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be768, index F4 waited 2000 us.
[  464.954339] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be7f8, index F5 waited 2000 us.
[  464.954341] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.955336] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index F9 waited 2000 us.
[  464.955338] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.956336] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.957334] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index FE waited 2000 us.
[  464.957336] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.958334] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.959332] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 03 waited 2000 us.
[  464.959334] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.960332] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.961330] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 08 waited 2000 us.
[  464.961332] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.962330] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.963329] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 0D waited 2000 us.
[  464.963828] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.964328] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.964827] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.965326] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 12 waited 2000 us.
[  464.965328] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.965826] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.966426] EtherCAT 0: 1 slave(s) responding on main device.
[  464.966428] EtherCAT 0: Slave states on main device: INIT.
[  464.966826] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.967433] EtherCAT DEBUG 0: Sending broadcast-write to measure transmission delays on main link.
[  464.967825] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.968437] EtherCAT DEBUG 0: 1 slaves responded to delay measuring on main link.
[  464.968439] EtherCAT 0: Scanning bus.
[  464.968440] EtherCAT DEBUG 0: Scanning slave 0 on main link.
[  464.968823] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.969823] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.970822] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.971821] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.972451] EtherCAT DEBUG 0-0: Slave has the System Time register.
[  464.973819] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.974818] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.975317] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.975817] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.976316] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 32 waited 2000 us.
[  464.976318] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.977315] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.978314] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 37 waited 2000 us.
[  464.978316] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.979313] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.980312] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 3C waited 2000 us.
[  464.980314] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.981311] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.982310] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 41 waited 2000 us.
[  464.982312] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.982475] EtherCAT ERROR 0-0: Failed to receive SII read datagram: Datagram timed out.
[  464.982478] EtherCAT ERROR 0-0: Failed to determine SII content size: Reading word offset 0x0040 failed. Assuming 64 words.
[  464.983309] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.984309] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 46 waited 2000 us.
[  464.984808] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.985807] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.986806] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.987805] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.988304] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.988804] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.989304] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 54 waited 2000 us.
[  464.989803] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.990802] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.991801] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.992800] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.994299] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.994798] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.995297] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 65 waited 2000 us.
[  464.995299] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.995797] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.996297] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.997295] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 6A waited 2000 us.
[  464.997297] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.997795] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.998295] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.998794] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  464.999293] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 6F waited 2000 us.
[  464.999295] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.000293] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.001291] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 74 waited 2000 us.
[  465.001293] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.001521] EtherCAT ERROR 0-0: Failed to receive SII check/fetch datagram: Datagram timed out.
[  465.001524] EtherCAT ERROR 0-0: Failed to fetch SII contents.
[  465.001525] EtherCAT 0: Bus scanning completed in 35 ms.
[  465.001527] EtherCAT 0: Using slave 0 as DC reference clock.
[  465.001529] EtherCAT DEBUG 0-0: ec_slave_calc_transmission_delays_rec(delay = 0 ns)
[  465.001531] EtherCAT DEBUG 0 0:0: Slave 0 has no matching vendor ID (0x00000000) for configuration (0x0000088F).
[  465.001532] EtherCAT DEBUG 0-0: Checking system time offset.
[  465.002291] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.002292] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.002293] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.003290] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 7B waited 2000 us.
[  465.003291] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.003293] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.003294] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.004289] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.004290] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.004291] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.004788] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.004789] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.004791] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.005288] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 88 waited 2000 us.
[  465.005787] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.005788] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.005789] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.006287] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.006288] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.006289] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.006786] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.006787] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.006789] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.007286] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index 95 waited 2000 us.
[  465.007785] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.007786] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.007788] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.008550] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=469653056642 (corrected with 1000000), app_time=465358078495, diff=-4294978147
[  465.008552] EtherCAT DEBUG 0-0: Setting time offset to 18446743925044758535 (was 18446743929339736682)
[  465.008784] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.008786] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.008787] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.009555] EtherCAT DEBUG 0: Requesting OP...
[  465.009783] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.009785] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.009786] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.010782] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.010784] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.010785] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.011562] EtherCAT DEBUG 0-0: Changing state from INIT to OP.
[  465.011563] EtherCAT DEBUG 0-0: Configuring...
[  465.011781] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.011783] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.011784] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.012780] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.012782] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.012783] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.013569] EtherCAT DEBUG 0-0: Now in INIT.
[  465.013570] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[  465.013779] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.013781] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.013782] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.014279] EtherCAT DEBUG 0: Datagram ffff8800d93be768 already queued (skipping).
[  465.014280] EtherCAT DEBUG 0: Datagram ffff8800d93be7f8 already queued (skipping).
[  465.014282] EtherCAT DEBUG 0: Datagram ffff88002fb31798 already queued (skipping).
[  465.015279] EtherCAT DEBUG 0: TIMED OUT datagram ffff8800d93be678, index CC waited 2000 us.
[  465.016579] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[  465.017582] EtherCAT DEBUG 0-0: Clearing DC assignment...
[  465.018586] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[  465.020593] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[  465.021598] EtherCAT ERROR 0-0: AL status message 0x0016: "Invalid mailbox configuration".
[  465.023604] EtherCAT 0-0: Acknowledged state INIT.
[  465.023606] EtherCAT DEBUG 0-0: Ready for requests.
[  465.837522] EtherCAT WARNING 0: 34 datagrams TIMED OUT!
[  465.838474] EtherCAT WARNING: Datagram ffff88002fb31798 (domain0-0-main) was SKIPPED 125 times.
[  465.911405] EtherCAT 0: Domain 0: 149 working counter changes - now 0/3.

over 6 years ago

0 Dirk Zenker over 6 years ago

Intellectual 700 points

PS: Unfortunately the wire shark log was rejected after attaching

0 Dirk Zenker over 6 years ago in reply to Dirk Zenker

Intellectual 700 points

wireshark_r8169.zip

0 Dirk Zenker over 6 years ago in reply to Dirk Zenker

Intellectual 700 points

Also the wireshark log is now here available.

0 Biser Gatchev-XID over 6 years ago in reply to Dirk Zenker

TI__Guru**** 393215 points

The RTOS team have been notified. They will respond here.

0 Garrett Ding over 6 years ago in reply to Biser Gatchev-XID

TI__Mastermind 43296 points

Dirk,

Is the problem seen with the latest PRU-ICSS-EtherCAT_Slave_01.00.05.00 only but not previous 1.0.4 release?
Do you test the release without your functional enhancement?
We are not familiar with IgH EtherCAT Master, but will look into the wireshark log and let you know if anything interesting.

Regards,
Garrett

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

Hallo Garrett,

>> Is the problem seen with the latest PRU-ICSS-EtherCAT_Slave_01.00.05.00 only but not previous 1.0.4 release?
I was searching the TI site for downloading the version 1.0.4 to test as you requested.
Unfortunately I did not find any link to download the version 1.0.4. Only version 01.00.05.00 is provided by TI.
So I can not answer this question.

>> Do you test the release without your functional enhancement?
No. We changed a lot of high level funtionality such as motor control. The TI-ESC and the SSC 5.11 remains untouched.
I will try to unroll all of our enhancements, but this will need a lot of time.

When examining the communication log I found that point where the communication broke down.
One packet before the system time is tuned every thing is working fine:

Then system time is tuned (communication is still working see WKC==3):

Few ticks later the communication breaks down finally and do not recover:

I can actually not imagine how my high level code like space vector PWM and position / velocity controllers running on A8 can force the PRU - an independed processor - to break down the communication when the system time is tuned by the master.
It seems more likely that there is an incompliance between master and slave (PRU).
For better diagnostics I attach a filtered communication log.
5123.wireshark_r8169_gefiltert6.zip

0 Dirk Zenker over 6 years ago in reply to Dirk Zenker

Intellectual 700 points

Hello,

more than one week is over.
Is there any progress on TI side?
Did you had a look at the wireshark log?
Is there any explanation why the PRU blocks any communication from the point when the system time is tuned?

>> Is the problem seen with the latest PRU-ICSS-EtherCAT_Slave_01.00.05.00 only but not previous 1.0.4 release?
As I wrote one week ago, I can not find any link at the TI web pages to download the version 1.0.4.
Where can I download this version?

We are still unrolling our functional improvements of the last 4 years of development as you requested.
We will probably finish in one week, but it is clear - as I said before - that the EtherCAT functionality is not affected.
So I do not think this issue will be gone with that rollback.

0 Garrett Ding over 6 years ago in reply to Dirk Zenker

TI__Mastermind 43296 points

Hi Dirk,

Sorry for the delay. I was traveling last week and just wanted to update you. Below is our analysis and possible solution:

From the packet trace:
1) Master sets AL_CTRL to “INIT” – frame 18325
2) Slave sets the state to “INIT” – frame 18326
3) Master clears FMMU and SMs – frame 18330 & 18332
4) Master sets AL_CTRL to “PRE-OP” – frame 18336
5) Slave responds with AL_STATUS as “INIT, Error” – frame 18338
Therefore it looks like the slave is giving Error while going from INIT to PRE-OP.

The error is most likely observed when the PDO entries from the application does not match with the IGH master main.c file, and can be resolved by modifying the function "ecrt_slave_config_reg_pdo_entry" in main.c file of IGH master with the obtained entries from the command
$> sudo ethercat cstruct
then rebuild the master.

Can you have a try and let us know if it helps?

(You don't need spend time on v1.0.4 as it's not a product upgrade issue).

Regards,
Garrett

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

Hi Garret,

thank you very much for responding.

we have already used the tool "ethercat cstruct" to generate the code fragment for the PDO and SM configuration of the master when we started with IgH master december 2017.
To be save everything is right we also consulted IgH.
Next levels of examination if these settings are correct were:

1) check if the master log shows correct PDO and SM configuration

   [ 230.635956] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff880101dc7000, index = 0x3A00, subindex = 0x06, data = 0xffff88002f5db7a0, size = 2)
   [ 230.635963] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sdo(sc = 0xffff880101dc7000, index = 0x6060, subindex = 0x00, data = 0xffff88002f5db7a0, size = 1)
   [ 230.635973] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 0, dir = 1, watchdog_mode = 2)
   [ 230.635975] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 1, dir = 2, watchdog_mode = 2)
   [ 230.635978] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 2, dir = 1, watchdog_mode = 1)
   [ 230.635980] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880101dc7000, sync_index = 2)
   [ 230.635983] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880101dc7000, sync_index = 2, pdo_index = 0x1601)
   [ 230.635986] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880101dc7000, pdo_index = 0x1601)
   [ 230.635988] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
   [ 230.635991] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
   [ 230.635994] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1601, entry_index = 0x60B1, entry_subindex = 0x00, entry_bit_length = 32)
   [ 230.635997] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0xffff880101dc7000, sync_index = 3, dir = 2, watchdog_mode = 1)
   [ 230.635999] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0xffff880101dc7000, sync_index = 3)
   [ 230.636001] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0xffff880101dc7000, sync_index = 3, pdo_index = 0x1A01)
   [ 230.636003] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0xffff880101dc7000, pdo_index = 0x1A01)
   [ 230.636005] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
   [ 230.636007] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
   [ 230.636010] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
   [ 230.636013] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0xffff880101dc7000, pdo_index = 0x1A01, entry_index = 0x6077, entry_subindex = 0x00, entry_bit_length = 16)
   [ 230.636016] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636019] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6040, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636022] EtherCAT DEBUG 0: Domain 0: Added 10 bytes, total 10.
   [ 230.636023] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636026] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x607A, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636028] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636031] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x60B1, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636033] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636036] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6041, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636038] EtherCAT DEBUG 0: Domain 0: Added 12 bytes, total 22.
   [ 230.636039] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636042] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6064, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636044] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636047] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x606C, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636049] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0xffff8801069de000, alias = 0, position = 0, vendor_id = 0x0000088f, product_code = 0x4d490002)
   [ 230.636052] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0xffff880101dc7000, index = 0x6077, subindex = 0x00, domain = 0xffff880106859d40, bit_position = 0xffff8801143f9e24)
   [ 230.636055] EtherCAT DEBUG 0 0:0: ecrt_slave_config_dc(sc = 0xffff880101dc7000, assign_activate = 0x0300, sync0_cycle = 500000, sync0_shift = 4000, sync1_cycle = 0, sync1_shift = 0
   [ 230.636068] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0xffff880106859d40, mem = 0xffffc90005756000)
   [ 230.636070] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0xffff8801069de000, send_cb = 0xffffffffa049a750, receive_cb = 0xffffffffa0498d20, cb_data = 0xffff8801069de000)
   [ 230.636072] EtherCAT DEBUG 0: ecrt_master_activate(master = 0xffff8801069de000)
   [ 230.636074] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
   [ 230.636076] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
   [ 230.636077] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.

2) check the wireshark log if 0x1A01 & 1601 & 1C32 & 1C33 has been set correctly

3) check inside the slave (we have a debug port where we can access all objects) if these settings are set correct

4) check if the PDO input and PDO output size on both sides - master and slave - are calculated correctly with 10 & 12 bytes.

Everything seems absolutely perfect.

0 Garrett Ding over 6 years ago in reply to Dirk Zenker

TI__Mastermind 43296 points

Hi Dirk,

Are you able to reproduce the issue on AM335x ICE board with EtherCAT v1.0.5 release? So we can root cause the issue locally.
I will work with team to see if any idea comes up.

Regards,
Garrett

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

Hi Garret,

we tried to get our ICEv2.1A board to get work with the IgH master in January, but we failed.
This was done by a other team member. He was facing similar problems.

My next steps are now:

1) Finish backporting our slave to TI demo code.
Finally this will not be the exactly same code, sine we have a different RAM, RAM timing, flash, processor pinout, bootloader and CPU frequency.
But however, the EtherCAT functional code will be still the same.

2) I will obtain a EtherCAT drive from a competitor that is based on a Beckhoff ASIC and connect it to the IgH master.
That shall prove (or not) if our IgH master application works.

To obtain the drive will need some days. I will post my results.

Regards, Dirk

0 Dirk Zenker over 6 years ago

Intellectual 700 points

Hi Garret,

recently we connected a simple Beckhoff slave to the IgH master and were able set it to OP without problems.
So that is no hint what is going wrong with our TI ESC, but I think we can not be completely wrong how to operate the IgH master.
Next I finish back porting our application as far as possible to the TI CiA402 demo.
Nothing changed with the behaviour.
When the IgH master tries to set the slave to OP the communication drops finally at ESC side.

You remember the master output when the communication stops?
[ 465.018586] EtherCAT DEBUG 0-0: Slave does not support mailbox communication.
[ 465.020593] EtherCAT ERROR 0-0: Failed to set PREOP state, slave refused state change (INIT + ERROR).
[ 465.021598] EtherCAT ERROR 0-0: AL status message 0x0016: "Invalid mailbox configuration".

I did debug this case inside the Sitara.
First, the master is correct!
Also the SSC at ecatslv.c signals, that he is going from PreOp to Init with the AlStatusCode 0x16, that means ALSTATUSCODE_INVALIDMBXCFGINPREOP.
I also debugged the line where this happens:

static UINT8 CheckSmSettings(UINT8 maxChannel)
{
   ...
   pSyncMan = GetSyncMan(MAILBOX_WRITE);
   ...
   if (!(pSyncMan->Settings[SM_SETTING_ACTIVATE_OFFSET] & SM_SETTING_ENABLE_VALUE))
   {
     result = ALSTATUSCODE_INVALIDMBXCFGINPREOP;
   }
}

Next I debugged what is happened inside the ESC with the SyncMan's at the working point and the code line above when communication stops.

Working point:
The master is able to communicate with the slave via mailbox.
At this time I can read out the SynMan-Settings for the mailboxes.
PhysicalStartAddress, Length, settings at SM_SETTING_CONTROL_OFFSET and activation at SM_SETTING_ACTIVATE_OFFSET are correct.

Communication fail:
When the slave shall go to OP and the communication drops, all SM (MailBoxRead and MailBoxWrite) are erased!
PhysicalStartAddress is 0, settings SM_SETTING_CONTROL_OFFSET are 0 and activation at SM_SETTING_ACTIVATE_OFFSET is disabled.

Since the SM settings are completely handled inside the TI ESC and the SSC can only read them, enable and disable the SM, this shall be a failure inside the TI ESC.
I have no idea, why the ESC shall fall out of his shoes suddenly and swipe off the SM's in the middle of a running communication.
But we are using the original SSC (with TI patch) and do not manipulate anything at low level.
I can actually see no fault on application side.

I'm still busy obtaining a drive with Beckhoff ASIC.
I will post the results when we connect it to the IgH master for reference.

Regards Dirk

0 Garrett Ding over 6 years ago in reply to Dirk Zenker

TI__Mastermind 43296 points

Hi Dirk,

Is it possible for you to share your simplified application so I can try to reproduce the issue you observed? I have got a IgH master up running in my Ubuntu machine locally.

Regards,
Garrett

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

Hi Garret,

>>I have got a IgH master up running in my Ubuntu machine locally.
Oh, that sounds very good. Fantastic! Thank you very much for your commitment!

>> Is it possible for you to share your simplified application so I can try to reproduce the issue you observed?
I think it makes no sense if you try to run this application.
We are running on a different board with different DDR type, RAM timing, CPU frequency, pin mapping, flash type and memory layout and different MLO.

But it would be a very great help, if you could verify if the original TI CiA402 demo works on the ICEv2 with your IgH master.
If this works and you could give us this Sitara binary, that would be a enormous help!
That would proof, that the TI ESC works with IgH and we can reproduce and analyse what works different by comparing operation of ICE and our platform.

We own a ICE board, but the delivered (pre flashed) application does not work with the IgH master.
TI proposed to update to PRU-ICSS-EtherCAT_Slave_01.00.05.00 and to switch from the LED demo to the CiA402 demo.
Another team member - Matthias - did this proposed steps but failed to get this TI demo on the ICE into operation with the IgH master.
You can read his story here: e2e.ti.com/.../650754

I think testing the TI CiA402 demo is the fastest and simplest way how you could help us.

Thank you very much indeed for you support!

Regards Dirk

0 Garrett Ding over 6 years ago in reply to Dirk Zenker

TI__Mastermind 43296 points

Dirk,

I am able to get the CiA402 AM335x demo in OP with my IgH demo. It prints AM57X-E but actually the board is AM335x ICEv2.

a0132@uda0132:~$ sudo ethercat slaves
0 0:0 OP + AM57x-E (PRU-ICSS v2.1) CiA402 Drive

Have you applied PDK patch in the EtherCAT package when you build CiA402, in addition to TIESC_APPLICATION=0,CiA402_Device=1?

Regards,
Garrett

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

Hi Garret,

thank you so much for your support!

I'm actually not aware of the steps Matthias has been done to build the demo.
Matthias will again build and test the CiA402 demo, considering your tips and post his results.
Can you give us your Sitara binary and IgH main code for reference reasons?
I'm interested e.g. of your DC activation via ecrt_slave_config_dc(...).

Thank you very much.

I'm actually involved in a customer support project for some days.
I'm glad that your ICE goes operational with the IgH master, because that proves the failure must be inside of our A8-code, a part we can debug and fix, even I still have no hint what goes wrong. But basically we shall be able to find a solution on our self.

Our next steps are:
First Matthias shall get the ICE running with our IgH master.
Second I will analyse the differences between the TI ICE Cia402 demo and our inverter application.

I would leave this thread unresolved in case any new questions shows up and to report our results.

Many thanks for your effort.

Regards Dirk

0 Matthias Frank over 6 years ago in reply to Dirk Zenker

Prodigy 220 points

Hi Garrett,

we have completely rebuild the Cia402 example (ethercat_slave_full) with the pdk thumb mode patch.

Now the ICE is displayed by ethercat slaves as "0 0:0 PREOP + AM57x-E (PRU-ICSS v2.1) CiA402 Drive"

The ICE onboard display shows "EtherCAT app 1.05 | Rev 0190 | Bld 04EC".

Switching to OP manually does not work. So I need a working IgH main.c file because my main.c obviously does not work.

Kind Regards,
Matthias

0 Garrett Ding over 6 years ago in reply to Matthias Frank

TI__Mastermind 43296 points

Hi Matthias,

I should have explained more clearly about the patch. The pdk thumb mode patch is for DDR-less EtherCAT slave currently supported on AMIC110 only, see the section - processors.wiki.ti.com/.../PRU_ICSS_EtherCAT

If you are building the Ethercat slave for AM335x with Processor SDK 4.1, then the pdk thumb mode patch is not applicable.

If you are building the the Ethercat slave for AM335x with Processor SDK 4.2, then you can apply the patch from here to simplify the migration -

The IgH main.c includes some code from a customer. I will clean it up and check if it's OK to send you the source.

Regards, Garrett

0 Garrett Ding over 6 years ago in reply to Garrett Ding

TI__Mastermind 43296 points

Hi Dirk, Matthias,

I noticed there is a function ecrt_slave_config_overlapping_pdos( ) in the main.c I am testing, which is based on etherlabmaster/examples/dc_user/main.c. And the function is available from .

Can you try the same IgH fork and add the ecrt_slave_config_overlapping_pdos( ) like below to see if the slave can be in OP?

if (!(sc = ecrt_master_slave_config(master,

TIESC_0_Pos, TIESC))) {

fprintf(stderr, "Failed to get slave configuration.\n");

return -1;

}

ecrt_slave_config_overlapping_pdos(sc, 1);

off_input_data_0 = ecrt_slave_config_reg_pdo_entry(sc, 0x6040, 0,

domain1, NULL);

if (off_input_data_0 < 0)

return -1;

off_output_data_0 = ecrt_slave_config_reg_pdo_entry(sc, 0x60ff, 0,

domain1, NULL);

if (off_output_data_0 < 0)

return -1;

Regards, Garrett

0 Matthias Frank over 6 years ago in reply to Garrett Ding

Prodigy 220 points

Hi Garret,

I can confirm that activating overlapping pdos was the main trick.

There are some other points which are substantial:

activate overlapping pdos leads also to overlapped data within the domain memory area. so the complete domain must be read before writing to the domain.
ecrt_slave_config_reg_pdo_entry by hand is not neccessary.
ethercat cstruct creates non-working watchdog values in ec_sync_info_t. for me ONLY EC_WD_DEFAULT works.

Greetings,
Matthias

0 Dirk Zenker over 6 years ago in reply to Garrett Ding

Intellectual 700 points

HI Garret,

thank you very much for your support!
Since the ICE is now running with the IgH master, I'm think our inverter will work too. I will test this these days.

Regards Dirk

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PROCESSOR-SDK-AM335X: Issues with IgH EtherCAT Master