[ 1914.404212] igb 0000:0a:00.1 enp10s0f1: entered promiscuous mode
[ 1985.014388] EtherCAT: Requesting master 0...
[ 1985.014391] EtherCAT DEBUG 0: IDLE -> OPERATION.
[ 1985.014393] EtherCAT: Successfully requested master 0.
[ 1985.025870] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025874] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x0000029C/0x02C31001.
[ 1985.025876] EtherCAT DEBUG 0 0:0: Attached slave 0.
[ 1985.025883] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000019fbfb85, sync_index = 0, dir = 1, watchdog_mode = 2)
[ 1985.025885] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019fbfb85, sync_index = 0)
[ 1985.025888] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000019fbfb85, sync_index = 1, dir = 2, watchdog_mode = 2)
[ 1985.025890] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019fbfb85, sync_index = 1)
[ 1985.025891] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000019fbfb85, sync_index = 2, dir = 1, watchdog_mode = 1)
[ 1985.025893] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019fbfb85, sync_index = 2)
[ 1985.025895] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x0000000019fbfb85, sync_index = 2, pdo_index = 0x1600)
[ 1985.025897] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1600.
[ 1985.025898] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 1985.025900] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000019fbfb85, pdo_index = 0x1600)
[ 1985.025902] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1600, entry_index = 0x6040, entry_subindex = 0x00, entry_bit_length = 16)
[ 1985.025905] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1600, entry_index = 0x607A, entry_subindex = 0x00, entry_bit_length = 32)
[ 1985.025907] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1600, entry_index = 0x60FF, entry_subindex = 0x00, entry_bit_length = 32)
[ 1985.025909] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1600, entry_index = 0x6060, entry_subindex = 0x00, entry_bit_length = 8)
[ 1985.025911] EtherCAT DEBUG 0 0:0: ecrt_slave_config_sync_manager(sc = 0x0000000019fbfb85, sync_index = 3, dir = 2, watchdog_mode = 2)
[ 1985.025913] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_clear(sc = 0x0000000019fbfb85, sync_index = 3)
[ 1985.025914] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_assign_add(sc = 0x0000000019fbfb85, sync_index = 3, pdo_index = 0x1A00)
[ 1985.025916] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO 0x1A00.
[ 1985.025917] EtherCAT DEBUG 0 0:0: No default mapping found.
[ 1985.025918] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000019fbfb85, pdo_index = 0x1A00)
[ 1985.025919] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1A00, entry_index = 0x6041, entry_subindex = 0x00, entry_bit_length = 16)
[ 1985.025921] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1A00, entry_index = 0x6064, entry_subindex = 0x00, entry_bit_length = 32)
[ 1985.025923] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1A00, entry_index = 0x606C, entry_subindex = 0x00, entry_bit_length = 32)
[ 1985.025925] EtherCAT DEBUG 0 0:0: ecrt_slave_config_pdo_mapping_add(sc = 0x0000000019fbfb85, pdo_index = 0x1A00, entry_index = 0x6061, entry_subindex = 0x00, entry_bit_length = 8)
[ 1985.025930] EtherCAT DEBUG 0: ecrt_master_create_domain(master = 0x000000007a8982e5)
[ 1985.025931] EtherCAT DEBUG 0: Created domain 0.
[ 1985.025960] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025963] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x6040, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x000000002113b3e5)
[ 1985.025965] EtherCAT DEBUG 0: Domain 0: Added 11 bytes, total 11.
[ 1985.025967] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025968] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x607A, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x00000000e0d0fbcb)
[ 1985.025971] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025972] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x60FF, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x000000009efb1fce)
[ 1985.025974] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025976] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x6060, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x00000000fb94147f)
[ 1985.025977] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025979] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x6041, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x0000000029b71331)
[ 1985.025980] EtherCAT DEBUG 0: Domain 0: Added 11 bytes, total 22.
[ 1985.025982] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025983] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x6064, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x000000004782bca2)
[ 1985.025985] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025987] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x606C, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x00000000c3b1a7c1)
[ 1985.025989] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x000000007a8982e5, alias = 0, position = 0, vendor_id = 0x0000029c, product_code = 0x02c31001)
[ 1985.025991] EtherCAT DEBUG 0 0:0: ecrt_slave_config_reg_pdo_entry(sc = 0x0000000019fbfb85, index = 0x6061, subindex = 0x00, domain = 0x000000009aab6b44, bit_position = 0x00000000aa282a36)
[ 1985.026027] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain = 0x000000009aab6b44, mem = 0x0000000081ec2057)
[ 1985.026029] EtherCAT DEBUG 0: ecrt_master_callbacks(master = 0x000000007a8982e5, send_cb = 0x00000000b7dc32c7, receive_cb = 0x00000000c8b06c0c, cb_data = 0x000000007a8982e5)
[ 1985.026030] EtherCAT DEBUG 0: ecrt_master_activate(master = 0x000000007a8982e5)
[ 1985.026032] EtherCAT DEBUG 0: Adding datagram pair with expected WC 3.
[ 1985.026033] EtherCAT 0: Domain0: Logical address 0x00000000, 22 byte, expected working counter 3.
[ 1985.026034] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 22 byte, type LRW.
[ 1985.026035] EtherCAT DEBUG 0: Stopping master thread.
[ 1985.026039] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 1985.026047] EtherCAT 0: Master thread exited.
[ 1985.026048] EtherCAT DEBUG 0: FSM datagram is 0000000017b4cec1.
[ 1985.026049] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1985.026113] EtherCAT DEBUG 0: Operation thread running with fsm interval = 1000 us, max data size=11250
[ 1985.026115] EtherCAT DEBUG 0: mmap()
[ 1985.026119] EtherCAT DEBUG 0: Vma fault, offset = 0, page = 00000000ef3b434d
[ 1986.027028] EtherCAT DEBUG 0: Configuration changed (aborting state check).
[ 1986.027031] EtherCAT DEBUG 0-0: Checking system time offset.
[ 1986.049179] EtherCAT DEBUG 0-0: DC 64 bit system time offset calculation: system_time=520684061504 (corrected with 6000000), app_time=786533653161989247, diff=786533132477927743
[ 1986.049183] EtherCAT DEBUG 0-0: Setting time offset to 786533132477927743 (was 0)
[ 1986.059248] EtherCAT DEBUG 0: Requesting OP...
[ 1986.078421] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 1986.078424] EtherCAT DEBUG 0-0: Configuring...
[ 1986.098577] EtherCAT DEBUG 0-0: Now in INIT.
[ 1986.098579] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 1986.108653] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 1986.118718] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 1986.128792] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 1986.128794] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 1986.128796] EtherCAT DEBUG 0-0: SM1: Addr 0x1400, Size 128, Ctrl 0x22, En 1
[ 1986.138870] EtherCAT DEBUG 0-0: Assigning SII access to PDI.
[ 1986.169077] EtherCAT DEBUG 0-0: Now in PREOP.
[ 1986.169079] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT.
[ 1986.179157] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1600.
[ 1986.179159] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:00.
[ 1986.179161] EtherCAT DEBUG 0-0: Upload request:
[ 1986.179162] EtherCAT DEBUG: 00 20 40 00 16 00 00 00 00 00 
[ 1986.208375] EtherCAT DEBUG 0-0: Upload response:
[ 1986.208377] EtherCAT DEBUG: 00 30 4F 00 16 00 04 00 00 00 
[ 1986.208385] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.208386] EtherCAT DEBUG: 04 
[ 1986.208388] EtherCAT DEBUG 0-0: 4 PDO entries mapped.
[ 1986.208389] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:01.
[ 1986.208390] EtherCAT DEBUG 0-0: Upload request:
[ 1986.208391] EtherCAT DEBUG: 00 20 40 00 16 01 00 00 00 00 
[ 1986.238620] EtherCAT DEBUG 0-0: Upload response:
[ 1986.238622] EtherCAT DEBUG: 00 30 43 00 16 01 10 00 40 60 
[ 1986.238629] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.238630] EtherCAT DEBUG: 10 00 40 60 
[ 1986.238634] EtherCAT DEBUG 0-0: PDO entry 0x6040:00, 16 bit, "???".
[ 1986.238636] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:02.
[ 1986.238638] EtherCAT DEBUG 0-0: Upload request:
[ 1986.238639] EtherCAT DEBUG: 00 20 40 00 16 02 00 00 00 00 
[ 1986.268855] EtherCAT DEBUG 0-0: Upload response:
[ 1986.268857] EtherCAT DEBUG: 00 30 43 00 16 02 20 00 7A 60 
[ 1986.268864] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.268865] EtherCAT DEBUG: 20 00 7A 60 
[ 1986.268868] EtherCAT DEBUG 0-0: PDO entry 0x607A:00, 32 bit, "???".
[ 1986.268870] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:03.
[ 1986.268871] EtherCAT DEBUG 0-0: Upload request:
[ 1986.268872] EtherCAT DEBUG: 00 20 40 00 16 03 00 00 00 00 
[ 1986.299099] EtherCAT DEBUG 0-0: Upload response:
[ 1986.299100] EtherCAT DEBUG: 00 30 43 00 16 03 20 00 FF 60 
[ 1986.299106] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.299107] EtherCAT DEBUG: 20 00 FF 60 
[ 1986.299110] EtherCAT DEBUG 0-0: PDO entry 0x60FF:00, 32 bit, "???".
[ 1986.299112] EtherCAT DEBUG 0-0: Uploading SDO 0x1600:04.
[ 1986.299113] EtherCAT DEBUG 0-0: Upload request:
[ 1986.299114] EtherCAT DEBUG: 00 20 40 00 16 04 00 00 00 00 
[ 1986.329329] EtherCAT DEBUG 0-0: Upload response:
[ 1986.329332] EtherCAT DEBUG: 00 30 43 00 16 04 08 00 60 60 
[ 1986.329339] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.329340] EtherCAT DEBUG: 08 00 60 60 
[ 1986.329344] EtherCAT DEBUG 0-0: PDO entry 0x6060:00, 8 bit, "???".
[ 1986.329346] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1600.
[ 1986.329347] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6040:00/16 0x607A:00/32 0x60FF:00/32 0x6060:00/8. Entries to map: 0x6040:00/16 0x607A:00/32 0x60FF:00/32 0x6060:00/8
[ 1986.329357] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1986.329358] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1986.329359] EtherCAT DEBUG: 00 
[ 1986.329360] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.329361] EtherCAT DEBUG: 00 20 2F 00 16 00 00 00 00 00 
[ 1986.358563] EtherCAT DEBUG 0-0: Download response:
[ 1986.358566] EtherCAT DEBUG: 00 30 60 00 16 00 00 00 00 00 
[ 1986.358576] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6040:00 (16 bit) at position 1.
[ 1986.358579] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:01.
[ 1986.358581] EtherCAT DEBUG: 10 00 40 60 
[ 1986.358585] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.358587] EtherCAT DEBUG: 00 20 23 00 16 01 10 00 40 60 
[ 1986.388808] EtherCAT DEBUG 0-0: Download response:
[ 1986.388810] EtherCAT DEBUG: 00 30 60 00 16 01 10 00 40 60 
[ 1986.388818] EtherCAT DEBUG 0-0: Mapping PDO entry 0x607A:00 (32 bit) at position 2.
[ 1986.388820] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:02.
[ 1986.388821] EtherCAT DEBUG: 20 00 7A 60 
[ 1986.388825] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.388826] EtherCAT DEBUG: 00 20 23 00 16 02 20 00 7A 60 
[ 1986.419032] EtherCAT DEBUG 0-0: Download response:
[ 1986.419034] EtherCAT DEBUG: 00 30 60 00 16 02 20 00 7A 60 
[ 1986.419040] EtherCAT DEBUG 0-0: Mapping PDO entry 0x60FF:00 (32 bit) at position 3.
[ 1986.419042] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:03.
[ 1986.419043] EtherCAT DEBUG: 20 00 FF 60 
[ 1986.419046] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.419047] EtherCAT DEBUG: 00 20 23 00 16 03 20 00 FF 60 
[ 1986.449257] EtherCAT DEBUG 0-0: Download response:
[ 1986.449259] EtherCAT DEBUG: 00 30 60 00 16 03 20 00 FF 60 
[ 1986.449265] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6060:00 (8 bit) at position 4.
[ 1986.449267] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:04.
[ 1986.449268] EtherCAT DEBUG: 08 00 60 60 
[ 1986.449271] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.449271] EtherCAT DEBUG: 00 20 23 00 16 04 08 00 60 60 
[ 1986.478481] EtherCAT DEBUG 0-0: Download response:
[ 1986.478483] EtherCAT DEBUG: 00 30 60 00 16 04 08 00 60 60 
[ 1986.478490] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[ 1986.478491] EtherCAT DEBUG 0-0: Downloading SDO 0x1600:00.
[ 1986.478493] EtherCAT DEBUG: 04 
[ 1986.478494] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.478495] EtherCAT DEBUG: 00 20 2F 00 16 00 04 00 00 00 
[ 1986.508712] EtherCAT DEBUG 0-0: Download response:
[ 1986.508714] EtherCAT DEBUG: 00 30 60 00 16 00 04 00 00 00 
[ 1986.508720] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1600.
[ 1986.508721] EtherCAT DEBUG 0-0: Setting PDO assignment of SM2:
[ 1986.508723] EtherCAT DEBUG 0-0: Currently assigned PDOs: (none). PDOs to assign: 0x1600
[ 1986.508727] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1986.508728] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1986.508729] EtherCAT DEBUG: 00 
[ 1986.508730] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.508731] EtherCAT DEBUG: 00 20 2F 12 1C 00 00 00 00 00 
[ 1986.538929] EtherCAT DEBUG 0-0: Download response:
[ 1986.538931] EtherCAT DEBUG: 00 30 60 12 1C 00 00 00 00 00 
[ 1986.538938] EtherCAT DEBUG 0-0: Assigning PDO 0x1600 at position 1.
[ 1986.538939] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:01.
[ 1986.538940] EtherCAT DEBUG: 00 16 
[ 1986.538943] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.538943] EtherCAT DEBUG: 00 20 2B 12 1C 01 00 16 00 00 
[ 1986.569154] EtherCAT DEBUG 0-0: Download response:
[ 1986.569155] EtherCAT DEBUG: 00 30 60 12 1C 01 00 16 00 00 
[ 1986.569162] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1986.569164] EtherCAT DEBUG 0-0: Downloading SDO 0x1C12:00.
[ 1986.569165] EtherCAT DEBUG: 01 
[ 1986.569166] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.569167] EtherCAT DEBUG: 00 20 2F 12 1C 00 01 00 00 00 
[ 1986.598383] EtherCAT DEBUG 0-0: Download response:
[ 1986.598385] EtherCAT DEBUG: 00 30 60 12 1C 00 01 00 00 00 
[ 1986.598393] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM2.
[ 1986.598398] EtherCAT DEBUG 0-0: Reading mapping of PDO 0x1A00.
[ 1986.598400] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:00.
[ 1986.598401] EtherCAT DEBUG 0-0: Upload request:
[ 1986.598402] EtherCAT DEBUG: 00 20 40 00 1A 00 00 00 00 00 
[ 1986.628619] EtherCAT DEBUG 0-0: Upload response:
[ 1986.628621] EtherCAT DEBUG: 00 30 4F 00 1A 00 04 00 00 00 
[ 1986.628628] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.628629] EtherCAT DEBUG: 04 
[ 1986.628631] EtherCAT DEBUG 0-0: 4 PDO entries mapped.
[ 1986.628632] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:01.
[ 1986.628633] EtherCAT DEBUG 0-0: Upload request:
[ 1986.628633] EtherCAT DEBUG: 00 20 40 00 1A 01 00 00 00 00 
[ 1986.658853] EtherCAT DEBUG 0-0: Upload response:
[ 1986.658855] EtherCAT DEBUG: 00 30 43 00 1A 01 10 00 41 60 
[ 1986.658862] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.658863] EtherCAT DEBUG: 10 00 41 60 
[ 1986.658866] EtherCAT DEBUG 0-0: PDO entry 0x6041:00, 16 bit, "???".
[ 1986.658868] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:02.
[ 1986.658870] EtherCAT DEBUG 0-0: Upload request:
[ 1986.658871] EtherCAT DEBUG: 00 20 40 00 1A 02 00 00 00 00 
[ 1986.689096] EtherCAT DEBUG 0-0: Upload response:
[ 1986.689098] EtherCAT DEBUG: 00 30 43 00 1A 02 20 00 64 60 
[ 1986.689105] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.689106] EtherCAT DEBUG: 20 00 64 60 
[ 1986.689110] EtherCAT DEBUG 0-0: PDO entry 0x6064:00, 32 bit, "???".
[ 1986.689112] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:03.
[ 1986.689113] EtherCAT DEBUG 0-0: Upload request:
[ 1986.689114] EtherCAT DEBUG: 00 20 40 00 1A 03 00 00 00 00 
[ 1986.719328] EtherCAT DEBUG 0-0: Upload response:
[ 1986.719330] EtherCAT DEBUG: 00 30 43 00 1A 03 20 00 6C 60 
[ 1986.719337] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.719338] EtherCAT DEBUG: 20 00 6C 60 
[ 1986.719341] EtherCAT DEBUG 0-0: PDO entry 0x606C:00, 32 bit, "???".
[ 1986.719343] EtherCAT DEBUG 0-0: Uploading SDO 0x1A00:04.
[ 1986.719344] EtherCAT DEBUG 0-0: Upload request:
[ 1986.719345] EtherCAT DEBUG: 00 20 40 00 1A 04 00 00 00 00 
[ 1986.748576] EtherCAT DEBUG 0-0: Upload response:
[ 1986.748578] EtherCAT DEBUG: 00 30 43 00 1A 04 08 00 61 60 
[ 1986.748585] EtherCAT DEBUG 0-0: Uploaded data:
[ 1986.748586] EtherCAT DEBUG: 08 00 61 60 
[ 1986.748590] EtherCAT DEBUG 0-0: PDO entry 0x6061:00, 8 bit, "???".
[ 1986.748592] EtherCAT DEBUG 0-0: Changing mapping of PDO 0x1A00.
[ 1986.748594] EtherCAT DEBUG 0-0: Currently mapped PDO entries: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6061:00/8. Entries to map: 0x6041:00/16 0x6064:00/32 0x606C:00/32 0x6061:00/8
[ 1986.748605] EtherCAT DEBUG 0-0: Setting entry count to zero.
[ 1986.748607] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1986.748608] EtherCAT DEBUG: 00 
[ 1986.748610] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.748611] EtherCAT DEBUG: 00 20 2F 00 1A 00 00 00 00 00 
[ 1986.778837] EtherCAT DEBUG 0-0: Download response:
[ 1986.778839] EtherCAT DEBUG: 00 30 60 00 1A 00 00 00 00 00 
[ 1986.778845] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6041:00 (16 bit) at position 1.
[ 1986.778847] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:01.
[ 1986.778849] EtherCAT DEBUG: 10 00 41 60 
[ 1986.778852] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.778852] EtherCAT DEBUG: 00 20 23 00 1A 01 10 00 41 60 
[ 1986.809064] EtherCAT DEBUG 0-0: Download response:
[ 1986.809066] EtherCAT DEBUG: 00 30 60 00 1A 01 10 00 41 60 
[ 1986.809072] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6064:00 (32 bit) at position 2.
[ 1986.809074] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:02.
[ 1986.809075] EtherCAT DEBUG: 20 00 64 60 
[ 1986.809078] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.809079] EtherCAT DEBUG: 00 20 23 00 1A 02 20 00 64 60 
[ 1986.839302] EtherCAT DEBUG 0-0: Download response:
[ 1986.839304] EtherCAT DEBUG: 00 30 60 00 1A 02 20 00 64 60 
[ 1986.839311] EtherCAT DEBUG 0-0: Mapping PDO entry 0x606C:00 (32 bit) at position 3.
[ 1986.839312] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:03.
[ 1986.839313] EtherCAT DEBUG: 20 00 6C 60 
[ 1986.839316] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.839317] EtherCAT DEBUG: 00 20 23 00 1A 03 20 00 6C 60 
[ 1986.868569] EtherCAT DEBUG 0-0: Download response:
[ 1986.868571] EtherCAT DEBUG: 00 30 60 00 1A 03 20 00 6C 60 
[ 1986.868578] EtherCAT DEBUG 0-0: Mapping PDO entry 0x6061:00 (8 bit) at position 4.
[ 1986.868580] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:04.
[ 1986.868581] EtherCAT DEBUG: 08 00 61 60 
[ 1986.868584] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.868585] EtherCAT DEBUG: 00 20 23 00 1A 04 08 00 61 60 
[ 1986.898787] EtherCAT DEBUG 0-0: Download response:
[ 1986.898789] EtherCAT DEBUG: 00 30 60 00 1A 04 08 00 61 60 
[ 1986.898795] EtherCAT DEBUG 0-0: Setting number of PDO entries to 4.
[ 1986.898796] EtherCAT DEBUG 0-0: Downloading SDO 0x1A00:00.
[ 1986.898798] EtherCAT DEBUG: 04 
[ 1986.898799] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.898800] EtherCAT DEBUG: 00 20 2F 00 1A 00 04 00 00 00 
[ 1986.929017] EtherCAT DEBUG 0-0: Download response:
[ 1986.929019] EtherCAT DEBUG: 00 30 60 00 1A 00 04 00 00 00 
[ 1986.929025] EtherCAT DEBUG 0-0: Successfully configured mapping for PDO 0x1A00.
[ 1986.929027] EtherCAT DEBUG 0-0: Setting PDO assignment of SM3:
[ 1986.929028] EtherCAT DEBUG 0-0: Currently assigned PDOs: (none). PDOs to assign: 0x1A00
[ 1986.929031] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to zero.
[ 1986.929033] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1986.929034] EtherCAT DEBUG: 00 
[ 1986.929035] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.929036] EtherCAT DEBUG: 00 20 2F 13 1C 00 00 00 00 00 
[ 1986.959254] EtherCAT DEBUG 0-0: Download response:
[ 1986.959255] EtherCAT DEBUG: 00 30 60 13 1C 00 00 00 00 00 
[ 1986.959262] EtherCAT DEBUG 0-0: Assigning PDO 0x1A00 at position 1.
[ 1986.959263] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:01.
[ 1986.959264] EtherCAT DEBUG: 00 1A 
[ 1986.959266] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.959267] EtherCAT DEBUG: 00 20 2B 13 1C 01 00 1A 00 00 
[ 1986.988515] EtherCAT DEBUG 0-0: Download response:
[ 1986.988517] EtherCAT DEBUG: 00 30 60 13 1C 01 00 1A 00 00 
[ 1986.988524] EtherCAT DEBUG 0-0: Setting number of assigned PDOs to 1.
[ 1986.988526] EtherCAT DEBUG 0-0: Downloading SDO 0x1C13:00.
[ 1986.988527] EtherCAT DEBUG: 01 
[ 1986.988529] EtherCAT DEBUG 0-0: Expedited download request:
[ 1986.988530] EtherCAT DEBUG: 00 20 2F 13 1C 00 01 00 00 00 
[ 1987.018805] EtherCAT DEBUG 0-0: Download response:
[ 1987.018807] EtherCAT DEBUG: 00 30 60 13 1C 00 01 00 00 00 
[ 1987.018816] EtherCAT DEBUG 0-0: Successfully configured PDO assignment of SM3.
[ 1987.018819] EtherCAT DEBUG 0-0: SM2: Addr 0x1800, Size  11, Ctrl 0x64, En 1
[ 1987.018822] EtherCAT DEBUG 0-0: SM3: Addr 0x1C00, Size  11, Ctrl 0x20, En 1
[ 1987.028892] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size  11, PhysAddr 0x1800, SM2, Dir out
[ 1987.028896] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000B, Size  11, PhysAddr 0x1C00, SM3, Dir in
[ 1987.043331] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 1987.059105] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 1992.073766] EtherCAT ERROR 0-0: Timeout while setting state OP.
[ 1992.083843] EtherCAT 0: Slave states on main device: SAFEOP.
[ 1997.188924] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ 1997.198993] EtherCAT DEBUG 0-0: SAFEOP -> SAFEOP + ERROR.