ethercrab$ sudo RUST_LOG=debug target/debug/examples/ec400 eno1 [2023-05-09T08:30:35Z INFO ec400] Starting EC400 demo... [2023-05-09T08:30:35Z INFO ec400] Ensure an EC400 servo drive is the first and only slave [2023-05-09T08:30:35Z INFO ec400] Run with RUST_LOG=ethercrab=debug or =trace for debug information [2023-05-09T08:30:35Z DEBUG ethercrab::slave] Slave 0x1000 name R88D-1SN02H-ECT [2023-05-09T08:30:35Z DEBUG ethercrab::slave] Slave 0x1001 name R88D-1SN04H-ECT [2023-05-09T08:30:35Z DEBUG ethercrab::slave] Slave 0x1002 name R88D-1SN04H-ECT [2023-05-09T08:30:35Z DEBUG ethercrab::client] Configuring topology/distributed clocks [2023-05-09T08:30:35Z DEBUG ethercrab::dc] Slave 0x1000 R88D-1SN02H-ECT has DC [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Times 2340651922 (2920) 2340654842 (0) 0 (1819436374) 1819436374 [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Propagation time Some(2920) ns, child delay 0 ns [2023-05-09T08:30:35Z DEBUG ethercrab::dc] Slave 0x1001 R88D-1SN04H-ECT has DC [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Times 2343465642 (1480) 2343467122 (0) 0 (1819436374) 1819436374 [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Propagation time Some(1480) ns, child delay 0 ns [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Parent time 0 ns, my time 1480 ns, delay 740 ns (Δ 740 ns) [2023-05-09T08:30:35Z DEBUG ethercrab::dc] Slave 0x1002 R88D-1SN04H-ECT has DC [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Times 2346900122 (0) 1717989224 (0) 0 (1819436374) 1819436374 [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Propagation time None ns, child delay 0 ns [2023-05-09T08:30:35Z DEBUG ethercrab::dc] --> Parent time 0 ns, my time 0 ns, delay 740 ns (Δ 0 ns) [2023-05-09T08:30:35Z DEBUG ethercrab::dc] Distributed clock config complete [2023-05-09T08:30:35Z DEBUG ethercrab::dc] Performing static drift compensation using slave 0x1000 R88D-1SN02H-ECT as reference. This can take some time... [2023-05-09T08:30:37Z DEBUG ethercrab::dc] Static drift compensation complete [2023-05-09T08:30:37Z DEBUG ethercrab::slave_group::configurator] Going to configure group with 3 slave(s), starting PDI offset 0x000000 [2023-05-09T08:30:37Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:37Z DEBUG ethercrab::slave::configuration] Slave 0x1000 SM0: start 0x1800, size 0x0100 (256), direction MasterWrite, mode Mailbox, enabled [2023-05-09T08:30:37Z DEBUG ethercrab::slave::configuration] Slave 0x1000 SM1: start 0x1c00, size 0x0100 (256), direction MasterRead, mode Mailbox, enabled [2023-05-09T08:30:37Z DEBUG ethercrab::slave] Set state Pre-Operational for slave address 0x1000 [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 has CoE: true [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1b01, num_entries: 9, sync_manager: 3, dc_sync: 0, name_string_idx: 3, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x603f, sub_index: 0, name_string_idx: 4, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6041, sub_index: 0, name_string_idx: 5, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6064, sub_index: 0, name_string_idx: 6, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x6077, sub_index: 0, name_string_idx: 7, data_type: I16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60f4, sub_index: 0, name_string_idx: 8, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b9, sub_index: 0, name_string_idx: 9, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60ba, sub_index: 0, name_string_idx: 10, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60bc, sub_index: 0, name_string_idx: 11, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60fd, sub_index: 0, name_string_idx: 12, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 SM3: start 0x1200, size 0x001c (28), direction MasterRead, mode Normal, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 FMMU1: logical start 0x00000000:0, size 28, logical end bit 7, physical start 0x1200:0, RO, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 PDI inputs: PdiSegment { bytes: 0..28, bit_len: 224 } (28 bytes), outputs: PdiSegment { bytes: 0..0, bit_len: 0 } (0 bytes) [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 SM0: start 0x1800, size 0x0100 (256), direction MasterWrite, mode Mailbox, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 SM1: start 0x1c00, size 0x0100 (256), direction MasterRead, mode Mailbox, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave] Set state Pre-Operational for slave address 0x1001 [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 has CoE: true [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1b01, num_entries: 9, sync_manager: 3, dc_sync: 0, name_string_idx: 3, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x603f, sub_index: 0, name_string_idx: 4, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6041, sub_index: 0, name_string_idx: 5, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6064, sub_index: 0, name_string_idx: 6, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x6077, sub_index: 0, name_string_idx: 7, data_type: I16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60f4, sub_index: 0, name_string_idx: 8, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b9, sub_index: 0, name_string_idx: 9, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60ba, sub_index: 0, name_string_idx: 10, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60bc, sub_index: 0, name_string_idx: 11, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60fd, sub_index: 0, name_string_idx: 12, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 SM3: start 0x1200, size 0x001c (28), direction MasterRead, mode Normal, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 FMMU1: logical start 0x0000001c:0, size 28, logical end bit 7, physical start 0x1200:0, RO, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 PDI inputs: PdiSegment { bytes: 28..56, bit_len: 224 } (28 bytes), outputs: PdiSegment { bytes: 0..0, bit_len: 0 } (0 bytes) [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 SM0: start 0x1800, size 0x0100 (256), direction MasterWrite, mode Mailbox, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 SM1: start 0x1c00, size 0x0100 (256), direction MasterRead, mode Mailbox, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave] Set state Pre-Operational for slave address 0x1002 [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 has CoE: true [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1b01, num_entries: 9, sync_manager: 3, dc_sync: 0, name_string_idx: 3, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x603f, sub_index: 0, name_string_idx: 4, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6041, sub_index: 0, name_string_idx: 5, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x6064, sub_index: 0, name_string_idx: 6, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x6077, sub_index: 0, name_string_idx: 7, data_type: I16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60f4, sub_index: 0, name_string_idx: 8, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b9, sub_index: 0, name_string_idx: 9, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60ba, sub_index: 0, name_string_idx: 10, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60bc, sub_index: 0, name_string_idx: 11, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60fd, sub_index: 0, name_string_idx: 12, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 SM3: start 0x1200, size 0x001c (28), direction MasterRead, mode Normal, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 FMMU1: logical start 0x00000038:0, size 28, logical end bit 7, physical start 0x1200:0, RO, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1002 PDI inputs: PdiSegment { bytes: 56..84, bit_len: 224 } (28 bytes), outputs: PdiSegment { bytes: 0..0, bit_len: 0 } (0 bytes) [2023-05-09T08:30:38Z DEBUG ethercrab::slave_group::configurator] Slave mailboxes configured and init hooks called [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 has CoE: true [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1701, num_entries: 4, sync_manager: 2, dc_sync: 0, name_string_idx: 13, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x6040, sub_index: 0, name_string_idx: 14, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x607a, sub_index: 0, name_string_idx: 15, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b8, sub_index: 0, name_string_idx: 16, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60fe, sub_index: 1, name_string_idx: 17, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 SM2: start 0x1100, size 0x000c (12), direction MasterWrite, mode Normal, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 FMMU0: logical start 0x00000054:0, size 12, logical end bit 7, physical start 0x1100:0, W, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1000 PDI inputs: PdiSegment { bytes: 0..28, bit_len: 224 } (28 bytes), outputs: PdiSegment { bytes: 84..96, bit_len: 96 } (12 bytes) [2023-05-09T08:30:38Z DEBUG ethercrab::slave] Set state Safe-Operational for slave address 0x1000 [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 has CoE: true [2023-05-09T08:30:38Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1701, num_entries: 4, sync_manager: 2, dc_sync: 0, name_string_idx: 13, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x6040, sub_index: 0, name_string_idx: 14, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x607a, sub_index: 0, name_string_idx: 15, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b8, sub_index: 0, name_string_idx: 16, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60fe, sub_index: 1, name_string_idx: 17, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 SM2: start 0x1100, size 0x000c (12), direction MasterWrite, mode Normal, enabled [2023-05-09T08:30:38Z DEBUG ethercrab::slave::configuration] Slave 0x1001 FMMU0: logical start 0x00000060:0, size 12, logical end bit 7, physical start 0x1100:0, W, enabled [2023-05-09T08:30:39Z DEBUG ethercrab::slave::configuration] Slave 0x1001 PDI inputs: PdiSegment { bytes: 28..56, bit_len: 224 } (28 bytes), outputs: PdiSegment { bytes: 96..108, bit_len: 96 } (12 bytes) [2023-05-09T08:30:39Z DEBUG ethercrab::slave] Set state Safe-Operational for slave address 0x1001 [2023-05-09T08:30:39Z DEBUG ethercrab::slave::eeprom] Discovered sync managers: [ SyncManager { start_addr: 0x1800, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxWrite, }, SyncManager { start_addr: 0x1c00, length: 0x0100, control: Control { operation_mode: Mailbox, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: MailboxRead, }, SyncManager { start_addr: 0x1100, length: 0x000c, control: Control { operation_mode: Normal, direction: MasterWrite, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: true, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataWrite, }, SyncManager { start_addr: 0x1200, length: 0x001c, control: Control { operation_mode: Normal, direction: MasterRead, ecat_event_enable: false, dls_user_event_enable: true, watchdog_enable: false, }, enable: SyncManagerEnable( ENABLE, ), usage_type: ProcessDataRead, }, ] [2023-05-09T08:30:39Z DEBUG ethercrab::slave::eeprom] Discovered FMMUs: [ Outputs, Inputs, SyncManagerStatus, Unused, ] [2023-05-09T08:30:39Z DEBUG ethercrab::slave::eeprom] FMMU mappings: [] [2023-05-09T08:30:39Z DEBUG ethercrab::slave::configuration] Slave 0x1002 has CoE: true [2023-05-09T08:30:39Z DEBUG ethercrab::slave::eeprom] Discovered PDOs: [ Pdo { index: 0x1701, num_entries: 4, sync_manager: 2, dc_sync: 0, name_string_idx: 13, flags: PdoFlags( PDO_DEFAULT | PDO_FIXED_CONTENT, ), entries: [ PdoEntry { index: 0x6040, sub_index: 0, name_string_idx: 14, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x607a, sub_index: 0, name_string_idx: 15, data_type: I32, data_length_bits: 32, flags: 0, }, PdoEntry { index: 0x60b8, sub_index: 0, name_string_idx: 16, data_type: U16, data_length_bits: 16, flags: 0, }, PdoEntry { index: 0x60fe, sub_index: 1, name_string_idx: 17, data_type: U32, data_length_bits: 32, flags: 0, }, ], }, ] [2023-05-09T08:30:39Z ERROR ethercrab::slave] Mailbox read ready error: Timeout thread 'main' panicked at 'Init: Timeout', examples/ec400.rs:109:10 note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace