[DM-34347] Fix the EtherCat Warning in Rotator - Jira

Details

Type: Story
Status: Done
Resolution: Done
Fix Version/s: None
Component/s: ts_main_telescope
Labels:
- rotator

Story Points:
2
Epic Link:
ComCam/TMA Integration
Sprint:
TSSW Sprint - Apr 11 - Apr 25
Team:
Telescope and Site
Urgent?:
No

Description

Fix the EtherCat warning in rotator:

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper:  Exiting sys_start

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 144 byte, expected working counter 6.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 144 byte, type LRW.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Master thread exited.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: online.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: State 0x02.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: online.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: exec_max=           26365

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: ethercat setup complete

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40.

Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Slave states on main device: OP.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x01.

Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.

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0x40.png
271 kB
21/Apr/22 8:22 PM
1B00.png
274 kB
21/Apr/22 8:00 PM
compare.png
315 kB
21/Apr/22 8:02 PM
comparePDOs.png
87 kB
22/Apr/22 5:01 PM

Issue Links

is triggering

DM-34529 Rewrite the PDOs Mapping in Rotator Controller

To Do

relates to

DM-34346 Fix the EtherCat Warning in Hexapod

Done

Activity

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4 older comments

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Te-Wei Tsai added a comment - 22/Apr/22 5:02 PM - edited

I just realized the difference between the fixed and non-fixed PDOs:

Because the Rotator Simulink Model is running the server frequency 4kHz, the fix of map PDO is required.

I create the DM-34529 for this overhaul of PDO mapping.

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Te-Wei Tsai added a comment - 22/Apr/22 5:02 PM - edited I just realized the difference between the fixed and non-fixed PDOs: Because the Rotator Simulink Model is running the server frequency 4kHz, the fix of map PDO is required. I create the DM-34529 for this overhaul of PDO mapping.

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Te-Wei Tsai added a comment - 22/Apr/22 7:36 PM

Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.

Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper:  Exiting sys_start

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02.

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: online.

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: State 0x02.

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: online.

Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: exec_max=           27201

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: ethercat setup complete

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16

Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40.

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x01.

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02.

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x04.

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x08.

Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: operational.

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Te-Wei Tsai added a comment - 22/Apr/22 7:36 PM Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread. Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Exiting sys_start Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: online. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: State 0x02. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: online. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: exec_max= 27201 Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: ethercat setup complete Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x01. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x04. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x08. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: operational.

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Te-Wei Tsai added a comment - 22/Apr/22 7:55 PM

My test to fix the 0x1702 failed. Move to DM-34529 to fix it.

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Te-Wei Tsai added a comment - 22/Apr/22 7:55 PM My test to fix the 0x1702 failed. Move to DM-34529 to fix it.

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Te-Wei Tsai added a comment - 22/Apr/22 8:38 PM

Please help to review the PR:
https://github.com/lsst-ts/ts_rotator_controller/pull/39

Thanks!

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Te-Wei Tsai added a comment - 22/Apr/22 8:38 PM Please help to review the PR: https://github.com/lsst-ts/ts_rotator_controller/pull/39 Thanks!

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Russell Owen added a comment - 22/Apr/22 9:29 PM

Reviewed on github

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Russell Owen added a comment - 22/Apr/22 9:29 PM Reviewed on github

Data Management

Fix the EtherCat Warning in Rotator

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