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My computer got some silly problem with the typing software that my Chinese IM does’t work again. So I’ll try to record the things happened in English.
If any error,DM me plz.

BUGs

BUG1

Undefined symbol Identifier “CLOCK_MONOTONIC”
Undefined symbol Identifier “TIMER_ABSTIME”

Solution

In your main cpp file, add this in the first line:
#define _GNU_SOURCE

Notes

Command Line Notes

1. 0x1c12(SM2)
   0x1c12 is SM2 Related Index , Specially used in EtherCAT over the CANOpen.
   Aimed to set the RPDO settings.

sudo ethercat upload -t int8 -p 3 -a 0 0x1c12 00

0x01 1

sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 01

0x1600 5632

sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 31
SDO transfer aborted with code 0x06090011: Subindex does not exist
sudo ethercat upload -t int16 -p 3 -a 0 0x1c12 30
0x1621 5665

Index	SubIndex	Size	Default Value
0x1c12	00	int8	0x01
0x1c12	01	int16	0x1600(5632)
0x1c12	02	int16	0x1601(5634)
…	…	…	…
0x1c12	29	int16	0x1620(5664)
0x1c12	30	int16	0x1621(5665)

Index	SubIndex	Size	Default Value
0x1600	00	int8	0x03
0x1600	01	int32	0x607a0020(1618608160)
0x1600	02	int32	0x60fe0120(1627259168)
0x1600	03	int32	0x60400010(1614807056)

2.0x1c13(SM3)

Index	SubIndex	Size	Default Value
0x1c13	00	int8	0x01
0x1c13	01	int16	0x1a00(6656)
0x1c13	02	int16	0x1a01(6657)
…	…	…	…
0x1c13	33	int16	0x1a24(6692)
0x1c13	34	int16	0x1a26(6694)
0x1c13	35	int16	0x0000(0)

Set 0x1c12 0 to 0
Then set it to the true number
Set 0x1600 0 to 0
Then set it to the true number 1
Set 0x1601 0 to 0
Then set it to the true number 1