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Hello,<br>
<br>
I get stuck in changing state machine to SAFEOP or OP, and my
EtherCAT slave is OMRON G5 Servo Driver. I run EtherCAT Master via
RTL8111, and had already install Realtek driver. First, I download
0x0006 to 0x6040 and 0x08 to 0x6060, it follows CiA402 Drive Profile
in OMRON manual. However, when I type "ethercat state -p0 SAFEOP",
the slave display Err No. 90 (Communications Setting Error). <br>
<br>
Here is my error message:<br>
<br>
[ 9897.670992] EtherCAT 0: Master debug level set to 1.<br>
[ 9900.352065] EtherCAT DEBUG 0-0: Changing state from PREOP to
SAFEOP.<br>
[ 9900.352079] EtherCAT DEBUG 0-0: Configuring...<br>
[ 9900.352346] EtherCAT DEBUG 0-0: Now in INIT.<br>
[ 9900.352355] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>
[ 9900.352437] EtherCAT DEBUG 0-0: Clearing sync manager
configurations...<br>
[ 9900.352531] EtherCAT DEBUG 0-0: Clearing DC assignment...<br>
[ 9900.352623] EtherCAT DEBUG 0-0: Configuring mailbox sync
managers...<br>
[ 9900.352637] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 256, Ctrl
0x26, En 1<br>
[ 9900.352650] EtherCAT DEBUG 0-0: SM1: Addr 0x1C00, Size 256, Ctrl
0x22, En 1<br>
[ 9900.353168] EtherCAT DEBUG 0-0: Now in PREOP.<br>
[ 9900.353181] EtherCAT DEBUG 0-0: SM2: Addr 0x1100, Size 12, Ctrl
0x64, En 1<br>
[ 9900.353193] EtherCAT DEBUG 0-0: SM3: Addr 0x1200, Size 28, Ctrl
0x22, En 1<br>
[ 9900.353722] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
refused state change (PREOP + ERROR).<br>
[ 9900.353814] EtherCAT ERROR 0-0: AL status message 0x0028:
"Synchronization not supported".<br>
[ 9900.353997] EtherCAT 0-0: Acknowledged state PREOP.<br>
<br>
<br>
Currently, I can enter operational mode with TwinCAT via omron's
xml. I see one point in this xml file, that is <br>
<br>
<StateMachine><br>
<Timeout><br>
<PreopTimeout>3000</PreopTimeout><br>
<SafeopOpTimeout>10000</SafeopOpTimeout><br>
<BackToInitTimeout>5000</BackToInitTimeout><br>
<BackToSafeopTimeout>200</BackToSafeopTimeout><br>
</Timeout><br>
<u><i><b><big><Behavior StartToSafeopNoSync="true" /></big></b></i></u><br>
</StateMachine><br>
<br>
What is the "StartToSafeopNoSync" means? Where can I set it in
EtherCAT Master? Any help is appreciated.<br>
<br>
<br>
Regards<br>
Damien<br>
<br>
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