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</o:shapelayout></xml><![endif]--></head><body lang=EN-NZ link="#0563C1" vlink="#954F72"><div class=WordSection1><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:EN-NZ'>Don’t try to write to 0x16xx, 0x1Axx, or 0x1C1x. This is what ecrt_slave_config_pdos and ecrt_domain_reg_pdos do for you internally (among other things). See the examples.<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:EN-NZ'> </span><o:p></o:p></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='mso-fareast-language:EN-NZ'>From:</span></b><span lang=EN-US style='mso-fareast-language:EN-NZ'> etherlab-users [mailto:etherlab-users-bounces@etherlab.org] <b>On Behalf Of </b>Frank, Matthias<br><b>Sent:</b> Wednesday, 13 December 2017 19:32<br><b>To:</b> etherlab-users@etherlab.org<br><b>Subject:</b> [etherlab-users] Trouble with SDB-40-100<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoPlainText><span lang=EN-US>Hi all,<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>I’m trying to use a SDB-40-100 servo drive with CoE. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>I can read and write Cia402 and EtherCAT registers manually using the ethercat cli program. But when I start the program position.c the master don’t switch the slave device to SAFEOP/OP. The slave is still in PREOP. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>By tracing the EtherCAT communication, writing to CiA registers (e.g. 0x1c12, 0x1c13, 0x1a01, 0x6060 ) is repeated. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>After changing the slave's state manually to SAFEOP a lot of errors occur in the kernel log. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>What is going wrong? The device will work with other masters like Twincat. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>System configuration<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>Linux 3.4.69-rt85<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>EtherCAT 1.5.2 with generic Ethernet (tg3)<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=DE>Thanks for your advice,<o:p></o:p></span></p><p class=MsoPlainText><span lang=DE>Matthias<o:p></o:p></span></p><p class=MsoNormal><span lang=DE><o:p> </o:p></span></p></div></div></body></html>