<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=us-ascii">
<meta name="Generator" content="Microsoft Word 15 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri",sans-serif;
mso-fareast-language:EN-US;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:#0563C1;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:#954F72;
text-decoration:underline;}
p.MsoPlainText, li.MsoPlainText, div.MsoPlainText
{mso-style-priority:99;
mso-style-link:"Nur Text Zchn";
margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri",sans-serif;}
span.E-MailFormatvorlage17
{mso-style-type:personal-compose;
font-family:"Arial",sans-serif;
color:windowtext;
font-weight:normal;
font-style:normal;}
span.NurTextZchn
{mso-style-name:"Nur Text Zchn";
mso-style-priority:99;
mso-style-link:"Nur Text";
font-family:"Calibri",sans-serif;
mso-fareast-language:DE;}
.MsoChpDefault
{mso-style-type:export-only;
font-family:"Calibri",sans-serif;
mso-fareast-language:EN-US;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:70.85pt 70.85pt 2.0cm 70.85pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="DE" link="#0563C1" vlink="#954F72">
<div class="WordSection1">
<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">Thanks for your advice,<o:p></o:p></p>
<p class="MsoPlainText">Matthias<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
</body>
</html>