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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal">Hi Gavin,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">thanks for your answer.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I’am using ecrt_slave_config_sdoXX to write to 0x1c1x. I did not write it directly. But when a trace the ethercat communication with wireshark during program start, writing to </span><span lang="EN-US" style="mso-fareast-language:DE">0x1c12,
0x1c13, 0x1a01,.. occurs like in a loop, see ethercat.7z (there is a wireshark dump file inside)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="mso-fareast-language:DE">matthias</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span style="mso-fareast-language:DE">Von:</span></b><span style="mso-fareast-language:DE"> Gavin Lambert [mailto:gavinl@compacsort.com]
<br>
<b>Gesendet:</b> Mittwoch, 13. Dezember 2017 08:09<br>
<b>An:</b> Frank, Matthias <Matthias.Frank@tq-group.com>; etherlab-users@etherlab.org<br>
<b>Betreff:</b> RE: Trouble with SDB-40-100<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-NZ" 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 lang="EN-NZ" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:EN-NZ"> </span><span lang="EN-NZ"><o:p></o:p></span></p>
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<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 [<a href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>]
<b>On Behalf Of </b>Frank, Matthias<br>
<b>Sent:</b> Wednesday, 13 December 2017 19:32<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] Trouble with SDB-40-100<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-NZ"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">Hi all,<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">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" style="mso-fareast-language:DE">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" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">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" style="mso-fareast-language:DE">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" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">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" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">System configuration<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">Linux 3.4.69-rt85<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE">EtherCAT 1.5.2 with generic Ethernet (tg3)<o:p></o:p></span></p>
<p class="MsoPlainText"><span lang="EN-US" style="mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoPlainText"><span style="mso-fareast-language:DE">Thanks for your advice,<o:p></o:p></span></p>
<p class="MsoPlainText"><span style="mso-fareast-language:DE">Matthias<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
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