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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 write to those objects. Not even with ecrt_slave_config_sdoXX. Read the documentation.<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'> Frank, Matthias [mailto:Matthias.Frank@tq-group.com] <br><b>Sent:</b> Wednesday, 13 December 2017 20:26<br><b>To:</b> Gavin Lambert <gavin.lambert@compacsort.com>; etherlab-users@etherlab.org<br><b>Subject:</b> AW: Trouble with SDB-40-100<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal><span lang=DE style='font-size:10.0pt;font-family:"Arial",sans-serif'><o:p> </o:p></span></p><p class=MsoNormal><span lang=DE>Hi Gavin,<o:p></o:p></span></p><p class=MsoNormal><span lang=DE><o:p> </o:p></span></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><div><div style='border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=DE style='mso-fareast-language:DE'>Von:</span></b><span lang=DE style='mso-fareast-language:DE'> Gavin Lambert [<a href="mailto:gavinl@compacsort.com">mailto:gavinl@compacsort.com</a>] <br><b>Gesendet:</b> Mittwoch, 13. Dezember 2017 08:09<br><b>An:</b> Frank, Matthias <<a href="mailto:Matthias.Frank@tq-group.com">Matthias.Frank@tq-group.com</a>>; <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br><b>Betreff:</b> RE: Trouble with SDB-40-100<o:p></o:p></span></p></div></div><p class=MsoNormal><span lang=DE><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'>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 [<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></div></div><p class=MsoNormal><o:p> </o:p></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 lang=DE style='mso-fareast-language:DE'>Thanks for your advice,<o:p></o:p></span></p><p class=MsoPlainText><span lang=DE style='mso-fareast-language:DE'>Matthias<o:p></o:p></span></p><p class=MsoNormal><span lang=DE><o:p> </o:p></span></p></div></div></div></body></html>