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<p>Dear Etherlab Users,</p>
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<p>For a few years now I've been <span>enthusiastically</span> using Etherlab master along with Gavin Lambert's patchset (up to kernel 4.4) to drive a handful of Technosoft Motion iPOS4808 BX-CAT slaves in various robotics projects. My framework involves <span style="font-family:Calibri,Helvetica,sans-serif,EmojiFont,"Apple Color Emoji","Segoe UI Emoji",NotoColorEmoji,"Segoe UI Symbol","Android Emoji",EmojiSymbols; font-size:16px"> <ecrt.h>
wrapped in custom </span><span style="font-family:Calibri,Helvetica,sans-serif,EmojiFont,"Apple Color Emoji","Segoe UI Emoji",NotoColorEmoji,"Segoe UI Symbol","Android Emoji",EmojiSymbols; font-size:16px">C++ code. </span><span style="font-size: 12pt;">I thought
that by now I have a reliable plug-and-play software stack</span><span style="font-size: 12pt;">. </span><span style="font-size: 12pt;">Unfortunately, I was proven wrong when I tried to use my code with another drive from the same family (iPOS3602 VX-CAT). </span></p>
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<p><span style="font-size: 12pt;"></span><span style="font-size: 12pt;">I managed to narrow down the problem to an issue with <ecrt.h> PDO exchange. When I run the cyclic process, I keep on receiving empty datagrams from the 3602 slaves regardless of what I
do. Running the same </span><span style="font-size: 12pt;">code on the same machine </span><span style="font-size: 12pt;">with iPOS4808 slaves connected through the same cable works just fine. I can also read all CoE fields in 3602 slaves via SDO ("sudo ethercat
upload" in console) with no problem. The manufacturer (Technosoft) </span><span style="font-size: 12pt;">claims that th</span><span style="font-size: 12pt;">eir Ethercat functionality </span><span style="font-size: 12pt;">should be consistent across the entire
iPOS ...-CAT family, but something is clearly not right.</span></p>
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<p>Since I have never ran into similar issues, I miss the know-how that would allow me to dig deep enough to establish the source of the problem (even the simple fact whether it's a problem with the slaves or the master). Hence, I thought I may check here,
whether a similar situation has happened to anyone before. If you had any tips on how I could investigate the problem further, I would be much obliged.</p>
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<p>Thank you very much in advance for any help.</p>
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<p>Yours sincerely,</p>
<p>Jakub Sikorski</p>
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<p>Doctoral Candidate</p>
<p>Surgical Robotics Laboratory</p>
<p>University of Twente</p>
<p>7500 AE Enschede</p>
<p>The Netherlands</p>
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