[etherlab-users] EtherLab with Omron Accurax PREOP-> OP fail

Richard Hacker ha at igh.de
Thu May 7 16:08:15 CEST 2015

What does dmesg say?

# ethercat debug 1
to see more messages

  - Richard

On 07.05.2015 15:59, Fredriek Vanneste wrote:
> Dear EtherLab users,
> Does anyone of you have experience with EtherLab and Omron Accurax G5
> drive-motor combination?
> (drive: R88D-KN20F-ECT, Motor: R88M-K2K030C-S2)
> I have some experience with an EtherCat bus coupler and some modules, but
> not with this kind of setup.
> The EtherCAT master 1.5.2 is running on Linux 14.10 and Xenomai 2.6.1.
> Using this EtherCAT-capable drive with Etherlab, I'm having trouble to go
> from "PREOP" state to "OP" state.
> The drive is directly connected to the pc with an Ethernet cable.
> I have connection with the drive because I can read (e.g. encoder position)
> and write using SDO messages from the command line.
> I have also tried to run the drive with CX-drive software on Windows and
> this is working fine.
> The "sudo ethercat states OP"-command results in the slave going from PREOP
> + state to PREOP E state, meaning there is an error.
> To run my program I need PDO communication, but I understand that it is not
> possible in "PREOP" state.
> Do I need extra software, hardware, or just a different approach?
> Thanks in advance for your help.
> Kind regards,
> Fred
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