[etherlab-users] Trouble with SDB-40-100

[Frank, Matthias]

Hi all,



I'm trying to use a SDB-40-100 servo drive with CoE.

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.



By tracing the EtherCAT communication, writing to CiA registers (e.g. 0x1c12, 0x1c13, 0x1a01, 0x6060 ) is repeated.

After changing the slave's state manually to SAFEOP a lot of errors occur in the kernel log.



What is going wrong? The device will work with other masters like Twincat.



System configuration

Linux 3.4.69-rt85

EtherCAT 1.5.2 with generic Ethernet (tg3)



Thanks for your advice,

Matthias

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