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

[Frank, Matthias]

Hi Gavin,

thanks for your answer.
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  0x1c12, 0x1c13, 0x1a01,.. occurs like in a loop, see ethercat.7z (there is a wireshark  dump file inside)

matthias

Von: Gavin Lambert [mailto:gavinl at compacsort.com]
Gesendet: Mittwoch, 13. Dezember 2017 08:09
An: Frank, Matthias <Matthias.Frank at tq-group.com>; etherlab-users at etherlab.org
Betreff: RE: Trouble with SDB-40-100

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.

From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Frank, Matthias
Sent: Wednesday, 13 December 2017 19:32
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Trouble with SDB-40-100


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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