Thank you for the quick response Richard. Something else I forgot to mention before is that the Omron Drive gives an error message when I try to go to "OP" state, saying: Communication Setting Error.
> What does dmesg say? Dmesg output: EtherCAT: Master driver 1.5.2 1a969896d52e [ 182.204143] EtherCAT 0: Registering RTDM device EtherCAT. [ 182.204151] EtherCAT: 1 master waiting for devices. [ 182.488370] ec_e1000e: EtherCAT-capable Intel(R) PRO/1000 Network Driver - 2.3.2-k-EtherCAT [ 182.488374] ec_e1000e: Copyright(c) 1999 - 2013 Intel Corporation. [ 182.488412] ec_e1000e 0000:00:19.0: PCI->APIC IRQ transform: INT A -> IRQ 20 [ 182.488501] ec_e1000e 0000:00:19.0: Interrupt Throttling Rate (ints/sec) set to dynamic conservative mode [ 182.488527] ec_e1000e 0000:00:19.0: irq 45 for MSI/MSI-X [ 182.774612] EtherCAT: Accepting 5C:26:0A:19:39:69 as main device for master 0. [ 182.900107] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 182.900148] ec_e1000e 0000:00:19.0 (unregistered net_device): (PCI Express:2.5GT/s:Width x1) 5c:26:0a:19:39:69 [ 182.900151] ec_e1000e 0000:00:19.0 (unregistered net_device): Intel(R) PRO/1000 Network Connection [ 182.900201] ec_e1000e 0000:00:19.0 (unregistered net_device): MAC: 9, PHY: 10, PBA No: 3041FF-0FF [ 184.913888] ec_e1000e: ecm0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: None [ 184.913896] ec_e1000e 0000:00:19.0 (unregistered net_device): 10/100 speed: disabling TSO [ 184.913899] EtherCAT 0: Link state of ecm0 changed to UP. [ 184.916200] EtherCAT 0: 1 slave(s) responding on main device. [ 184.916203] EtherCAT 0: Slave states on main device: PREOP. [ 184.916274] EtherCAT 0: Scanning bus. [ 185.205685] EtherCAT 0: Bus scanning completed in 288 ms. [ 185.205688] EtherCAT 0: Using slave 0 as DC reference clock. [ 210.095697] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 210.095742] EtherCAT ERROR 0-0: AL status message 0x0028: "Synchronization not supported". [ 210.095889] EtherCAT 0-0: Acknowledged state PREOP. > try: > # ethercat debug 1 This command gives : Failed to obtain number of masters: Failed to open master device /dev/EtherCAT0: Permission denied > 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 > > > > > > _______________________________________________ > > etherlab-users mailing list > > etherlab-users@etherlab.org > > http://lists.etherlab.org/mailman/listinfo/etherlab-users > > _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users