Hello, I am trying to configure the EL6751 at the moment, so that I am able to send raw CAN messages over ethercat( http://infosys.beckhoff.com/content/1033/el6751/html/el6751_layer2_statemachine.htm?id=10857 ). I took the configuration, which is done in terms of sdo-startup-downloads, from one of the twincat dialogs. Which method for sdo configuration is the right to choose?
If I use ecrt_master_sdo_download_complete for the different SDO-Objects to upload, nothing happens. When using ecrt_slave_config_complete_sdo the device error-led starts blinking(indicating, that some configuration is in progress) but at the same time I get this: Jan 19 15:50:06 e-node8 kernel: [611927.053364] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). Jan 19 15:50:06 e-node8 kernel: [611927.059801] EtherCAT ERROR 0-1: Unknown AL status code 0xF101. Can anyone explain the error and has a solution for this? Maybe someone has experience in getting the el6751 configured and work-ready for this scenario and can share his insights :) ? Greetings, Matze Thias
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