Ethercat, CIA402, Yaskawa Sigma-X

 
Hello Everyone, 
I have been working with LCNC for a couple of years now, but I am just now entering the forums. I am currently struggling to solve a CIA402 and Ethercat issue. I have set up Yaskawa Sigma-X servo packs using the CIA402.comp by  dbraun1981  and Ethercat Lcec. My problem is that on startup, the servo packs will transition through preop -> safeop -> op, but after sending the servo on control word one or more of my servos will drop to preOP or preOP E. I can fix this by sending the EtherCAT states OP command in the terminal and trying again. Sometimes I have to repeat this process 4 to 5 times before they all hold the OP state. I am thinking that it is related to distributed clocks or something along those lines. I was able to temporarily resolve the issue by setting the Sync Error counter limit to 0 (Disabled). I would like to use the Sync Error counter as intended, so if someone knows how to fix the desync issue on startup, that would help me out a lot.

Could you please provide the error logs?

This might be still related to the fact the Yaskawa does not support LRW

github.com/sittner/linuxcnc-ethercat/issues/121

forum.linuxcnc.org/ethercat/48110-etherc...-responding?start=20 (there seems to be a patch / experimental code further in the thread)

Not sure if this was ever resolved in any linuxcnc-ethercat version.

Some Yaskawa servo drivers support LRW. Check syslog for this message to know if it does

I'm using Sigma-X with EtherCAT.
I could rebuild IgH Master, thanks to Hakan.
Yaskawa Sigma-X is very strict for communication timing, etc.