industrialNETworX

Hi,
in an EtherCAT example based upon rcX V1 i created an object

 eRslt = Od2_CreateSubObject(hObjDict, OD2_ALLOC_OBJMGMT, 
          0, 0x6040, 0, OD2_DIR_ALL,  
          ECAT_OD_WRITE_ALL|ECAT_OD_READ_ALL,  
          ECAT_OD_DTYPE_UNSIGNED16, 1, 0, 0, 0, &uZero);

and requested a write notification for that object:

  eRslt = TLR_QUE_IDENTIFY("ECAT_SDO_QUE",
      ptRsc->tLoc.uTskInst,&ptRsc->tRem.tLnkDstSdo);
  if(eRslt != TLR_S_OK) return eRslt;


  eRslt = TLR_POOL_PACKET_GET(ptRsc->tLoc.hPool, &pvPck);

  if(eRslt != TLR_S_OK) return eRslt;

  ptPck = (EXAMPLE_APP_PACKET_T*)pvPck; 

  ptPck->tHead.ulCmd = ECAT_OD_NOTIFY_REGISTER_REQ;

  ptPck->tHead.ulExt = 0;

  ptPck->tHead.ulSrc = (TLR_UINT32)ptRsc->tLoc.hQue;

  ptPck->tHead.ulLen = sizeof(ECAT_OD_NOTIFY_REGISTER_REQ_DATA_T);

  ptPck->tOdNotifyReq.tData.usIndex = 0x6040;

  ptPck->tOdNotifyReq.tData.fReadNotify = TLR_FALSE;

  ptPck->tOdNotifyReq.tData.fWriteNotify = TLR_TRUE;

  eRslt = TLR_QUE_SENDPACKET_FIFO(ptRsc->tRem.tLnkDstSdo, 

                 ptPck, TLR_INFINITE);

The same code does not work with the EtherCAT example based on rcX V2. When i try to write the object via TwinCAT System Manager, the SDO request is rejected with "general fault". When the write notification request is removed, SDO access is successful.