Sync issue resulting in error 0x27 (Freerun not supported)

[hshah44]

I need assistance to solidify my understanding and latch sync0.

Here are the steps to orchestrate this flow:

1. ec_init

2. ec_config_init

• state: EC_STATE_INIT

3. ec_configdc

• state: EC_STATE_PRE_OP

4. ec_config_map

• state: EC_STATE_PRE_OP

5. transition to EC_STATE_SAFE_OP

• state: EC_STATE_SAFE_OP

6. thread1

• cycle PDO's infinitely (ec_send_processdata, ec_receive_processdata) with usleep(100)
• verified wc is incrementing to 2 as expected

7. thread2

• wait for 2s to transition to state: EC_STATE_OPERATIONAL

End result: ID: 1 (4097), Parent: 0, State: 0x14 (EC_STATE_NONE), Topology: 1, DC: 1, Delay: 0, StatusCode=0x27 (Freerun not supported)

---

Thread tasks (I kept it simple to understand the behavior)

---

void* cycle() {
    ec_send_processdata();
    printf("wc: %d\n", wc);
    
    while(1) {
        wc = ec_receive_processdata(EC_TIMEOUTRET);
        usleep(100);
        ec_send_processdata();
    }
    return NULL;
}

void* task() {
    printf("sleeping wc: %d\n", wc);
    sleep(2);
    printf("wokeup wc: %d\n", wc);
    transition(1, EC_STATE_OPERATIONAL);
    return NULL;
}

---

Zipped up wireshark pcap file (step 6 - 7 above)
capture.pcapng.zip

[bao1ong]

Have you solved it yet? I have the same confusion. I am using INOVANCE SV660N servo motor. Firstly, it seems that I cannot enter the OP state normally. Then, when I cannot enter the OP state, the servo reports a fault code EE09.3, which means there is no synchronization signal. The slave status 0x14 code is 0x27: freerun not supported