The Enable NotLRW flag is no, i have tried the proposed solution but the problem is still there. Any other proposition ... I will become crazy, but i can modify the status of the drive with ethercat download -t uint8 0x6060 0x08 ethercat download -t uint16 0x6040 0x0006 ethercat download -t uint16 0x6040 0x000F after the drive is in position servoing and enable, i can send a reference position. But I CAN NOT DO THAT with my program !
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