Hi Jan. I don't think requesting OP mode is a good idea. Drive configuration (e.g. setting the control word) is often done in the PRE-OP state, which, if the master module is active, is automatically requested. Additionally, even if you do enter OP mode, you have to continually send frames in order to "sustain" it. We only enter OP mode when we start giving position command to drives. Therefore, I suggest you try writing the controlword, with subindex, after loading the master module (/etc/init.d/ethercat start). No additional commands should be necessary. Best, Mohsen
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