Ethercat PDO Comms Fail on Power-up with Yaskawa Sigma 7

Ethercat PDO Comms Fail on Power-up with Yaskawa Sigma 7

MC6N, 2 machines behave the same.
They came up with Unit error, System error and axis status errors.
Yaskawa Sigma 7 shjows A12 error.

Set AUTO_ETHERCAT = 0 and start from the MAIN program after a time delay with ETHERCAT(0, 0)
e.g.
WA(20000) ' 20 seconds
ETHERCAT(0, 0)

There were CO_WRITE_AXIS in the startup that were autocreated from Intelligent drives. Writing to 6060, 6040, 6502 etc. Those are completely unnessary and should be removed.

Note that for smooth running, the Sigma 7 needs a Sync0 Offset. Use NODE_SYNC_OFFSET(slot, node) = 150000 for 150000 nanoseconds offset.

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