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TwinCAT Input Port Error



Folks,

When I connected both the Input and Output of my single slave to my single master, I get the following error:

Init10\IO: Create TComObj PREOP >> AdsError: 1796 (0x704, 'ADS Error: reading/writing not permitted')


Server (Port) Timestamp       Message
(65535)        today's date    Device 3 (EtherCAT): IoOpen failed (Invalid Supplement Key)!

Why does that happen? Do I need more than one slave connected in order for me to have a closed loop (input and output port connected)? Or is the problem caused by something else?