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AMIC110: EtherCAT can't reach 500us cycle time

Part Number: AMIC110

Hello Sirs,

I've developing project using AMIC110 and EtherCAT slave stack code with TI-RTOS,

I've use TwinCAT2 and Bechoff controller and try to configure the cycle time to 500us 

but it will last reach err-safeop and return error code 0x001a (synchronization error)(1ms and above is fine)

As I trace the slave stack code, the state machine watchdog has expired so it return error code 0x001a

Is there any way to investigate the reason time-out reached? and how to solve this issue?


Thanks a lot!