invalid requested state change

Hi, i am new using SOEM for my EtherCAT Master implementation. I hope i could get some help here. I have added the PO2SO config for my Slave1 AKD and Slave2 BK1120. Howerver for Slave 2 BK1120 i got the error "Attempt to write to a read only object". And when i run the simple_test for 1st time, i get an error for Slave2 "Slave 2 State=0x11 StatusCode=0x0011 : Invalid requested state change". But for 2nd time, all slaves can get to the OP state and i can also get the processdata cycle run. For 3rd time, again "Slave 2 State=0x11 StatusCode=0x0011 : Invalid requested state change". 4th time,"Operational state reached for all slaves." I have no clue how to debug this problem. Could someone please guide me to this theme? I have also attached the wireshark file.

Wireshark.zip

~/SOEM-master/build/test/linux/simple_test$ sudo ./simple_test enp7s0 SOEM (Simple Open EtherCAT Master) Simple test Starting simple test ec_init on enp7s0 succeeded. 3 slaves found and configured. AKD Slave 1 set, retval = 40 BK1120 Slave 2 set, retval = 0 Slaves mapped, state to SAFE_OP. segments : 1 : 217 0 0 0 Request operational state for all slaves Calculated workcounter 6 Not all slaves reached operational state. Slave 2 State=0x11 StatusCode=0x0011 : Invalid requested state change

Request init state for all slaves End simple test, close socket End program

~/SOEM-master/build/test/linux/simple_test$ sudo ./simple_test enp7s0 SOEM (Simple Open EtherCAT Master) Simple test Starting simple test ec_init on enp7s0 succeeded. 3 slaves found and configured. AKD Slave 1 set, retval = 40 Time:1710434469.516 SDO slave:2 index:1a05.03 error:06010002 Attempt to write to a read only object Time:1710434469.517 SDO slave:2 index:1a05.04 error:06010002 Attempt to write to a read only object Time:1710434469.518 SDO slave:2 index:1a05.05 error:06010002 Attempt to write to a read only object Time:1710434469.520 SDO slave:2 index:1a05.06 error:06010002 Attempt to write to a read only object Time:1710434469.521 SDO slave:2 index:1a05.00 error:06010002 Attempt to write to a read only object Time:1710434469.522 SDO slave:2 index:1c13.01 error:06010002 Attempt to write to a read only object Time:1710434469.523 SDO slave:2 index:1c13.02 error:06010002 Attempt to write to a read only object Time:1710434469.525 SDO slave:2 index:1c13.03 error:06010002 Attempt to write to a read only object Time:1710434469.526 SDO slave:2 index:1c13.04 error:06010002 Attempt to write to a read only object Time:1710434469.527 SDO slave:2 index:1c13.05 error:06010002 Attempt to write to a read only object Time:1710434469.529 SDO slave:2 index:1c13.00 error:06010002 Attempt to write to a read only object Time:1710434469.530 SDO slave:2 index:1c12.00 error:06010002 Attempt to write to a read only object Time:1710434469.531 SDO slave:2 index:1601.00 error:06010002 Attempt to write to a read only object Time:1710434469.532 SDO slave:2 index:1602.00 error:06010002 Attempt to write to a read only object Time:1710434469.534 SDO slave:2 index:1603.00 error:06010002 Attempt to write to a read only object Time:1710434469.535 SDO slave:2 index:1604.00 error:06010002 Attempt to write to a read only object Time:1710434469.536 SDO slave:2 index:1605.00 error:06010002 Attempt to write to a read only object Time:1710434469.538 SDO slave:2 index:16ff.00 error:06010002 Attempt to write to a read only object Time:1710434469.539 SDO slave:2 index:1701.00 error:06010002 Attempt to write to a read only object Time:1710434469.540 SDO slave:2 index:1601.01 error:06010002 Attempt to write to a read only object Time:1710434469.541 SDO slave:2 index:1601.02 error:06010002 Attempt to write to a read only object Time:1710434469.543 SDO slave:2 index:1601.03 error:06010002 Attempt to write to a read only object Time:1710434469.544 SDO slave:2 index:1601.04 error:06010002 Attempt to write to a read only object Time:1710434469.545 SDO slave:2 index:1601.05 error:06010002 Attempt to write to a read only object Time:1710434469.546 SDO slave:2 index:1601.06 error:06010002 Attempt to write to a read only object Time:1710434469.548 SDO slave:2 index:1601.07 error:06010002 Attempt to write to a read only object Time:1710434469.549 SDO slave:2 index:1601.08 error:06010002 Attempt to write to a read only object Time:1710434469.550 SDO slave:2 index:1601.00 error:06010002 Attempt to write to a read only object Time:1710434469.552 SDO slave:2 index:1602.01 error:06010002 Attempt to write to a read only object Time:1710434469.553 SDO slave:2 index:1602.02 error:06010002 Attempt to write to a read only object Time:1710434469.554 SDO slave:2 index:1602.00 error:06010002 Attempt to write to a read only object Time:1710434469.555 SDO slave:2 index:1603.01 error:06010002 Attempt to write to a read only object Time:1710434469.557 SDO slave:2 index:1603.02 error:06010002 Attempt to write to a read only object Time:1710434469.558 SDO slave:2 index:1603.03 error:06010002 Attempt to write to a read only object Time:1710434469.559 SDO slave:2 index:1603.04 error:06010002 Attempt to write to a read only object Time:1710434469.561 SDO slave:2 index:1603.05 error:06010002 Attempt to write to a read only object Time:1710434469.562 SDO slave:2 index:1603.06 error:06010002 Attempt to write to a read only object Time:1710434469.563 SDO slave:2 index:1603.00 error:06010002 Attempt to write to a read only object Time:1710434469.564 SDO slave:2 index:1604.01 error:06010002 Attempt to write to a read only object Time:1710434469.566 SDO slave:2 index:1604.02 error:06010002 Attempt to write to a read only object Time:1710434469.567 SDO slave:2 index:1604.03 error:06010002 Attempt to write to a read only object Time:1710434469.569 SDO slave:2 index:1604.04 error:06010002 Attempt to write to a read only object Time:1710434469.570 SDO slave:2 index:1604.05 error:06010002 Attempt to write to a read only object Time:1710434469.571 SDO slave:2 index:1604.06 error:06010002 Attempt to write to a read only object Time:1710434469.573 SDO slave:2 index:1604.00 error:06010002 Attempt to write to a read only object Time:1710434469.574 SDO slave:2 index:1605.01 error:06010002 Attempt to write to a read only object Time:1710434469.575 SDO slave:2 index:1605.02 error:06010002 Attempt to write to a read only object Time:1710434469.576 SDO slave:2 index:1605.03 error:06010002 Attempt to write to a read only object Time:1710434469.578 SDO slave:2 index:1605.04 error:06010002 Attempt to write to a read only object Time:1710434469.579 SDO slave:2 index:1605.05 error:06010002 Attempt to write to a read only object Time:1710434469.580 SDO slave:2 index:1605.06 error:06010002 Attempt to write to a read only object Time:1710434469.582 SDO slave:2 index:1605.00 error:06010002 Attempt to write to a read only object Time:1710434469.583 SDO slave:2 index:16ff.01 error:06010002 Attempt to write to a read only object Time:1710434469.584 SDO slave:2 index:16ff.00 error:06010002 Attempt to write to a read only object Time:1710434469.585 SDO slave:2 index:1701.01 error:06010002 Attempt to write to a read only object Time:1710434469.587 SDO slave:2 index:1701.00 error:06010002 Attempt to write to a read only object Time:1710434469.588 SDO slave:2 index:1c12.01 error:06010002 Attempt to write to a read only object Time:1710434469.589 SDO slave:2 index:1c12.02 error:06010002 Attempt to write to a read only object Time:1710434469.591 SDO slave:2 index:1c12.03 error:06010002 Attempt to write to a read only object Time:1710434469.592 SDO slave:2 index:1c12.04 error:06010002 Attempt to write to a read only object Time:1710434469.593 SDO slave:2 index:1c12.04 error:06010002 Attempt to write to a read only object Time:1710434469.594 SDO slave:2 index:1c12.04 error:06010002 Attempt to write to a read only object Time:1710434469.596 SDO slave:2 index:1c12.05 error:06010002 Attempt to write to a read only object Time:1710434469.597 SDO slave:2 index:1c12.00 error:06010002 Attempt to write to a read only object BK1120 Slave 2 set, retval = 0 Slaves mapped, state to SAFE_OP. segments : 1 : 273 0 0 0 Request operational state for all slaves Calculated workcounter 9 Operational state reached for all slaves. Processdata cycle 1, WKC 9 , O: 00 00 00 00 00 00 00 00 I: 88 03 00 00 00 00

OpenEtherCATsociety / SOEM

invalid requested state change #793