CRIO, Compax3, EtherCAT, servo loops

Fairly simple application.

1. 6x Parker Compax 3 Drives
2. EtherCAT communications to NI CRIO
3. Read feedback from drives - velocity and current torque
4. Command drives - torque command into torque loop

Problems:

1. Putting the drive into torque loop mode.
   • I am using the OpMode10 xml from Parker
   • I am setting the Axis loop to the torque loop
   • however I get an error (-77115 for "Axis when setting 'Axis Loop Mode' on Az 1 at Property Node (arg 1) in cRIOmain.vi"
2. getting scan engine to switch to active mode and stay there
   • when I first power up the CRIO and run the attached code, the scan engine goes to initialization mode.  Even through the scan engine is initialization mode, the EtherCAT bus I/O updates.
   • After that first time on power up, the EtherCAT bus doesn't always work and sometimes the mode drops back to configuration.

Thanks for any pointers.  This has been a very long haul for a simple operation