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RZT1 CiA402 demo project an-r01an3071jj0110-rzt1-ethercat link error

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Hi,

I get the EtherCAT slave controller application code with the help of SSC tool following r01an2824ej0100.pdf

when I compile an-r01an3071jj0110-rzt1-ethercat M3 project with IAR for ARM V8.22.2

Here are link errors:

Error[Li006]: duplicate definitions for "CiA402_DummyMotionControl"; in "F:\MyWork\Firmware\an-r01an3071jj0110-rzt1-ethercat\workspace\iccarm\Cortex-M3\Device\Renesas\RIN_Engine\Source\Project_Dual\
EtherCAT_SSC_CiA402+hwos\iRAM\Obj\cia402appl.o", and "F:\MyWork\Firmware\an-r01an3071jj0110-rzt1-ethercat\workspace\iccarm\Cortex-M3\Device\Renesas\RIN_Engine\Source\Project_Dual\EtherCAT_SSC_CiA402+hwos\
iRAM\Obj\main.o"
Error[Li006]: duplicate definitions for "CiA402_LocalError"; in "F:\MyWork\Firmware\an-r01an3071jj0110-rzt1-ethercat\workspace\iccarm\Cortex-M3\Device\Renesas\RIN_Engine\Source\Project_Dual\EtherCAT_SSC_CiA402+hwos\iRAM\
Obj\cia402appl.o", and "F:\MyWork\Firmware\an-r01an3071jj0110-rzt1-ethercat\workspace\iccarm\Cortex-M3\Device\Renesas\RIN_Engine\Source\Project_Dual\EtherCAT_SSC_CiA402+hwos\iRAM\Obj\main.o"

If I comment the two functions in main.c, erros occurs again.
If I comment the two functions in cia402appl.c, erros go away.

Then I download the code of M3 project code and M4 project code into YDRIVE-IT-RZT1 board.
The TwinCAT project dose not work, here is the error:
Error 12 2020/9/1 11:29:12 228 ms | 'TwinCAT System' (10000): Sending ams command >> Init4\RTime: Start Interrupt: Ticker started >> AdsWarning: 4115 (0x1013, RTIME: system clock setup fails.
Hint: On Windows8 system and above execute win8settick.bat in TwinCAT\3.1\System as administrator and reboot.) << failed!

Is There any detail application note of Implementation Guide of CiA402 Drive Profile present?

I would like to make my CiA402 appliation work as soon as possible, can anyone give me some suggestions?


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