New ethercat / probe basic control for minimonster

halscope and record statusword and controlword.

ok, so

machine off:
controlword = 4
statusword = 2672
opmode = 8

machine on:
15
6711
8

press home all and instant crash and fault

saw something about forcing opmode 8, however this changes nothing. still full speed into the end stops.

another suggestion is to just inhibit motion, but that seems not right either. Need to find out WHY it is moving.

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.

Sounds like you are set for internal homing. If you want to do Linuxcnc homing, use generic pin types which you can set in your XML and don't load a homemod. This still works well.

Nothing seems to change when i home other than the joint error from the crash (i've blocked the axis). So maybe its not the drive homing after all.
still makes zero sense.

immediate homing is covered here linuxcnc.org/docs/stable/html/config/ini...ml#_immediate_homing
But spending an hour wiring home switches will be well worth it!
I could not use a machine without home switches and yes I tried!

ihavenofish wrote:

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.
 

Use halscope to record, it catches every ms.
If I look at cia402 code the only reason I can see (but I might miss of course)
is that it does an auto fault-reset due to it receiving a fault code.
Halscope.
And thumb on e-stop.

Yup, that's what's not working as expected. It has zero effect on homing.

The section after that is what ill try that tomorrow. That hopefully at least will tell me if linuxcnc is causing the motion, or the drive.

Hakan wrote:

ihavenofish wrote:

so if i home and crash, is there something in the controlword and statusword i should see? it happens in a few ms.
 
Use halscope to record, it catches every ms.
If I look at cia402 code the only reason I can see (but I might miss of course)
is that it does an auto fault-reset due to it receiving a fault code.
Halscope.
And thumb on e-stop.

OK, ill try that tomorrow.

ok, first things, i had the values for controlword and statusword reversed. sigh. haha.

This is aggravating. I am seeing some "blip" on the statusword periodically, but i'm not able to capture it.

i did determine that when i power off and power on the servos, they read 0. so if i physically move the machine to the right spot the machine can safely home with motion so it wont crash...

so individually we will record a bunch of pins during homing.

statusword
controlword
opmode

ill be doing this after lunch. what other pins should i scope?

Start with controlword, statusword, opmode and opmode-display.