Config-Problem Ethercat

Hallo

ich habe ein oder besser mehrer Probleme mit meiner Config. Vielleicht kann mir ja helfen das ein oder andere Problem zu beseitigen.
meine Config :

EK1100

• EL1008
• EL4001
• EL9010

Lichuan TLC36V-E (X)
Lichuan TLC36V-E (Y)
Rtelligent ECR60 (Z)

LinuxCNC startet fehlerfrei auf aber:

• Problem 1 Z-Achse wird zwar Aktiv aber bewegt sich nicht. Man muss dazu sagen ECR60 hat leider kein Encoder-Feedback
• Problem 2 Kein DC / Watchdog, wenn dieses Aktiv geschaltet wird fallen die Lichuan in SafOP+ERR

wie bekomme ich Problem 1 in den Griff. Ich verstehe nicht wieso der Motor nicht drehen will.

Freundliche Grüsse     
 

1. Z is not connected to the joint. Check the hal file how it is done for X and Y and do the same way for Z.

2. To enable DC
refClockSyncCycles= -1000 (or any other negative or positive number you like to use, not 0)
Use the line  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
and remove the watchog line. Normally don't need to specify that, there is a default watchdog of 100 ms
If the drive absolutely wants a watchdog statement, use the line <watchdog divider="2498" intervals="1000"/>
 

sorry im a idiot. this was the wrong file.

 

Haha, ok..

Taking this as the cia402 reference example github.com/dbraun1981/hal-cia402/blob/main/example/cia402.hal
you normally connect opmode to the cia402 module. I would say connect lcec.0.5 to cia402.2 in the same way as in the example.

Das Problem hab ich gefunden nur keine idee wie ich es umgehen kann. Es wird ein Feedback vom Motor/Encoder erwartet aber der ECR60 hat keinen. Hat jemand einen Lösungsvorschlag um das zu umgehen?

I assume the ERC60 just reports back the commanded position as actual position, without knowing if it lost steps.
Have you verified with halshow that  joint.2.motor-pos-fb =cia402.2.pos-cmd and cia402.2.drv-actual-position = lcec.0.5.actual-position?

Yes thats ok
But i can not link joint.2.motor-pos-fb to cia402.2.pos-fb
Because it is already linked :net z-pos-cmd joint.2.motor-pos-cmd cia402.pos-cmd joint.2.motor-pos-fb

Axis and halshow means that move the axis but it dosnt move.

Can you check that the drive is in OP like below
 
And with halshow that you have the same values in the following parameters,
not the commanded and actual positions of course, but they should follow the same pattern.
 

For your Z drive.

here my screenshoots:

   

Thanks for your help

Also check opmode-display and connect it to cia402
like here github.com/dbraun1981/hal-cia402/blob/ma...le/ethercat-conf.xml and here github.com/dbraun1981/hal-cia402/blob/main/example/cia402.hal

If it still doesn't work after that, you should do a factory reset of the erc60.
It means writing to a SDO with "ethercat download -p 5 0x2nnn m 1"
where you need to find the right index n and subindex m from the erc60 manual.