Ethercat AX5206 stuck in SAFEOP
20 Jan 2020 21:50 - 20 Jan 2020 21:50 #155277
by chimeno
Replied by chimeno on topic Ethercat AX5206 stuck in SAFEOP
Hi Stoneland,
For the AX5801 Safety Card, you only need to configure the safey parameter, look for your .xml file, look for this configuration.then you just have to power pins 1-3 at 0v and 2-4 at 24v
regards
Chimeno
For the AX5801 Safety Card, you only need to configure the safey parameter, look for your .xml file, look for this configuration.
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Configured safety option]]></Comment>
<Timeout>0</Timeout>
<OpCode>3</OpCode>
<DriveNo>0</DriveNo>
<IDN>34768</IDN>
<Elements>64</Elements>
<Attribute>0</Attribute>
<Data>0100</Data>
</InitCmd>regards
Chimeno
Last edit: 20 Jan 2020 21:50 by chimeno.
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06 Feb 2020 19:14 #156646
by Stoneland
Replied by Stoneland on topic Ethercat AX5206 stuck in SAFEOP
Hello,
Safety card is ok, and AX5203 both channels with motors woks with twincat drive config.
When I start linuxcnc, ethercat slaves look like this:
0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 OP + EL1008 8K. Dig. Eingang 24V, 3ms
2 0:2 OP + EL2004 4K. Dig. Ausgang 24V, 0.5A
3 0:3 PREOP + AX5203-0000 EtherCAT Drive (SoE, 2 Ch.)
AX5203_drive_config.xlm is exported from twincat.
I try to get servo drive to transit op mode with drive-config_AX5203.xml
File witch is basically same than drive-config before I just replaced Drive parameters with My
startup parameter (from that exported twincat file).
Here is also .hal file.. I don't know how to configure/use AX5203 hal pins...
Drive stays in PREOP and there is no errors, I haven't been able to find reason why drive is not
transit to op mode.
Br
Stoneland
Safety card is ok, and AX5203 both channels with motors woks with twincat drive config.
When I start linuxcnc, ethercat slaves look like this:
0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 OP + EL1008 8K. Dig. Eingang 24V, 3ms
2 0:2 OP + EL2004 4K. Dig. Ausgang 24V, 0.5A
3 0:3 PREOP + AX5203-0000 EtherCAT Drive (SoE, 2 Ch.)
AX5203_drive_config.xlm is exported from twincat.
I try to get servo drive to transit op mode with drive-config_AX5203.xml
File witch is basically same than drive-config before I just replaced Drive parameters with My
startup parameter (from that exported twincat file).
Here is also .hal file.. I don't know how to configure/use AX5203 hal pins...
Drive stays in PREOP and there is no errors, I haven't been able to find reason why drive is not
transit to op mode.
Br
Stoneland
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06 Feb 2020 19:22 #156647
by cman1024
Replied by cman1024 on topic Ethercat AX5206 stuck in SAFEOP
The issue that I ran into was that ethercat default timeout was too short when waiting for the drive to go to operational mode. You can tell if you look in syslog and see ethercat complaining of a timeout. My solution for that was to recompile the ethercat driver with a larger timeout value.
Another possibility is that it looks like you don't have any actual motor settings yet. It may not go into operational mode until you set up motor / encoder parameters etc... but I'm not sure about that.
Another possibility is that it looks like you don't have any actual motor settings yet. It may not go into operational mode until you set up motor / encoder parameters etc... but I'm not sure about that.
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09 Feb 2020 18:05 - 09 Feb 2020 18:14 #156899
by chimeno
Replied by chimeno on topic Ethercat AX5206 stuck in SAFEOP
Hi @Stoneland,
I think you have the DC-MODE configured incorrectly, can you test this configuration?
I also attached the configuration file of only the AX5203 can you test it without a motor connected if it enters OP mode?
Hola @cman1024
The AX5000 unit can enter OP mode without having the motor connected and the engine configuration,
I think you have the DC-MODE configured incorrectly, can you test this configuration?
<dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
</slave>I also attached the configuration file of only the AX5203 can you test it without a motor connected if it enters OP mode?
Hola @cman1024
Another possibility is that it looks like you don't have any actual motor settings yet. It may not go into operational mode until you set up motor / encoder parameters etc... but I'm not sure about that.
The AX5000 unit can enter OP mode without having the motor connected and the engine configuration,
Last edit: 09 Feb 2020 18:14 by chimeno.
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17 Feb 2020 06:24 - 17 Feb 2020 08:22 #157562
by Stoneland
Replied by Stoneland on topic Ethercat AX5206 stuck in SAFEOP
Hello @chimeno,
I tested DC-MODE configuration and AX5203 configuration.
DC-MODE works Ok.
AX5203 configuration went to SAFEOP but not OP.
I increased +#define EC_AL_STATE_CHANGE_TIMEOUT 15 to
+#define EC_AL_STATE_CHANGE_TIMEOUT 25
and recompiled the ethercat driver.
After recompile, AX5203 transit to OP mode without motors.
I made AX5203 config with motors and it also works Ok now.
I tested DC-MODE configuration and AX5203 configuration.
DC-MODE works Ok.
AX5203 configuration went to SAFEOP but not OP.
I increased +#define EC_AL_STATE_CHANGE_TIMEOUT 15 to
+#define EC_AL_STATE_CHANGE_TIMEOUT 25
and recompiled the ethercat driver.
After recompile, AX5203 transit to OP mode without motors.
I made AX5203 config with motors and it also works Ok now.
Last edit: 17 Feb 2020 08:22 by Stoneland.
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18 Feb 2020 20:15 #157746
by chimeno
Replied by chimeno on topic Ethercat AX5206 stuck in SAFEOP
Hi @Stoneland,
I'm glad it works!
regards
Chimeno
I'm glad it works!
regards
Chimeno
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22 Feb 2020 15:41 #158213
by Stoneland
Replied by Stoneland on topic Ethercat AX5206 stuck in SAFEOP
Hello,
Now I have .hal problem, linuxcnc gives error:
./machine.hal:53: Signal 'x-pos-fb' of type 'float' cannot add pin 'lcec.0.3.ch0.srv-pos-fb' of type 's32'
Error comes from this line in hal:
net x-pos-fb lcec.0.3.ch0.srv-pos-fb => axis.0.motor-pos-fb
What is wrong?
Br
Stoneland
Now I have .hal problem, linuxcnc gives error:
./machine.hal:53: Signal 'x-pos-fb' of type 'float' cannot add pin 'lcec.0.3.ch0.srv-pos-fb' of type 's32'
Error comes from this line in hal:
net x-pos-fb lcec.0.3.ch0.srv-pos-fb => axis.0.motor-pos-fb
What is wrong?
Br
Stoneland
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23 Feb 2020 20:06 - 23 Feb 2020 20:06 #158324
by chimeno
Replied by chimeno on topic Ethercat AX5206 stuck in SAFEOP
hello @Stoneland,
try if this works for you.greeting
Chimeno
try if this works for you.
net x-pos-fb lcec.0.3.ch0.enc-pos => axis.0.motor-pos-fbChimeno
Last edit: 23 Feb 2020 20:06 by chimeno.
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07 Apr 2021 07:48 #205236
by Stormholt
Replied by Stormholt on topic Ethercat AX5206 stuck in SAFEOP
@cman1024
How did you manage to change the timeout value? I have found the function "ecrt_sdo_request_timeout" in "ecrt.h" however cannot find where it is called.
Thanks in advance
How did you manage to change the timeout value? I have found the function "ecrt_sdo_request_timeout" in "ecrt.h" however cannot find where it is called.
Thanks in advance
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07 Apr 2021 09:35 #205239
by db1981
Replied by db1981 on topic Ethercat AX5206 stuck in SAFEOP
Hello,
it is in /master/fsm_change.c
github.com/sittner/ec-debianize/blob/mas..._change_timeout.diff
it is in /master/fsm_change.c
github.com/sittner/ec-debianize/blob/mas..._change_timeout.diff
The following user(s) said Thank You: Stormholt
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