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.

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

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,

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.

Hi @Stoneland,
I'm glad it works!
regards
Chimeno

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

hello @Stoneland,
try if this works for you. greeting
Chimeno