Ethercat AX5206 stuck in SAFEOP

hello cman1024,
I'm glad things worked for you and I could help you.

Hi
i am new to linuxcnc and i want beckhoff ethercat
use ax5000.
please ask for an explanation step by step.
Thank you very much

Hi BICHILER,
It is very difficult to give you a step-by-step manual on, although I will give you a summary:
1 - Install ISO kernel version RT-PREEMPT "linuxcnc.org/testing-stretch-rtpreempt/"
2 - Install the IGH driver version in two ways
   - Simple EC-DEBIANIZE "github.com/sittner/ec-debianize"
   - Complicated "github.com/ribalda/ethercat"
   - Create your own configuration "etherlab.org/en/ethercat/"
3 - install linuxcnc-ethercat
  - Simple "github.com/sittner/linuxcnc-ethercat"
4 -WINDOWS PC installs TWINCAT3 "beckhoff.com/twincat3"
5-you need an INTEL card to work in real time on the WINDOWS PC with TWINCAT3.
5 -WIRESHARK Installation "wireshark.org/"
6- Configure your AX5000 with SERVOMOTOR has to work in TWINCAT3 without configuration errors
7-Activate the WIRESHARK recorder to capture data from the NETWORK port and see the order in which the SOE packet configuration is sent, the order of the BYTES is correct to pass to linuxcnc-ethercat.
8- pass the configuration in an .XML file
9-configure linuxcnc-ethercat with a generic or predefined controller, there are examples
10-to run !!
The manual is a bit simple, but search, test, modify, and when you don't know more, ask!
I hope I have helped you
Regards
Chimeno

Hi, cman1024

I have trouble getting a Beckhoff AX5203 with AX5801 safety card to work.

Ethercat driver is working ok and beckhoff io cards with EK1100 are working ok.
AX5203 works with twincat drive manager.

Can you (or anyone) share ethercat config, drive config and hal files?

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

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