Ethercat - newbie guidelines

Hello Hakan,

nice video

regarding the cia402 (I unfortunately don't have one): in order to get the Amps in OP-Mode and switch the drives on, do you have to handle the statemachine manually in the hal-files, or is this all handled by the driver you installed?

edit: of course are my amps also cia402 conform. I oriented for the implementation on the beckhoff-description and skipped this part in the documentation

3radfahrer wrote:

Hello Hakan,

nice video

regarding the cia402 (I unfortunately don't have one): in order to get the Amps in OP-Mode and switch the drives on, do you have to handle the statemachine manually in the hal-files, or is this all handled by the driver you installed?

Yes, turning on and changing to home states is all handled for you with cia402 drives by the component.
There are some requirements in your hal file regarding component load order.
 

Hi,

For info. The ethercat iso downloads following the link of Padstar:

637 github.
174 sourceforge.

Thanks for this info.
Then it seems to be quite similar to the implementation of my amps in combination with the generic driver

3radfahrer wrote:

Thanks for this info.
Then it seems to be quite similar to the implementation of my amps in combination with the generic driver

Can you share your config? I did quite a bit of rework on the cia402.comp component and can now get my drives to home and rehome  consistently but if left to travel too far, I get following errors. I am not sure why because we are setting the pos-fb = pos-cmd in the component while homing so there should not be anything to complain about.

strange,

check the following error from the joint with halscope while homing, it should be every time zero.
if not , add modes_of_operation and the home bit to check if something happens during homing.