Ethercat GHA Servo Drive

Hi,I am trying to setup a GHA servo drivers but i dont know how , the drivers and motors work in twincat but when i go to linuxcnc i cant pass the preop mode , the ethercat loop is ok , they are declared in the xml file with generic setup but in the HAL configuration everything is offline and i dont know why , anyone have a similar setup ??? or can shine some light on me pls.Any help is greatly appreciated. I'm really new to this all!

hi,

what tells dmesg about the ethercat errors?

Thanks for the reply , i did some changes in the time being , i figured out that i didn't have the cia402.so file , so i followed this tutorial from rodw and loaded his files and adapted to my setup , in the end i have the same problem but now i believe that is way less messier .
Now about dmesg files , the error is the follow :
[ 565.702669] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 565.703667] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".

cia, etc. is not important, your errors are in front of linuxcnc at the ethercat config part...

there must be more precise errors in the dmesg, try to set the ethercat debug level to 1 with "ethercat debug 1".
there should be messages which tells, what is wrong.

are the configured pdos in ethercat-conf.xml the same as in the working twincat project? (twincat tab : pdo configuration) ?

Update on my situation , the problem was the VID and PID values , i did run the commands that you mentioned and what stood out was :

[ 111.768677] EtherCAT DEBUG 0: ecrt_master_slave_config(master = 0x0000000046fd6cd5, alias = 0, position = 0, vendor_id = 0x00000a88, product_code = 0x0a880004)
[ 111.768678] EtherCAT DEBUG 0: Creating slave configuration for 0:0, 0x00000A88/0x0A880004.
[ 111.768679] EtherCAT DEBUG 0 0:0: Slave 0 has no matching vendor ID (0x000008C4) for configuration (0x00000A88).

after i used the ethercat cstruct command to see this :

/* Master 0, Slave 0, "Riding Servo Drives"
* Vendor ID: 0x000008c4
* Product code: 0x10000001
* Revision number: 0x00000001
*/

and changed from :

<slave idx="2" type="generic" vid="00000a88" pid="0a880004" configPdos="true" name="2">

to:

<slave idx="0" type="generic" vid="000008c4" pid="10000001" configPdos="true" name="0">

Now i still have erros such was :

[ 699.106932] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 699.108931] EtherCAT ERROR 0-0: AL status message 0x0025: "Invalid Output Mapping".

and

[ 699.130924] EtherCAT ERROR 0-1: SDO download 0x2000:00 (2 bytes) aborted.
[ 699.130926] EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 699.130927] EtherCAT ERROR 0-1: SDO configuration failed.

But i'm confident that whit the tools and knowledge you gave me i can pin point the cause of those , i truly big thanks for the help and i will report later my evolution

Update on the situation , i'm now trying to use the servo driver to do the homing , it kind works , but when the homing ends , the motor moves around 1/4 to 1/2 rotation , i have tried different kind's of homing strategies , so far the ones working are the 33/34 in the manual , they have more strategies , but they require a micro switch , and i have it setup , but i dont know how to send it to the driver.

In the file the joint2 is the one with the homing by the servo driver for testing , the joint0 and 1 are with switch and working fine .

GHA.pdf

GHA_Ethercat.pdf

So , i have no idea if the movement after the homing ending is because of the homing strategy or other stuff , anyone had the same kind of problems ?
 

So , now with more experiments and in the situation is , if drivers needs to move 5mm to find the reference , when the homing is done the driver will move to -5 after the homing ended , i dont know if that helps .

Hi

I think I have the same problem as you. Have you solved this problem now?
This is the description of the problem I encountered. Can you see if it is helpful

forum.linuxcnc.org/ethercat/46494-the-pi...modified-to-7fffffff

Can you share the .ini/.hal/.xml files ?
And in this post i had several problems , can you be more specific about which problem do you have ?