LinuxCNC and Beckhoff AX5000 servo drives

deedee wrote:

Hi,

i've got the AX5106 and A5203 up and running. db1981 helped al lot regarding the homing and pos_mode issues.
The project itself is still work in progress, but the main features are working. See attached files. These are the relevant snippets from *.hal: [..]

 

Hi deedee: Are the referenced ax5206.xml and ax5203.xml in the ethercat-config.xml the files attached or are they different ones?

Thank you very much endian for this converter, I used it and the output "ethercat-conf.xml" file seems correct.

Thanks, endian, for the converter. I tried to integrate my AX5125 into LinuxCNC. I converted the TwinCAT 3 export and tried to get it running in LinuxCNC. I can see the AX5125 as a slave and some of its pins. Unfortunately, I can’t get it from Pre-OP to OP mode. I’m definitely doing something wrong but I’m not sure where to look.

I hope someone can help. Which data do you need? I assume the .xml, .hal, and .ini files?

Is it okay if I post them here, or would it be better to start a separate thread? Thanks in advance.

Greetings
Tom

check this topic 

If it will not help you. let me know below

HEllo Endian,

thank you for the link i tried my best to fix it myself (and later with help of AI...) i hope i understood most of the problems.



I am trying to get a Beckhoff AX5125-0000-0216 running.

Current situation:
- LinuxCNC 2.9.8
- IgH EtherCAT master 1.6.8
- all other slaves on the real machine bus go OP
- only the AX5125 stays in PREOP / PREOP+ERROR

I also tested AX-only (only the AX connected to the LinuxCNC EtherCAT port, no other slaves) and it still does not go beyond PREOP. So it does not look like bus order / other slaves are the root cause.
It runs perfekt in TC3 also after  change from 2ms to 1ms i could jog it by hand.

What I already verified:
- TwinCAT project was switched to 1 ms
- exported again from TwinCAT
- converter run with c -i
- appTimePeriod = 1000000
- IDN 1 = e803
- IDN 2 = e803
- generated assignActivate 740 was changed to 730

Observed errors during the different attempts:
- AL status 0x0045: MBX_SOE
- AL status 0x001D: Invalid output configuration
- Writing IDN 0x80CC failed
- SoE configuration failed
- sometimes PDO entry 0x0024:00 is not mapped
- in AX-only test it still remains PREOP

Current result with LinuxCNC running:
- all non-AX slaves = OP
- AX5125 = PREOP E

I am attaching:
1. current ethercat-conf.xml
2. current initCmds/Antrieb-1-AX5-0-initCmds.xml
3. TwinCAT 1 ms export XML
4. ethercat slaves output
5. ethercat pdos -p 7 output
6. relevant dmesg output

Question:
Do you see an obvious issue in the AX SoE startup / telegram / DC setup, and what would be the correct minimal working config for AX5125-0000-0216 with lcec?





Thank you very very much for your time and help!

All the best
Tom

Are u using current version of translator?

Because I can clearly see subindexes of pdos are 0x00 instead of 0x01 which is clear issue to me l... 

Download latest translator version and try export again.. versions before were buggy 

Check it or edit it manually(fastest) and let me know

Thanks for your quick reply. It is very possible that I made a mistake somewhere.For some reason, I am unable to create and download the ZIP file using the button in the top right. Is this the correct link? I get an error message whenever I try to generate and download the ZIP. Is this the correct link: codeberg.org/endian/twincat3_to_lcec_eth...ator/src/branch/main Because of that, I used AI assistance to download the data via the terminal instead. There is a high chance that something went wrong during that process.I will redo everything from scratch this evening: download, export, and convert it again, just to make sure nothing is going wrong on my end.I do feel a bit bad about it. There is now such a great configurator that makes the whole process manageable even for beginners, and I still somehow managed to get it wrong. Apparently there is always a dumbest possible user, and in this case, that would be me. :'(

Download just the publish .exe file from here 

codeberg.org/endian/twincat3_to_lcec_eth.../branch/main/publish

Thats all you need ... Export working config from the TC3, open .exe file, type c -i, hit enter key, drag and drop file to open console, hit enter.... It starts and it will search through root folder of twincat to find real DC configs and it exports the .xml config of master to lcec shape with every startup SDOs which are very important... I did this translator just and only for this feature + some user friendly and free interface too...

Hi Endian,sorry, but I still cannot get it working. I spent many hours on it yesterday evening, and I am obviously still doing something wrong.I am not sure whether I am missing an important step, whether I made a mistake in the configuration, or whether I am still missing a required driver or component.As you suggested, I redid the whole process from scratch using the current translator from the publish folder: fresh TwinCAT export, start the, use, and then convert the export again. This time the conversion itself seems to have worked properly.I am attaching:

• the fresh

  ethercat-conf.xml

  generated by the current translator
• my adapted machine

  ethercat-conf.xml

  with the other real bus slaves added back in

Current status on the real machine:
LinuxCNC 2.9.8
IgH EtherCAT master 1.6.8
all non-AX slaves go OP
only the AX5125-0000-0216 stays inCurrent error:
AX5125 stays in PREOP + ERROR.
AL status message 0x0045: "MBX_SOE"currently shows:ethercat slaves
0  0:0   OP     +  EK1100 EtherCAT Coupler (2A E-Bus)
1  0:1   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
2  0:2   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
3  0:3   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
4  0:4   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
5  0:5   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
6  0:6   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
7  0:7   PREOP  E  AX5125-0000-0216 EtherCAT Drive (SoE, 1 Ch.)
8  0:8   OP     +  EK1100 EtherCAT Coupler (2A E-Bus)
9  0:9   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
10 0:10  OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
11 0:11  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
12 0:12  OP     +  EL3255 5K. Potentiometerauswertung mit SensorversorgungCould you please compare:

• the freshly generated translator XML
• the adapted machine bus XML

My main question is:
Do you already see from these two XML files what is still wrong in the AX5125 startup / SoE configuration, or what the minimal correct AX5125configuration should look like?If there is already a known working example config for an AX5125 with, that would also help a lot, because at this point I am worried that I may still be missing something fundamental.ChatGPT helped me sort the files and compare the configs, but the machine is still not getting past, so I would really appreciate your expert view on the actual AX5125 setup.Thanks a lot for your time.

greetings
Tom

both file missing startup IDNs

send me your active TC3 project archive I can translate it at my place...