Marco Reps clone - not enabling drives
- andypugh
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11 Apr 2025 13:18 #326060
by andypugh
Marco Reps clone - not enabling drives was created by andypugh
I spent a few hours yesterday evening in the workshop of a user who has duplicated the Marco Reps controller configuration, with an Rpi5 and Leadshine EL8 (as detailed here: github.com/marcoreps/linuxcnc_leadshine_EL8 )
The cia402 component is seeing an enable signal, and the cia-controlword into lcec is setting to 6. But nothing seems to be happening in the drives, and there is no position feedback when turning a motor shaft.
cia402.opmode is showing zero, and that leads me to think that stat_voltage_enabled is zeroSo possibly no data is being seen from the drives?
command-line ethercat commands list 7 devices (all in pre-op) and the lcec component also lists 7 devices, so _some_ comms is happpening.
It feels like some sort of drive-enable isn't happening?
Any thoughts? I felt a bit foolish turning up as an "expert" and then being completely baffled. (first contact with EtherCAT)
The cia402 component is seeing an enable signal, and the cia-controlword into lcec is setting to 6. But nothing seems to be happening in the drives, and there is no position feedback when turning a motor shaft.
cia402.opmode is showing zero, and that leads me to think that stat_voltage_enabled is zero
if (stat_voltage_enabled && !home ) {
opmode = OPMODE_CYCLIC_POSITION;
} stat_voltage_enabled = (statusword >> 4) & 1;command-line ethercat commands list 7 devices (all in pre-op) and the lcec component also lists 7 devices, so _some_ comms is happpening.
It feels like some sort of drive-enable isn't happening?
Any thoughts? I felt a bit foolish turning up as an "expert" and then being completely baffled. (first contact with EtherCAT)
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- Hakan
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11 Apr 2025 16:43 #326083
by Hakan
Replied by Hakan on topic Marco Reps clone - not enabling drives
I am pretty sure the drives need to be in ethercat OP state before they start to act on cia402 commands/changes.
Read/write of PDOs is only in OP state. You can read and write SDOs with "ethercat upload/download " to modify config in PREOP.
lcec and ethercat-conf.xml should bring the slaves to OP state.
Debugging tool is apart from the normal text output from linuxcnc, the system log;
"sudo dmesg" for recent messages and "journalctl" for the history.
Ethercat server puts out quite some informational, warnings and error messages there.
Debug output can be had with the "ethercat debug 1" but then the problem is to decipher that. "ethercat debug 0" resets.
Read/write of PDOs is only in OP state. You can read and write SDOs with "ethercat upload/download " to modify config in PREOP.
lcec and ethercat-conf.xml should bring the slaves to OP state.
Debugging tool is apart from the normal text output from linuxcnc, the system log;
"sudo dmesg" for recent messages and "journalctl" for the history.
Ethercat server puts out quite some informational, warnings and error messages there.
Debug output can be had with the "ethercat debug 1" but then the problem is to decipher that. "ethercat debug 0" resets.
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11 Apr 2025 22:56 #326128
by andypugh
Replied by andypugh on topic Marco Reps clone - not enabling drives
Apparently it was this: forum.linuxcnc.org/10-advanced-configura...ives-ethercat#315703
The PID has changed.
The PID has changed.
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- rodw
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12 Apr 2025 03:08 #326142
by rodw
ethercat slaves -v
or
ethercat slaves --verbose
Will list the VID (Vendor ID) and PID (Product ID) and these must be used in the Ethercat xml config file
Replied by rodw on topic Marco Reps clone - not enabling drives
I'm excited to see Andy wading in where angels fear to tread! Welcome to the dark side!Apparently it was this: forum.linuxcnc.org/10-advanced-configura...ives-ethercat#315703
The PID has changed.
ethercat slaves -v
or
ethercat slaves --verbose
Will list the VID (Vendor ID) and PID (Product ID) and these must be used in the Ethercat xml config file
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