AX5201 does not change to SAFEOP / OP
- raafra111
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21 Mar 2026 18:02 #344582
by raafra111
AX5201 does not change to SAFEOP / OP was created by raafra111
Hello linuxcnc members,
I would like to use an AX5201 servo driver with LINUXCNC. The AX5201 is setup with TC3 and works fine within the TC3 enviroment.
The firmware of AX5201 is 1.06 (Build0030) from 11.5.2015 and it seems it can not be updated to version 2.x.
In TC3, the driver goes only on stable OP mode, when the cycle time is 2ms. So the parameters in the ini file were adapted to 2ms cycle time.
The ethercat-conf.xml was created with the great conversion tool from Endian and is loaded and seems to have the correct DC, but the driver stucks in PREOP mode.
The startup-XML was exported from TC3 startup commands.
How can I find out which parameter causes the mode change problem.
Thanks for your help in advance!
Here the logs:
I would like to use an AX5201 servo driver with LINUXCNC. The AX5201 is setup with TC3 and works fine within the TC3 enviroment.
The firmware of AX5201 is 1.06 (Build0030) from 11.5.2015 and it seems it can not be updated to version 2.x.
In TC3, the driver goes only on stable OP mode, when the cycle time is 2ms. So the parameters in the ini file were adapted to 2ms cycle time.
The ethercat-conf.xml was created with the great conversion tool from Endian and is loaded and seems to have the correct DC, but the driver stucks in PREOP mode.
The startup-XML was exported from TC3 startup commands.
How can I find out which parameter causes the mode change problem.
Thanks for your help in advance!
Here the logs:
Log: dmesg -w
...
[276908.318162] EtherCAT DEBUG 0-0: Writing IDN 0x0064 of drive 0 (4 byte).
[276908.318164] EtherCAT DEBUG 0-0: SSC write request:
[276908.326158] EtherCAT DEBUG 0-0: SSC write response:
[276908.326162] EtherCAT DEBUG 0-0: Writing IDN 0x0065 of drive 0 (2 byte).
[276908.326163] EtherCAT DEBUG 0-0: SSC write request:
[276908.334159] EtherCAT DEBUG 0-0: SSC write response:
[276908.334164] EtherCAT DEBUG 0-0: Writing IDN 0x8043 of drive 0 (2 byte).
[276908.334165] EtherCAT DEBUG 0-0: SSC write request:
[276908.342158] EtherCAT DEBUG 0-0: SSC write response:
[276908.342169] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342170] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x002F:01/32
[276908.342178] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342179] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x0024:01/32
[276908.342195] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342196] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32 0x00BD:01/32
[276908.342203] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342204] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32
[276908.342210] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 12, Ctrl 0x24, En 1
[276908.342212] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 16, Ctrl 0x22, En 1
[276908.346158] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 12, PhysAddr 0x1000, SM2, Dir out
[276908.346161] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000C, Size 16, PhysAddr 0x1100, SM3, Dir in
[276908.350158] EtherCAT DEBUG 0-0: Setting DC cycle times to 250000 / 1750000.
[276908.352161] EtherCAT DEBUG 0-0: Checking for synchrony.
[276908.354160] EtherCAT DEBUG 0-0: 0 ns difference after 0 ms.
[276908.354161] EtherCAT DEBUG 0-0: ref_time=827427005080485037
[276908.354163] EtherCAT DEBUG 0-0: app_time=827427083006477389
[276908.354163] EtherCAT DEBUG 0-0: start_time=827427083106477389
[276908.354164] EtherCAT DEBUG 0-0: cycle=2000000
[276908.354165] EtherCAT DEBUG 0-0: shift_time=50000
[276908.354166] EtherCAT DEBUG 0-0: remainder=1992352
[276908.354167] EtherCAT DEBUG 0-0: start=827427083106535037
[276908.354168] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 827427083106535037.
[276908.358159] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0740.
[276909.712164] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[276909.716169] EtherCAT ERROR 0-0: AL status message 0x0045: "MBX_SOE".
[276909.720166] EtherCAT 0-0: Acknowledged state PREOP.
On Display: Error: 0xF4A5
plasma@linuxcnc:~ $ ethercat slaves
0 0:0 PREOP E AX5201-0000 EtherCAT Drive (SoE, 2 Ch.)
1 0:1 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
2 0:2 OP + EL2904, 4 K. Safety Ausgang 24V, 0.5A, TwinSAFE
3 0:3 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
4 0:4 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
5 0:5 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
6 0:6 OP + EL9110 Einspeiseklemme mit LED (24V, Diagnose)
7 0:7 OP + EL1819 16K. Dig. Eingang 24V, 10�s
8 0:8 OP + EL2809 16K. Dig. Ausgang 24V, 0.5A
9 0:9 OP + EL3061 1K.Ana. Eingang 0-10V
10 0:10 OP + EL3061 1K.Ana. Eingang 0-10V
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- endian
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04 Apr 2026 18:52 - 04 Apr 2026 19:03 #345171
by endian
Replied by endian on topic AX5201 does not change to SAFEOP / OP
hi there,
if you do not want to change timing in the TC3 to 1ms (easiest way and no play to errors) then change -
and in ethercat conf xml change -
and in .ini file change -
check cabling CAT5e with shielding ... its pretty sensitive stuff
check if you have non generic driver ... it has to be native NIC driver at network card with EoE turned off => very important
set time of task in TC3 to 1ms and export it ...
connect just and only AX5201 to ethercat master... export config and translate it (problem isolation)
change 0x0740 to 0x0730 ... timing have to be correct because it is direct timing extraction from beckhoff master and exported to our shape ...
if you do not want to change timing in the TC3 to 1ms (easiest way and no play to errors) then change -
<EtherCATMailbox>
<script id="eppiocemhmnlbhjplcgkofciiegomcon"/>
<script/>
<script/>
<SoE>
<InitCmds>
<InitCmd>
<Transition>PS</Transition>
<Comment>
<![CDATA[ Tncyc - NC cycle time ]]>
</Comment>
<Timeout>0</Timeout>
<OpCode>3</OpCode>
<DriveNo>0</DriveNo>
<IDN>1</IDN>
<Elements>64</Elements>
<Attribute>0</Attribute>
<Data>d007</Data> to <Data>e803</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment>
<![CDATA[ Tscyc - Comm cycle time ]]>
</Comment>
<Timeout>0</Timeout>
<OpCode>3</OpCode>
<DriveNo>0</DriveNo>
<IDN>2</IDN>
<Elements>64</Elements>
<Attribute>0</Attribute>
<Data>d007</Data> to <Data>e803</Data>
</InitCmd>and in ethercat conf xml change -
<masters>
<script id="eppiocemhmnlbhjplcgkofciiegomcon"/>
<script/>
<script/>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">and in .ini file change -
[TASK]
TASK = milltask
#CYCLE_TIME = 0.002
CYCLE_TIME = 0.001
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
#SERVO_PERIOD = 2000000
SERVO_PERIOD = 1000000check cabling CAT5e with shielding ... its pretty sensitive stuff
check if you have non generic driver ... it has to be native NIC driver at network card with EoE turned off => very important
set time of task in TC3 to 1ms and export it ...
connect just and only AX5201 to ethercat master... export config and translate it (problem isolation)
change 0x0740 to 0x0730 ... timing have to be correct because it is direct timing extraction from beckhoff master and exported to our shape ...
Last edit: 04 Apr 2026 19:03 by endian. Reason: editing
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- raafra111
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08 Apr 2026 18:30 #345332
by raafra111
Replied by raafra111 on topic AX5201 does not change to SAFEOP / OP
Hello endian,
thank you very much for your reply.
The AX5201 is working fine now. I didn't read your desciption of your conversion tool carefully. So I exported the "Startup.xml" manually from TC3 and assigned it also manually in ethercat-conf.xml. With the parameters "complete -i" this is done automatically and works fine.
Thanks again!
thank you very much for your reply.
The AX5201 is working fine now. I didn't read your desciption of your conversion tool carefully. So I exported the "Startup.xml" manually from TC3 and assigned it also manually in ethercat-conf.xml. With the parameters "complete -i" this is done automatically and works fine.
Thanks again!
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- endian
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08 Apr 2026 18:37 #345333
by endian
Replied by endian on topic AX5201 does not change to SAFEOP / OP
here
is complete setup for 250us position control loop ... with internal homing subroutine and internal probing input mapping for internal precision homing ability... you can select more methods of homing ... pos, pos + latch, neg, neg + latch ... but carefully map everything
just enjoy !
just enjoy !
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