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Verify that the slave has the entered PDOs with "ethercat -p 2 pdos"
Check syslog for any messages, last lines of "sudo dmesg"
If that doesn't give anything, add debug messages "ethercat debug 1"
 restart ethercat master, start linuxcnc and check syslog again for any helpful output.

In MDI:  (debug,#5230)  to see if there is a rotation around Z. To reset   G10 L2 P1 R0

I think the problem is that the joints are supposed to have numbers, not letters.

Like 

joint.0.amp-fault-in

I just realized you haven't created a signal name, just linked two pins.  Because your joint.(lettter).amp-fault-in pin doesn't actually exist, LCNC is creating a SIGNAL named joint.(letter).amp-fault-in.

That's why you aren't getting an error at startup.

Try this

net x-fault joint.0.amp-fault-in hm2_7i96s.0.inm.00.input-1-not

and so on for the others.
 

Thanks so much! I used to know that, but totally forgot it this project. For once I started a project without first reading the mesa manual from cover to cover... my error has come to light.

Hello,

I added an EL4001 analog output terminal to a system with a few other Beckhoff terminals, which is otherwise fully working.
Like the other terminals, the EL4001 shows up with "ethercat slaves" and this as well as its status LED shows it's in the OP state.
I added it to the ethercat-config.xml like the other nodes:<slave idx="4" type="EL4001" name="spindleSpeed"/>
I also tried setting it up manually like here .

Unfortunately, I can't get any output voltage out of it (other than zero) using the pins as documented  (I set the pins using halcmd and verified with Halscope). As mentioned, all other Ethercat devices (mostly Beckhoff) work without issues. I also tried changing the order of the Beckhoff terminals, but that didn't help (as expected).

Does anyone have any idea what could be the issue here, or what I can do to further debug this?

WOW now it works without errors, thank you very much, I'm very happy... please leave an email, I would like to do something for the favor!

youtube.com/shorts/J1DJ8W4_v6Y?si=e8J3gdIzHKPtXllS

OK I corrected the .hal file and pins are reversed like you said but unfortunately still same issue no pop up in GUI no indication something wrong. I can move the axis linuxcnc thinks everything is OK.

There is this bracket ']' to remove:


line 27
#<y_gap_o> = #<_ini[tool_slot_delta]y_gap>]


line 72
#<y_gap_i> = #<_ini[tool_slot_delta]y_gap>]

now

Good, thanks for verifying the servos are programmed appropriately.

Right now, your HLFB pins are HIGH (conducting) when the servos are enabled and OK.  Since you have the inputs connected to your amp-fault-in pins like:

LCNC thinks there is a fault when the servos are saying everything is OK.  Here's the LCNC manual section (motion):

joint.N.amp-fault-in IN BIT should be driven TRUE if an external fault is detected with the amplifier for this joint.

Try changing the HLFB input pins to 'not' like so:
At that point, the joint.N.amp-fault-in pins should be HIGH when the servos are not enabled, and go LOW when they are enabled and OK.

Once you're at that point, you can test by pulling the encoder cable off the motors and see if it causes the amp-fault-in to go high (hopefully).

If you still need a delay we can work on that next.

I think the problem is, not using uppercase letter. This should work:

Y_GAP = -206

spumco wrote:

There is no perceptible rotor cogging when you spin them by hand. 

Nice to know, thank you for taking the time to explain that.

yes exactly

Did you add this to the .ini file, the  line with y_gap ?


[TOOL_SLOT_DELTA]
X = 0
Y = -111
Z = 0
y_gap = -206

now the first three slots work as usual, if I select the fourth one when returning the tool to one of the first three I get this error