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  • ihavenofish
  • ihavenofish
21 Mar 2026 18:42
Replied by ihavenofish on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

no braking features.
noise, I'm not sure how to really tell if there was. the cables are all cat6.
  • raafra111
  • raafra111
21 Mar 2026 18:02
AX5201 does not change to SAFEOP / OP was created by raafra111

AX5201 does not change to SAFEOP / OP

Category: EtherCAT

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:
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
 
  • susan-parker
  • susan-parker
21 Mar 2026 17:34
30 Second timeout before opening and E-Stop button not clicking... was created by susan-parker

30 Second timeout before opening and E-Stop button not clicking...

Category: QtPyVCP

Trying to setup Probe Basic Lathe for use with an EMCO Compact 5 CNC lathe with my own electronics.
After the splash screen there is about a 30 second delay before the main GUI appears.
All looks okay, the tabs work but the E-Stop won't click...
Note: In AXIS the E-Stop is correctly asserted for the 7i96s, and the power button works to enable a 7i96s output.
I think it is a python thing, but don't know where to look.
  • Felsenbart
  • Felsenbart
21 Mar 2026 17:12
Replied by Felsenbart on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Which version of Remora did you flash? Luckily, it worked with the latest beta. I've attached some files that work for me. Would you also like the pinout for the DM556Y drivers for the EC500?
  • Felsenbart
  • Felsenbart
21 Mar 2026 17:08
Replied by Felsenbart on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

I get it to work finally. Idk what im doing wrong. After flashing newest beta its working :side:
  • grandixximo
  • grandixximo's Avatar
21 Mar 2026 15:17 - 21 Mar 2026 15:18
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Another thing that comes to mind, do your servos have braking feature? The clunking and the resonance could be related to that if you do have brakes, possibly they are not being properly managed? I use braking on my Z servo drive, and if I lock it when idle I have resonance as well, that's the only thing that comes to mind, also it does make a noise when it engages more of a click than a clunk, just my brain went there...
  • grandixximo
  • grandixximo's Avatar
21 Mar 2026 15:08 - 21 Mar 2026 15:10
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Never had any of these issues, could be something with your configuration, ini Hal XML or the servo parametrization.
What my patch definitely improved is phasing, what could happen before the patch, was wrong phasing where latency could happen to sit on the threshold of when the servos were expecting the packets, and they could arrive at different cycles, making the motor grind, but all your listed issues probably have a different root cause. If you shared your configuration I could see if anything stands out to me. Other than settings it kind of sounds like an electromagnetic noise issue, are you using shielded cables for the ethercat network connections? Are all components properly grounded? Mostly the servo motors, and if you have a spindle with a VFD those need to be properly shielded filtered and grounded.
  • ihavenofish
  • ihavenofish
21 Mar 2026 14:28
Replied by ihavenofish on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

op state cycling. joint and limit errors when standing still, resonance. When the limit error happens it makes a clunk. It does not seem to ever have an issue in actual motion though.
  • grandixximo
  • grandixximo's Avatar
21 Mar 2026 14:23
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

You have no grinding noise correct?
Your problem is random OP cycling, and motor resonate when the machine is off or on?
  • ihavenofish
  • ihavenofish
21 Mar 2026 13:35
Replied by ihavenofish on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.
 


dc phase is true
app phase is changing around 600k
pll error is randomly changing plus or minus 30k
pll out is minus 1000



 
  • grandixximo
  • grandixximo's Avatar
21 Mar 2026 12:49
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Check on halscope and halshow, have lcec.0.dc-phased
app-phase
pll-error
pll-out

Those will show if the system is working proper.
See previous users posts.
  • Todd Zuercher
  • Todd Zuercher's Avatar
21 Mar 2026 11:43
Replied by Todd Zuercher on topic Updating Old GladeVCP Files?

Updating Old GladeVCP Files?

Category: GladeVCP

Thank you all. Now that the old vcp is working again, I can try making the modifications I need to do.

I'll post back with either the final results or additional frustrations when I can work on it again Monday.
  • ihavenofish
  • ihavenofish
21 Mar 2026 11:33
Replied by ihavenofish on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I take it back, all the same issues are there, zero change. Just took a while to show up.

So how do I check if it actually did the thing its supposed to do?
  • grandixximo
  • grandixximo's Avatar
21 Mar 2026 11:12
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Could you share ini Hal and XML?
  • andrax
  • andrax's Avatar
21 Mar 2026 10:52
Replied by andrax on topic Problem bei installation Ethercat

Problem bei installation Ethercat

Category: Deutsch

Bekommst du irgendwelche Fehler?
Vielleicht hilft es, wenn du das repo wechselst.
 
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