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It's named controlword in ethercat-conf.xml, not cia-controlword.
Also change all lcec.1.0 to lcec.0.1 in the hal file.
 

It crashes when you modify any variable comparison object with the "Display symbols" box checked.

Uncheck the box and you'll be able to modify the object without CL crashing. Save button is key with CL.

Posting your current hal and ini files would help debug your issues.

To launch halshow from axis:

Machine --> Show Hal Configuration

Finaly getting something done lol, got the end stops to work but now when I home the x, it hits the home/min goes off the switch then hits again but it triggers a joint error causes it shows 0.0001 and not 0.0000 like the z does, is this a switch prob or a me not knowing what I'm doing prob

7i92TM should be possible to directly plug into 7i76U without cable.

For now I'll just accept the situation and carry on with the small delay, until I got the whole toolchange process sorted.

Im at the point now where the carousel extends, gets detected, spindle moves to clearance height, spindle unclamps the tool etc..
All 5 sensors are working, Carousel Home, Carousel Index, Carousel IN position, Carousel OUT position and the Spindle Tool Clamped and Tool Released sensors.

Now its time to program the final movements, placing and removing a tool from a pocket.
Will be a little different probably compared to other carousel toolchangers where the carousel moving in and out takes the tool from the spindle.

When no tool is loaded it has to move down, clamp the tool, moving to the right to take a tool from the pocket, carousel retract, spindle up again and resume.
Or with a loaded tool it has to move in front of the carousel, moving to the left into the pocket, unclamp, up, rotate to new tool, down again etc.

Should be fun, hopefully it won't get fooked. :-D

I am using a Mesa 7i92TM connected from P1 to a Mesa 7i76U.


In that case, the configuration file is incorrect. P1 is for the second 7I76
(which has stepgens 5 .. 9)

It's expected if you have a single 7I76, that it be connected to P2

Also you might try checking that the direction pins change state when jogging in either direction

(you will have to disable homing to do this test)

Attach a picture of the wiring here so we can have a look.

Hi PCW
Thanks for your prompt reply
I changed the step time and space time to 5000 for all four motors, switched off everything, and restarted , however it makes no difference (the motors don't move)
I was not sure where to measure the 5v, but choose 7i76u's TB2 connector and checked axis 0 through 3 , using the ground and +5VP on each axis, and all measure 4.9v . (The 5v comes from the 7i92T).

Thanks, I added dcconf lines (see attachment) but still get the same pin does not exist error

7I73 version 16 firmware

Increases the time between setting the row outputs
and sampling the column inputs( for longer cables etc)

Firmware:

 

SSerial update script:

 


 

I would first try setting the step time and step space to 5000 (5 usec)
since 2500 (2.5 usec) is the drives minimum (0 margin)

Also check the 5V at the 7I76U to make sure its not low

I think you need a dcconf item for every slave in the ethercat-cat.xml file.
I don't have exact syntax here on the phone, but search for dcconf and assignactivate 300 and there should be examples of that line.