Hi,
I'm having trouble using AX5000 servo drivers. Compiled ethercat-master from sources with github/sittner debianizing and "--enable-sii-assign", linuxcnc-ethercat from github/sittner. Regular terminals (EK1100 with EL*) work a-ok. As linuxcnc-ethercat doesn't support SoE init configuration, I've tried to upload the data with a script using "ethercat soe_write" or by plugging ethercat cable to a machine running TwinCAT in config/freerun state. Loading modules in "halrun" goes fine, but a few seconds after starting lcec the driver goes SafeOP with error F4A5 "Parameter error". The drivers never go OP, no hissing from motors. Stopping and unloading lcec seems to reset the driver, and reading the parameter error list (S-0-0021) shows up empty. SoE IDNs are also "factory defaults" at that point.
Should I extend the lcec state machine to upload the configuration during operation state changes? Or is this some other quirk? Contrary to what's stated earlier in the thread, AX5000 doesn't seem to save the parameters in EEPROM - they seem really volatile - and also I've found no options in TwinCAT to do so.
Best regards, jolli
halrun commands:
Code:
loadrt threads name1=master period1=1000000
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all master
addf lcec.write-all master
start
ethercat-conf.xml:
Code:
<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="00000002" pid="14516012" configPdos="false">
<syncManager idx="0" dir="out">
</syncManager>
<syncManager idx="1" dir="in">
</syncManager>
<syncManager idx="2" dir="out">
<pdo idx="0018">
<pdoEntry idx="86" subIdx="00" bitLen="16" halPin="a_masterctrl" halType="bit"/>
<pdoEntry idx="24" subIdx="00" bitLen="32" halPin="a_velcommand" halType="s32"/>
</pdo>
<pdo idx="1018">
<pdoEntry idx="86" subIdx="00" bitLen="16" halPin="b_masterctrl" halType="bit"/>
<pdoEntry idx="24" subIdx="00" bitLen="32" halPin="b_velcommand" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="0010">
<pdoEntry idx="87" subIdx="00" bitLen="16" halPin="a_drivestatusword" halType="bit"/>
<pdoEntry idx="33" subIdx="00" bitLen="32" halPin="a_pos" halType="s32"/>
</pdo>
<pdo idx="1010">
<pdoEntry idx="87" subIdx="00" bitLen="16" halPin="b_drivestatusword" halType="bit"/>
<pdoEntry idx="33" subIdx="00" bitLen="32" halPin="b_pos" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="50000"/>
</slave>
</master>
</masters>
SoE IDNs:
Exported from TwinCAT, presumably not relevant here as they should be correct, ie. works with TwinCAT.
