Ethercat AX5206 stuck in SAFEOP

Hi Stoneland,
For the AX5801 Safety Card, you only need to configure the safey parameter, look for your .xml file, look for this configuration. then you just have to power pins 1-3 at 0v and 2-4 at 24v
regards
Chimeno

Hello,

Safety card is ok, and AX5203 both channels with motors woks with twincat drive config.

When I start linuxcnc, ethercat slaves look like this:
0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 OP + EL1008 8K. Dig. Eingang 24V, 3ms
2 0:2 OP + EL2004 4K. Dig. Ausgang 24V, 0.5A
3 0:3 PREOP + AX5203-0000 EtherCAT Drive (SoE, 2 Ch.)

AX5203_drive_config.xlm is exported from twincat.

I try to get servo drive to transit op mode with drive-config_AX5203.xml
File witch is basically same than drive-config before I just replaced Drive parameters with My
startup parameter (from that exported twincat file).

Here is also .hal file.. I don't know how to configure/use AX5203 hal pins...

Drive stays in PREOP and there is no errors, I haven't been able to find reason why drive is not
transit to op mode.

Br
Stoneland

The issue that I ran into was that ethercat default timeout was too short when waiting for the drive to go to operational mode. You can tell if you look in syslog and see ethercat complaining of a timeout. My solution for that was to recompile the ethercat driver with a larger timeout value.

Another possibility is that it looks like you don't have any actual motor settings yet. It may not go into operational mode until you set up motor / encoder parameters etc... but I'm not sure about that.

Hi @Stoneland,
I think you have the DC-MODE configured incorrectly, can you test this configuration?
I also attached the configuration file of only the AX5203 can you test it without a motor connected if it enters OP mode?

Hola @cman1024

Another possibility is that it looks like you don't have any actual motor settings yet. It may not go into operational mode until you set up motor / encoder parameters etc... but I'm not sure about that.

The AX5000 unit can enter OP mode without having the motor connected and the engine configuration,

Hello @chimeno,

I tested DC-MODE configuration and AX5203 configuration.
DC-MODE works Ok.

AX5203 configuration went to SAFEOP but not OP.

I increased +#define EC_AL_STATE_CHANGE_TIMEOUT 15 to
+#define EC_AL_STATE_CHANGE_TIMEOUT 25
and recompiled the ethercat driver.

After recompile, AX5203 transit to OP mode without motors.
I made AX5203 config with motors and it also works Ok now.

Hi @Stoneland,
I'm glad it works!
regards
Chimeno

Hello,

Now I have .hal problem, linuxcnc gives error:
./machine.hal:53: Signal 'x-pos-fb' of type 'float' cannot add pin 'lcec.0.3.ch0.srv-pos-fb' of type 's32'

Error comes from this line in hal:
net x-pos-fb lcec.0.3.ch0.srv-pos-fb => axis.0.motor-pos-fb

What is wrong?

Br
Stoneland

hello @Stoneland,
try if this works for you. greeting
Chimeno

@cman1024

How did you manage to change the timeout value? I have found the function "ecrt_sdo_request_timeout" in "ecrt.h" however cannot find where it is called.

Thanks in advance

Hello,

it is in /master/fsm_change.c

github.com/sittner/ec-debianize/blob/mas..._change_timeout.diff