Amplifier Fault ECT60 Closed Loop

I can't work this issue out.
I'm building a simple testbed for CIA402 homing that has two joints. Both are using an Rtelligent ECT60 drive. One is closed Loop, (rtelligent NEMA23 stepper) the other is Open loop NEMA23 (Sanyo Denki stepper)
Both joints work perfectly in open loop mode but if I set the Rtelligent to be closed loop, I get  a little bit of movement then it stops with an amplifier fault.
It does not matter if I use a generic driver, the ECT60 driver or the basic_cia402 driver. Behavior is the same.

It would be great if you could review my attached config and provide any feedback.

Closed loop in LinuxCNC must be tuned in LinuxCNC, for stepper systems mainly just the P and FF1 values.
For P as high as it can go without vibrations at standstill, then just back a bit to be on the safe side.
For FF1 there is a corelation that i can not recall and can not check as i am on the phone, but try some rough values like 0.4 or 0.5 or 0.6 and see how it works then some finer value changes after you get it to jog, untill you can jog at full speed without error.

What error is the driver showing?

Hmmmm... is the loop being closed in the drive or LinuxCNC?
If in the drive, first thing to check is the encoder wiring (if it is not factory sealed), then change motor wires to change the direction.

"MAX_ACCELERATION = 5000 "


try with less acceleration ...

Strange. I have this kind of drive, and I didn't have any problems with it, although I didn't run it for long. Actually, when you buy it, it's initially sold as either closed-loop or open-loop, and the seller asked me about it when I purchased it. Well, I immediately chose the closed-loop one.

Well, and I wrote the XML manually.

TheRoslyak wrote:

Strange. I have this kind of drive, and I didn't have any problems with it, although I didn't run it for long. Actually, when you buy it, it's initially sold as either closed-loop or open-loop, and the seller asked me about it when I purchased it. Well, I immediately chose the closed-loop one.
 

Yes I have its big brother ECT86 running perfectly. I am sure I had this running  in testing with no load but lost the config. I think my manual XML has been used by most people on these drives. Pretty sure its found its way into ScottLairds linuxcnc-ethercat driver too.

@besriworld, I was hoping you had nailed it, but not to be. Being a plasma guy, I forget about inertia! I  tried disconnecting the drive and see if it runs with no load  but its no better.
The fault is "Joint 1 amplifier fault"

@tommy, this ethercat drive looks after the encoder connection. I can see the DRO moving when I twist the shaft so its OK. It has automatic tuning by default and the motor and drive are a matched pair. It can be set manually, but I don't think I need to go there.

Thanks everyone for their ideas. I am still none the wiser. From memory, there is an internal error register I might publish a pin for and review.

Now I saw the device.
My idea was if there will be an error if the speed/acceleration is low.

Again, please clarify which drive you ended up taking. Because a closed-loop drive is sold by the seller at a slightly higher price. This is probably due to the low-level firmware. They might have sent you a cheaper version.

www.rtelligentglobal.com/uploads/Rtellig...ies-User-Manual1.pdf