Machine fails to get past G1 "spindle-at-speed" issue EtherCAT spindle

Hi everyone,I’ve recently finished mounting my machine to its base and tidying up the wiring, so I decided to try running a quick program to see if everything was working properly.Machine Configuration:

• Controller: Raspberry Pi 5
• Servos: 3 × Leadshine EL8 servo drives with 400 W motors (EtherCAT)
• Spindle: 1 kW StepperOnline drive (EtherCAT)

The program starts fine, but the machine seems to get stuck at the first G1 command.After doing some reading, it looks like this could be related to the “spindle-at-speed” signal in the HAL configuration.Because I’m using EtherCAT, I’m not sure where this needs to be handled:
Should the spindle-at-speed signal be configured in the HAL file, or Is it something that needs to be set up in the .comp file for the EtherCAT drive?

Any guidance or examples on how to handle this signal within an EtherCAT setup would be really appreciated. when the spindle is running currently I am having no feedback from the drive to record the actual speed ? 

I seem to have made a mistake in the cia402pv component with the stat-at-speed pin..
I'll look at that tomorrow. If you just want to mill you can comment out the spindle-at-speed signal and
setp Spindle.0.at-speed 1
 

Hi Hakan
thanks for your help , I'm using the cia402pv component you put together, I can't seem to get the drive to feed back the velocity of the motor could this maybe be another issue ?

Not the same, stat-at-speed looks for two bits in the statusword from the drive.
There is a genuine mistake made there.

But actual speed should work nevertheless, I'll take a look at that also tomorrow.
Do you see any actual speed from the lcec.0 component?

I pushed an update for stat-at-speed pin.
Logic was reversed , now it works in csv and pv mode. Should work is best to say.

The cs401pv module just scales and forwards the actual-velocity from the drive.
There isn't much I can do if the drive doesn't provide actual velocity in pv mode.
Look at available pdos and see if you find something that looks like actual velocity?

Hi
Thanks for looking into the issue

How do I go about updating the file I have to work ?

Get the file with git or copy from the browser
github.com/MetalMusings/cia402pv/blob/master/cia402pv.comp

sudo halcompile --install cia402pv.comp