Hi all,
I have a new drive that I am trying to control with EtherCAT. When using the ethercat-config .xml file used by the linuxcnc-ethercat driver it seems that the drive stay in PRE-OP stage and is not able to go to OP (the lcec state PRE-OP pin is true in the halshow).
When using TwinCAT on a windows machine, using the scan devices button, the drives goes to OP without any issue. There is actually a list of Startup command visible in TwinCAT in the Startup panel that I cannot modify. Should I reproduce those Startup command under the ethercat file for the linuxcnc ethercat driver? Apparently this should be something like using the command <initCmds filename="DriveInitCommand.xml"/> in the slave lines as shown in the linuxcnc-ethercat-master\examples\initcmds code from GitHub.
Then each command should be described like the following example inside DriveInitCommand.xml:
Code:
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox><CoE><InitCmds>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Max current]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>17</SubIndex>
<Data>10270000</Data>
</InitCmd>
</InitCmds></CoE></EtherCATMailbox>
If you are missing those Startup command, do you think it could be the reason why the drive stays in PRE-OP mode?
Thank you for your help.
Nicolas
