(Freelancer) Linux CNC + EtherCat + RPi 4 Setup

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21 Feb 2022 11:52 #235458 by db1981
i think all u32 ,

if you don't need them in lcnc, you can remove halpin and haltype from the line.

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22 Feb 2022 10:52 #235506 by Dj Junior
Hi db1981
Thank you very much, now  the stepper are enabled. I entered Error Code, Touch probe etc as suggested and it works.

Now I get the following warning.

 
Attachments:

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22 Feb 2022 12:33 #235518 by db1981
what is the actual revision of the hal file?

If the joint pins are all still commented out, this errors are all normal

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22 Feb 2022 13:57 #235528 by Dj Junior
Here are config files

 

File Attachment:

File Name: axis_2022-02-22.ini
File Size:5 KB

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File Attachment:

File Name: ethercat_2...2-22.hal
File Size:5 KB

 

File Attachment:

File Name: ethercat-c...2-22.xml
File Size:4 KB

 
Attachments:

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22 Feb 2022 15:21 #235534 by db1981
files looking ok.

is this error only on joint2 , do the other axis move?

One Idea, mode_of_ op is missing. This pin is not provided by your drives config.
Please check the value of the pin opmode_display in halshow.

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22 Feb 2022 15:41 - 22 Feb 2022 15:42 #235537 by Dj Junior
Yes! is only joint2

27  s32   OUT             8  lcec.0.4.opmode-display ==> x-opmode-display
27  s32   OUT             8  lcec.0.5.opmode-display ==> x-opmode-display
27  s32   OUT             0  lcec.0.6.opmode-display ==> z-opmode-display
Last edit: 22 Feb 2022 15:42 by Dj Junior.

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22 Feb 2022 16:31 #235538 by db1981
as you can see, the drive for z (joint 2) is not working correct. The Value should be 8= CSP Mode too.

Change the CAT cabling to get this drive to another position in the chain and look if the op-mode display moves with the drive or not.
If it moves, the bug is related to the drive himself, if not the config is buggy.

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