Update ...
(After installing LinuxCNC 2.9.3 (Debian 12) and EtherCAT module (Master driver 1.6.2), I am unable to get EtherCAT communication working. These slave drives work fine with LinuxCNC 2.8. Something is different in 2.9.3. What changed?)
However, sometimes one or more slave drives come up in OP state. When a drive goes to OP, I can see position feedback, I can enable the drive, I can see the DS402 statusword (in drive software). But it seems to be completely random whether the drives go to OP or PreOP ERROR. Something must be working for the drives to sometimes go to OP, but I can't figure out what is causing the errors.
With only restarting LinuxCNC multiple times, I get different slaves erroring or going into OP state:
Code:
jim@cnc:~$ ethercat slaves
0 6:0 PREOP E AKD EtherCAT Drive (CoE)
1 6:1 PREOP E AKD2G Single Axis FS1 EtherCAT Drive (CoE)
2 1:0 PREOP E AKD EtherCAT Drive (CoE)
jim@cnc:~$ ethercat slaves
0 6:0 PREOP E AKD EtherCAT Drive (CoE)
1 6:1 OP + AKD2G Single Axis FS1 EtherCAT Drive (CoE)
2 1:0 PREOP E AKD EtherCAT Drive (CoE)
jim@cnc:~$ ethercat slaves
0 6:0 OP + AKD EtherCAT Drive (CoE)
1 6:1 PREOP E AKD2G Single Axis FS1 EtherCAT Drive (CoE)
2 1:0 PREOP E AKD EtherCAT Drive (CoE)
jim@cnc:~$ ethercat slaves
0 6:0 PREOP E AKD EtherCAT Drive (CoE)
1 6:1 PREOP E AKD2G Single Axis FS1 EtherCAT Drive (CoE)
2 1:0 OP + AKD EtherCAT Drive (CoE)
jim@cnc:~$ ethercat slaves
0 6:0 OP + AKD EtherCAT Drive (CoE)
1 6:1 PREOP E AKD2G Single Axis FS1 EtherCAT Drive (CoE)
2 1:0 OP + AKD EtherCAT Drive (CoE)
