Problems with Lichuan Ethercat servo drive

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2 years 6 months ago #298859 by Sandro
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive
Yes I ran that command according to the ethercat installation guide. I have tried on both an Intel system and RPI5. If I set ethercat debug level to 1, I see a lot of unmatched datagram warnings. Since I have tested with your xml and cofig, I assume, the issue lies elswere.

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2 years 6 months ago #298861 by trisa25
Replied by trisa25 on topic Problems with Lichuan Ethercat servo drive
Can you try manually toggling slave states by:
Code:
ethercat state -p0 PREOP
Now the drive should show 40ry

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2 years 6 months ago - 2 years 6 months ago #298908 by Sandro
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive
Alright I can check on the weekend. If I remember correctly when starting LCNC the diplay went from 20ry (preop?) to 40ry (safeop?) to 4hry after about 10 sec (safeop + error). When exiting it went back to 20ry.

Did you have to do some special configuration on the driver end?
Last edit: 2 years 6 months ago by Sandro.

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2 years 6 months ago - 2 years 6 months ago #298912 by drboeller
Replied by drboeller on topic Problems with Lichuan Ethercat servo drive
I have exact the same problem with this drive.

Tried:
ethercat state -p0 PREOP -> drive shows 20ry, 2 is flashing
ethercat state -p0 INIT -> drive shows 10ry
ethercat state -p0 SAFEOP -> drive shows 20ry, 2 is flashing
ethercat state -p0 OP -> drive shows 20ry, 2 is flashing

Linuxcnc startup:
20ry
Switch machine on
40ry
10s later
F0ry and log shows safeop+error

Log Shows:
Code:
  +3,998716] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [  +5,004000] EtherCAT ERROR 0-0: Timeout while setting state OP.
Last edit: 2 years 6 months ago by drboeller.

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2 years 6 months ago - 2 years 6 months ago #299186 by Sandro
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive
Yes this is exactly the behavior I ment to describe. I observed the dmesg while manually trying to switch the states:

Code:
ethercat state -p0 INIT


Display shows "_10ry", not flashing, and dmesg:

Code:
[Apr27 15:54] EtherCAT DEBUG 0-0: Changing state from PREOP to INIT. [ +0.000003] EtherCAT DEBUG 0-0: Configuring... [ +0.000874] EtherCAT DEBUG 0-0: Now in INIT. [ +0.000001] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [ +0.000277] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [ +0.000277] EtherCAT DEBUG 0-0: Clearing DC assignment... [ +0.000278] EtherCAT DEBUG 0-0: Finished configuration. [ +0.010270] EtherCAT 0: Slave states on main device: INIT.


Code:
ethercat state -p0 SAFEOP


Display shows "_20ry", the two is flashing, and dmesg:

Code:
[Apr27 15:57] EtherCAT DEBUG 0-0: Changing state from INIT to SAFEOP. [  +0.000008] EtherCAT DEBUG 0-0: Configuring... [  +0.000692] EtherCAT DEBUG 0-0: Now in INIT. [  +0.000003] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [  +0.000297] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [  +0.000305] EtherCAT DEBUG 0-0: Clearing DC assignment... [  +0.000304] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [  +0.000003] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [  +0.000007] EtherCAT DEBUG 0-0: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1 [  +0.000294] EtherCAT DEBUG 0-0: Assigning SII access to PDI. [  +0.001423] EtherCAT DEBUG 0-0: Now in PREOP. [  +0.000003] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. [  +0.000261] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size   0, Ctrl 0x64, En 0 [  +0.000005] EtherCAT DEBUG 0-0: SM3: Addr 0x1300, Size   0, Ctrl 0x20, En 0 [  +0.000808] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [  +0.000311] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration". [  +0.000537] EtherCAT 0-0: Acknowledged state PREOP. [  +0.006737] EtherCAT 0: Slave states on main device: PREOP.


Code:
ethercat state -p0 OP


Display shows "_20ry", the two is flashing, and dmesg:

Code:
[Apr27 16:00] EtherCAT DEBUG 0-0: Changing state from PREOP to OP. [  +0.000002] EtherCAT DEBUG 0-0: Configuring... [  +0.000881] EtherCAT DEBUG 0-0: Now in INIT. [  +0.000000] EtherCAT DEBUG 0-0: Clearing FMMU configurations... [  +0.000277] EtherCAT DEBUG 0-0: Clearing sync manager configurations... [  +0.000278] EtherCAT DEBUG 0-0: Clearing DC assignment... [  +0.000279] EtherCAT DEBUG 0-0: Configuring mailbox sync managers... [  +0.000001] EtherCAT DEBUG 0-0: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1 [  +0.000001] EtherCAT DEBUG 0-0: SM1: Addr 0x1100, Size 128, Ctrl 0x22, En 1 [  +0.000274] EtherCAT DEBUG 0-0: Assigning SII access to PDI. [  +0.000802] EtherCAT DEBUG 0-0: Now in PREOP. [  +0.000001] EtherCAT DEBUG 0-0: Assigning SII access back to EtherCAT. [  +0.000272] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size   0, Ctrl 0x64, En 0 [  +0.000001] EtherCAT DEBUG 0-0: SM3: Addr 0x1300, Size   0, Ctrl 0x20, En 0 [  +0.000838] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [  +0.000274] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration". [  +0.000835] EtherCAT 0-0: Acknowledged state PREOP.


Startup of LCNC:

Display shows "_F0ry", not flashing, and dmesg:
Code:
. . . [  +0.001993] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [  +0.000001] EtherCAT DEBUG 0-0:    ref_time=767542016736603000 [  +0.000001] EtherCAT DEBUG 0-0:    app_time=767542021916008181 [  +0.000001] EtherCAT DEBUG 0-0:  start_time=767542022016008181 [  +0.000001] EtherCAT DEBUG 0-0:       cycle=1000000 [  +0.000001] EtherCAT DEBUG 0-0:  shift_time=0 [  +0.000001] EtherCAT DEBUG 0-0:   remainder=405181 [  +0.000001] EtherCAT DEBUG 0-0:        start=767542022016603000 [  +0.000000] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 767542022016603000. [  +0.001992] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300. [  +0.004009] EtherCAT DEBUG 0-0: Now in SAFEOP. [  +5.001992] EtherCAT ERROR 0-0: Timeout while setting state OP. [  +0.007631] EtherCAT 0: Slave states on main device: SAFEOP. [ +12.904001] EtherCAT 0: Slave states on main device: SAFEOP + ERROR. [  +0.007998] EtherCAT DEBUG 0-0: SAFEOP -> SAFEOP + ERROR.


I find this interesting when manually switching states:

Code:
[  +0.000274] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
Last edit: 2 years 6 months ago by Sandro.

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2 years 6 months ago - 2 years 6 months ago #299261 by Sandro
Replied by Sandro on topic Problems with Lichuan Ethercat servo drive
I managed to get the drive to OP state when starting LCNC, but only when I uncomment all PDO adresses in the xml.
Last edit: 2 years 6 months ago by Sandro.

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