AX5201 does not change to SAFEOP / OP
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21 Mar 2026 18:02 #344582
by raafra111
AX5201 does not change to SAFEOP / OP was created by raafra111
Hello linuxcnc members,
I would like to use an AX5201 servo driver with LINUXCNC. The AX5201 is setup with TC3 and works fine within the TC3 enviroment.
The firmware of AX5201 is 1.06 (Build0030) from 11.5.2015 and it seems it can not be updated to version 2.x.
In TC3, the driver goes only on stable OP mode, when the cycle time is 2ms. So the parameters in the ini file were adapted to 2ms cycle time.
The ethercat-conf.xml was created with the great conversion tool from Endian and is loaded and seems to have the correct DC, but the driver stucks in PREOP mode.
The startup-XML was exported from TC3 startup commands.
How can I find out which parameter causes the mode change problem.
Thanks for your help in advance!
Here the logs:
I would like to use an AX5201 servo driver with LINUXCNC. The AX5201 is setup with TC3 and works fine within the TC3 enviroment.
The firmware of AX5201 is 1.06 (Build0030) from 11.5.2015 and it seems it can not be updated to version 2.x.
In TC3, the driver goes only on stable OP mode, when the cycle time is 2ms. So the parameters in the ini file were adapted to 2ms cycle time.
The ethercat-conf.xml was created with the great conversion tool from Endian and is loaded and seems to have the correct DC, but the driver stucks in PREOP mode.
The startup-XML was exported from TC3 startup commands.
How can I find out which parameter causes the mode change problem.
Thanks for your help in advance!
Here the logs:
Log: dmesg -w
...
[276908.318162] EtherCAT DEBUG 0-0: Writing IDN 0x0064 of drive 0 (4 byte).
[276908.318164] EtherCAT DEBUG 0-0: SSC write request:
[276908.326158] EtherCAT DEBUG 0-0: SSC write response:
[276908.326162] EtherCAT DEBUG 0-0: Writing IDN 0x0065 of drive 0 (2 byte).
[276908.326163] EtherCAT DEBUG 0-0: SSC write request:
[276908.334159] EtherCAT DEBUG 0-0: SSC write response:
[276908.334164] EtherCAT DEBUG 0-0: Writing IDN 0x8043 of drive 0 (2 byte).
[276908.334165] EtherCAT DEBUG 0-0: SSC write request:
[276908.342158] EtherCAT DEBUG 0-0: SSC write response:
[276908.342169] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342170] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x002F:01/32
[276908.342178] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342179] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0086:00/16 0x0024:00/32. Entries to map: 0x0086:01/16 0x0024:01/32
[276908.342195] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342196] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32 0x00BD:01/32
[276908.342203] EtherCAT WARNING 0-0: Slave does not support changing the PDO mapping!
[276908.342204] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32. Entries to map: 0x0087:01/16 0x0033:01/32
[276908.342210] EtherCAT DEBUG 0-0: SM2: Addr 0x1000, Size 12, Ctrl 0x24, En 1
[276908.342212] EtherCAT DEBUG 0-0: SM3: Addr 0x1100, Size 16, Ctrl 0x22, En 1
[276908.346158] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, Size 12, PhysAddr 0x1000, SM2, Dir out
[276908.346161] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000C, Size 16, PhysAddr 0x1100, SM3, Dir in
[276908.350158] EtherCAT DEBUG 0-0: Setting DC cycle times to 250000 / 1750000.
[276908.352161] EtherCAT DEBUG 0-0: Checking for synchrony.
[276908.354160] EtherCAT DEBUG 0-0: 0 ns difference after 0 ms.
[276908.354161] EtherCAT DEBUG 0-0: ref_time=827427005080485037
[276908.354163] EtherCAT DEBUG 0-0: app_time=827427083006477389
[276908.354163] EtherCAT DEBUG 0-0: start_time=827427083106477389
[276908.354164] EtherCAT DEBUG 0-0: cycle=2000000
[276908.354165] EtherCAT DEBUG 0-0: shift_time=50000
[276908.354166] EtherCAT DEBUG 0-0: remainder=1992352
[276908.354167] EtherCAT DEBUG 0-0: start=827427083106535037
[276908.354168] EtherCAT DEBUG 0-0: Setting DC cyclic operation start time to 827427083106535037.
[276908.358159] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0740.
[276909.712164] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[276909.716169] EtherCAT ERROR 0-0: AL status message 0x0045: "MBX_SOE".
[276909.720166] EtherCAT 0-0: Acknowledged state PREOP.
On Display: Error: 0xF4A5
plasma@linuxcnc:~ $ ethercat slaves
0 0:0 PREOP E AX5201-0000 EtherCAT Drive (SoE, 2 Ch.)
1 0:1 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
2 0:2 OP + EL2904, 4 K. Safety Ausgang 24V, 0.5A, TwinSAFE
3 0:3 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
4 0:4 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
5 0:5 OP + EL1904, 4 K. Safety Eingang 24V, TwinSAFE
6 0:6 OP + EL9110 Einspeiseklemme mit LED (24V, Diagnose)
7 0:7 OP + EL1819 16K. Dig. Eingang 24V, 10�s
8 0:8 OP + EL2809 16K. Dig. Ausgang 24V, 0.5A
9 0:9 OP + EL3061 1K.Ana. Eingang 0-10V
10 0:10 OP + EL3061 1K.Ana. Eingang 0-10V
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