Good morning, everyone. I am encountering a rather strange issue involving an MH300 drive and a CMM-EC03 EtherCAT communication card.
To provide some context: we have configured the XML file so that the Delta MH300 operates in "free run" mode—essentially, we have removed the "dcsync" entry.
This same configuration—with only the PID changed—works perfectly on a Delta C2000 Plus drive.
The problem arises when I power on the machine after it has been turned off for 15 minutes or more: LCNC (LinuxCNC) detects the EtherCAT slave, but it remains in the "Pre-OP" (Pre-Operational) state.
If I then power cycle the drive—or the entire machine—and turn it back on immediately, the MH300 transitions to the "OP" (Operational) state.
However, if I turn the machine off again and wait 15 minutes, the issue recurs, and the MH300 remains in "Pre-OP."
The XML file for the MH300 specifies a `product_code` of `104001F0`, which matches the value in our XML file.
When the MH300 gets stuck in "Pre-OP," the EtherCAT diagnostic output shows a `product_code` of `10400000`; naturally, it remains in "Pre-OP" because this differs from the `104001F0` value defined in the XML file.
If I power cycle the drive or the machine immediately, the MH300 transitions to "OP," and the EtherCAT diagnostic output correctly reports the `product_code` as `104001F0`.
I do not believe the issue lies with the XML file or LCNC. I am unsure, however, whether the problem stems from the EtherCAT card (which is already running the latest firmware version) or the MH300 drive itself.
Is there a way to configure the XML file to bypass or ignore the PID check?
