ES-BUS-ERROR

Alex_Corrado

Hi,
I tried to running my robotic joint via the generic app gui. The motor-cortex ecat seems to be able to read all the informations correctly (using function scan bus). I don't have a GCC then I'm using a virtual machine in "production mode" and into the motor-cortex desk I simulated the GCC (as reported in my first screen here below). To delete the error messages (also related to the safety) that appear in the GUI, using the motor-cortex desk, I simulated the safety signals and the safety bits (as reported in the second and third screen attached below). I linked some PDO fields with the respective motorcortex variables ( fourth and fifth screen ). But now when I run the GUI and I solve all the errors, deactivating all the other axis ( because I have only one joint), it appears an error relatated to the bus (sixth screen). How can I do to solve this problem?

philippeH

Inside command line of your virtual box, could you type ethercat slaves This will show you if the devices on the ethercat bus are configured correctly. Devices should turn to 'OP'.

Which kind of etherCAT device are you using to control the joint?

Alex_Corrado

I'm using a Synapticon board and It is in operational state

Alex_Corrado

The EtherCat bus work because the GUI show me the position update if I move manually the joint

philippeH

I think because you are not using a GCC, you can remove the domain. Which you currently put to simulation.

Alex_Corrado

But if I remove the simulated GCC, how can I use the generic app? Does it need GCC's signals to work?

philippeH

It should not result in any problems, maybe start with the default, rename the domain back to Robot.
I just did a quick test and it works. (not via Virtaul Box but, with controller connected), Virtual box is mainly used to simulate you project.

With this ecat-configuration and and the generic app from the store it should work

Alex_Corrado

I tested also with the default configuration but it works for the first time and after a few seconds the error appear again. I uploaded again all the files and I restarted also the v.m. but the error does not disappear. To test optimally in "production mode" my configuration, do I need the GCC? Is it possible to use a normal PC as controller?

philippeH

No you don't need a GCC, you can use every type of hardware: recommended is to use something similar to https://docs.motorcortex.io/docs/hardware/fitlet2/ .

If you have a Raspberry Pi 4 laying around, i would recommend this
https://docs.motorcortex.io/docs/getting-started/install-mcxos/

philippeH

The error happens a few seconds after enabling the drive? Did you connect STO?

philippeH

Can you also check 'dmesg' and 'mcx-lastlog' there could be some useful information explaining what is going wrong

philippeH

You are using Somanet Circulo CiA402 Drive safe motion, did you configure the drive such that you did not enabled FSOE? And only STO+SBC?

Alex_Corrado

philippeH Sure I have disabled the FSoE on the board, The STO-SBC cable on the board are connected