How to link 0x607A to Motorcortex paramter

Brody

Now I want to add a mapping for EtherCAT object 0x607A to Motorcortex Parameter,

but I can't find root/AxesControl/actuatorControlLoops/actuatorControlLoop0X/motorPositionTarget,

only can find the node Control, and can't find the nodeAxesControl,
can't find out the motorPositionTarget,

could you please teach me how find the specified parameter?

By the way,
1) if I link all the EtherCAT object to Motorcortex parameter,
is there any way to copy settings to another same drive?
2) any manual to explain how to use Motorcortex parameter?
for example, how to enable the drive? use driveControlWord or driveCommand?

Thanks.

philippeH

Hi brody,

Which application are you using, it looks like you are using an older version, one of the following:

Motorcortex Robot APP =< 1.7.5-5
Motorcortex Generic APP =< 2.2.2-6

Please check the footnote of the page (and click on the older version link)

https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/modes/version/robot_app1_ecat_production/

1), Yes, once you configured an ethercat drive, you can clone this device, checkout: https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/domains-configuration-panel/#domains

A cloned device is identical, don't forget to change device alias number, and for the configured parameters the index and actuatorControlLoop0X.

2) Once you configured the ethercatdrive and applied the correct links to Motorcortex parameters, you can control your drive via the GUI. Engage drive via Main Controls: (this sets the driveCommandWord automatically) https://docs.motorcortex.io/docs/applications/generic_app/generic_home/#main-controls-1

It is also possible to set the driveControlWord manually, via the DESK-Tool.

Brody

Hi phillippeH,
Thanks for reply,
I am using Motorcortex Generic APP 2.2.2-6 for test,

then I upload ESI and link the EtherCAT rxPDO, txPDO and rxSDO to Motorcortex parameters by you providing page,
(ControlWord, Target position, StatusWord, Actual position, Mode of operation)
and disable the function in Distributed clock page.

When 2 drivers change to OP(check by ethercat slaves),

Drive report a error:

this error can be found in Sanyo Denki manual:

No matter how I modify SM2 Sync cycle time (from 0.5ms, 1ms, 2ms and 4ms) in drive utility,
this error always appear.
Can you help me to solve this?
Thanks.

Here is log:

2023-11-28 11:42:37.503 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-11-28 11:42:37.504 +0000 [INFO_SM] Robot State: E-Stop id: 506 (0x1fa) subsystem: 0 slave info: 0
2023-11-28 11:43:16.433 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2023-11-28 11:43:16.434 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2023-11-28 11:43:16.434 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-11-28 11:43:16.434 +0000 [INFO_SM] Drive1: State: mcx::drive::Fault Event: Fault Acknowledge [done]
2023-11-28 11:43:16.434 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [repeat]
2023-11-28 11:43:16.443 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2023-11-28 11:43:16.453 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:43:16.953 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2023-11-28 11:43:16.963 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:43:17.463 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [repeat]
2023-11-28 11:43:17.663 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2023-11-28 11:43:17.673 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:43:18.673 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2023-11-28 11:43:18.674 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2023-11-28 11:43:18.683 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2023-11-28 11:43:19.183 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:43:19.193 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2023-11-28 11:43:19.203 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:43:19.213 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2023-11-28 11:43:19.223 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:43:21.443 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Fault
2023-11-28 11:43:21.443 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: terminateEvent [done]
2023-11-28 11:43:21.473 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-11-28 11:43:21.474 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-11-28 11:43:21.474 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: emergencyStop [done]
2023-11-28 11:43:21.474 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2023-11-28 11:44:24.973 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2023-11-28 11:44:24.974 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2023-11-28 11:44:24.974 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-11-28 11:44:24.974 +0000 [INFO_SM] Drive1: State: mcx::drive::Fault Event: Fault Acknowledge [done]
2023-11-28 11:44:24.974 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [repeat]
2023-11-28 11:44:24.983 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2023-11-28 11:44:24.993 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:44:25.493 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2023-11-28 11:44:25.503 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:44:26.300 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [repeat]
2023-11-28 11:44:26.203 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2023-11-28 11:44:26.213 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:44:27.213 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2023-11-28 11:44:27.214 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2023-11-28 11:44:27.223 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2023-11-28 11:44:27.723 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:44:27.733 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2023-11-28 11:44:27.743 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:44:27.753 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2023-11-28 11:44:27.763 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:44:29.983 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Fault
2023-11-28 11:44:29.983 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: terminateEvent [done]
2023-11-28 11:44:30.130 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-11-28 11:44:30.140 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-11-28 11:44:30.140 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: emergencyStop [done]
2023-11-28 11:44:30.140 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0
2023-11-28 11:44:43.830 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done]
2023-11-28 11:44:43.830 +0000 [INFO_SM] Robot State: E-Stop id: 506 (0x1fa) subsystem: 0 slave info: 0
2023-11-28 11:45:39.323 +0000 [INFO_SM] Robot State: Enter state: logic::EStopResetState
2023-11-28 11:45:39.324 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: acknowledgeErrors [done]
2023-11-28 11:45:39.324 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition
2023-11-28 11:45:39.324 +0000 [INFO_SM] Drive1: State: mcx::drive::Fault Event: Fault Acknowledge [done]
2023-11-28 11:45:39.324 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled
2023-11-28 11:45:39.324 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Fault Reset [done]
2023-11-28 11:45:39.333 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: setNoEStopRelay [done]
2023-11-28 11:45:39.343 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:45:39.843 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopRelay [done]
2023-11-28 11:45:39.853 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:45:40.353 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [repeat]
2023-11-28 11:45:40.553 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: waitForEcatRecover [done]
2023-11-28 11:45:40.563 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: delayEvent [repeat]
2023-11-28 11:45:41.563 +0000 [INFO_SM] Robot State: Enter state: logic:😮ffState
2023-11-28 11:45:41.564 +0000 [INFO_SM] Robot State: State: logic::EStopResetState Event: resetEStopErrors [done]
2023-11-28 11:45:41.573 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: delayEvent [repeat]
2023-11-28 11:45:42.730 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:45:42.830 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: loadPersistentData [done]
2023-11-28 11:45:42.930 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:45:42.103 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: checkPersistentData [done]
2023-11-28 11:45:42.113 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: waitPersistentData [done]
2023-11-28 11:45:42.523 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Fault
2023-11-28 11:45:42.553 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState
2023-11-28 11:45:42.554 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState
2023-11-28 11:45:42.554 +0000 [INFO_SM] Robot State: State: logic:😮ffState Event: emergencyStop [done]
2023-11-28 11:45:42.554 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 1 slave info: 0

philippeH

Hi brody,

Did you already checkout: 'dmesg'
https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/troubleshoot-ecat/#ethercat-error-0-main-x-al-status-message-0x0030-invalid-dc-synch-configuration

philippeH

This is link, is en example (EL5101) on how to retreive the correct dc clock settings for your slave. You should check out the your ESI file.

Brody

philippeH
Here is dmesg:
[ 205.190305] EtherCAT 0: Master thread exited. [ 205.190314] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 205.193371] EtherCAT 0: Slave states on main device: INIT. [ 205.214860] EtherCAT 0: Releasing master... [ 205.214863] EtherCAT 0: Released. [ 205.235699] EtherCAT 0: Slave states on main device: PREOP. [ 206.281190] EtherCAT: Requesting master 0... [ 206.281192] EtherCAT: Successfully requested master 0. [ 208.546639] EtherCAT 0: Domain0: Logical address 0x00000000, 128 byte, expected working counter 6. [ 208.546642] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 128 byte, type LRW at 00000000fac1a0dc.[ 208.547584] EtherCAT 0: Master thread exited. [ 208.547586] EtherCAT 0: Starting EtherCAT-OP thread. [ 208.555294] EtherCAT WARNING 0: 1 datagram UNMATCHED! [ 208.579291] EtherCAT 0: Slave states on main device: INIT. [ 208.627290] EtherCAT 0: Slave states on main device: PREOP. [ 208.825290] EtherCAT 0: Slave states on main device: PREOP, OP. [ 208.831291] EtherCAT 0: Slave states on main device: SAFEOP, OP. [ 208.837291] EtherCAT 0: Slave states on main device: OP. [ 245.447439] igc 0000:01:00.0 eth1: NIC Link is Down [ 245.447624] EtherCAT 0: Link state of ecm0 changed to DOWN. [ 245.448292] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram error. [ 245.449294] EtherCAT 0: 0 slave(s) responding on main device. [ 245.555290] EtherCAT WARNING 0: 1 datagram TIMED OUT! [ 250.595737] igc 0000:01:00.0 eth1: NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX [ 250.596624] EtherCAT 0: Link state of ecm0 changed to UP. [ 250.598290] EtherCAT 0: 1 slave(s) responding on main device. [ 250.598291] EtherCAT 0: Slave states on main device: INIT. [ 250.604290] EtherCAT 0: Scanning bus. [ 252.048289] EtherCAT 0: Bus scanning completed in 1450 ms. [ 252.048291] EtherCAT 0: Using slave main-0 as DC reference clock. [ 252.048292] EtherCAT ERROR 0: Failed to calculate bus topology. [ 252.049292] EtherCAT WARNING 0: 4 datagrams UNMATCHED! [ 252.056290] EtherCAT 0: 2 slave(s) responding on main device. [ 252.056291] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 252.064290] EtherCAT 0: Scanning bus. [ 253.510288] EtherCAT 0: Bus scanning completed in 1454 ms. [ 253.510289] EtherCAT 0: Using slave main-0 as DC reference clock. [ 253.524289] EtherCAT 0: Slave states on main device: PREOP. [ 253.530295] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 253.536290] EtherCAT 0: Slave states on main device: INIT. [ 253.584289] EtherCAT 0: Slave states on main device: PREOP. [ 253.782289] EtherCAT 0: Slave states on main device: PREOP, OP. [ 253.788290] EtherCAT 0: Slave states on main device: SAFEOP, OP. [ 253.884289] EtherCAT 0: Slave states on main device: OP.

Brody

I refer this link to enable DC Sync0 and deploy it:
https://docs.motorcortex.io/docs/motorcortex-io-tools/motorcortex-ecat/troubleshoot-ecat/#ethercat-error-0-main-x-al-status-message-0x0030-invalid-dc-synch-configuration

so now I don't get get the error code from drive as previous post,
but when I press Disengage or Engage button,
Generic App(version 2.2.2-6) shows the error and 0x603F doesn't has a error code:

So what happen when I press Disengage or Engage button?
Log from mcx-lastlog:
2023-11-28 14:51:31.604 +0000 [INFO] GOTO_ENGAGED_E 2023-11-28 14:51:31.604 +0000 [INFO_SM] Robot State: Enter state: logic::OffToDisengagedState 2023-11-28 14:51:31.604 +0000 [INFO_SM] Robot State: State: logic::OffState Event: gotoEngaged [done] 2023-11-28 14:51:31.614 +0000 [INFO_SM] Robot State: Enter state: logic::DisengagedState 2023-11-28 14:51:31.614 +0000 [INFO_SM] Robot State: State: logic::OffToDisengagedState Event: waitingDisengaged [done] 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive2: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-11-28 14:51:31.614 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-11-28 14:51:31.624 +0000 [INFO_SM] Robot State: Enter state: logic::DisengagedToEngagedState 2023-11-28 14:51:31.624 +0000 [INFO_SM] Robot State: State: logic::DisengagedState Event: gotoEngaged [done] 2023-11-28 14:51:31.624 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-11-28 14:51:31.624 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [done] 2023-11-28 14:51:31.634 +0000 [INFO_SM] Robot State: Enter state: logic::EngagedState 2023-11-28 14:51:31.634 +0000 [INFO_SM] Robot State: State: logic::DisengagedToEngagedState Event: waitingEngaged [done] 2023-11-28 14:51:31.634 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Switch On [repeat] 2023-11-28 14:51:31.644 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOn 2023-11-28 14:51:31.644 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Switch On [done] 2023-11-28 14:51:31.654 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-11-28 14:51:31.654 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-11-28 14:51:31.654 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-11-28 14:51:31.664 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-11-28 14:51:31.714 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::OperationEnable 2023-11-28 14:51:31.714 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Enable Operation [done] 2023-11-28 14:51:32.614 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Fault 2023-11-28 14:51:32.614 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: terminateEvent [done] 2023-11-28 14:51:32.644 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState 2023-11-28 14:51:32.644 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState 2023-11-28 14:51:32.644 +0000 [INFO_SM] Robot State: State: logic::EngagedState Event: emergencyStop [done] 2023-11-28 14:51:32.644 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 2 slave info: 0 2023-11-28 14:51:32.644 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat] 2023-11-28 14:51:32.644 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-11-28 14:51:32.644 +0000 [INFO_SM] Drive1: State: mcx::drive::OperationEnable Event: Goto Off [done] 2023-11-28 14:51:32.644 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled 2023-11-28 14:51:32.644 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Disable Voltage [done] 2023-11-28 14:51:33.144 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: savePersistentData [done]

Brody

Yes, I key in the AssignActivate value to Distributed Clock page,
from ESI:

philippeH

Ok thankyou, can you engage the drives via the gui? Or do you get error messages inside the error handler of the gui?

Make sure, because you are only using axis 1 and 2 that you disable axis 3-6 inside axis settings tab.

Brody

Oh sorry, I forgot to config dc value of second drive,
after config and deploy it,
GUI can Engage them and jog.
Thanks.

Brody

By the way,
if I deploy this GUI to controller,
how can default to open GUI automatically?

When I key in sudo motorcortex start or sudo /etc/init.d/motorcortex start and controller won't show GUI,
the screen of controller only show this:

philippeH

This is the terminal,
If you deployed a GUI, open your browser and type 192.168.2.100, this opens default GUI
or 192.168.2.100/list if you deployed multiple guis

This link is to check browser certificate, but shows what to type:
https://docs.motorcortex.io/docs/getting-started/connect-your-pc/install-a-browser-certificate/#testing-the-certificate