Get error when Enage

Brody

Hello,
I am using Robot App (1.7.5-5) to test six joint,
but when I press Engage button,
GUI report the errors EStopOpenCircState as below (drivers doesn't use STO),
how can I ignore this or config this?
Thanks.
2023-12-04 16:21:56.564 +0000 [INFO] GOTO_ENGAGED_E 2023-12-04 16:21:56.564 +0000 [INFO_SM] Robot State: Enter state: logic::OffToDisengagedState 2023-12-04 16:21:56.564 +0000 [INFO_SM] Robot State: State: logic::OffState Event: gotoEngaged [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Robot State: Enter state: logic::DisengagedState 2023-12-04 16:21:56.574 +0000 [INFO_SM] Robot State: State: logic::OffToDisengagedState Event: waitingDisengaged [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive2: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive3: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive4: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive5: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive6: State: mcx::drive::SwitchOnDisabled Event: Goto Disengage [done] 2023-12-04 16:21:56.574 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Shutdown [repeat] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Robot State: Enter state: logic::DisengagedToEngagedState 2023-12-04 16:21:56.584 +0000 [INFO_SM] Robot State: State: logic::DisengagedState Event: gotoEngaged [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.584 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Shutdown [done] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Robot State: State: logic::DisengagedToEngagedState Event: waitingEngaged [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.594 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Switch On [repeat] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::SwitchOn 2023-12-04 16:21:56.604 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Switch On [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive1: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive2: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive3: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive4: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive5: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Transition 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive6: State: mcx::drive::SwitchOn Event: Goto Engage [done] 2023-12-04 16:21:56.614 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: delayEvent [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:56.624 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: Enable Operation [repeat] 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::OperationEnable 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Enable Operation [done] 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::OperationEnable 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Enable Operation [done] 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::OperationEnable 2023-12-04 16:21:58.640 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Enable Operation [done] 2023-12-04 16:21:59.594 +0000 [INFO_SM] Robot State: Enter state: logic::EngagedState 2023-12-04 16:21:59.594 +0000 [INFO_SM] Robot State: State: logic::DisengagedToEngagedState Event: waitingEngaged [done]2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive4: Enter state: mcx::drive::Fault 2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive4: State: mcx::drive::Transition Event: terminateEvent [done] 2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive5: Enter state: mcx::drive::Fault 2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive5: State: mcx::drive::Transition Event: terminateEvent [done] 2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive6: Enter state: mcx::drive::Fault 2023-12-04 16:22:01.634 +0000 [INFO_SM] Drive6: State: mcx::drive::Transition Event: terminateEvent [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOpenCircState 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: Enter state: logic::EStopOffState 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: State: logic::EngagedState Event: emergencyStop [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 4 slave info: 0 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 5 slave info: 0 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: emergencyStop [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: E-Stop id: 607 (0x25f) subsystem: 6 slave info: 0 2023-12-04 16:22:01.664 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: delayEvent [repeat] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::Transition 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive1: State: mcx::drive::OperationEnable Event: Goto Off [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive1: Enter state: mcx::drive::SwitchOnDisabled 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive1: State: mcx::drive::Transition Event: Disable Voltage [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::Transition 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive2: State: mcx::drive::OperationEnable Event: Goto Off [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive2: Enter state: mcx::drive::SwitchOnDisabled 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive2: State: mcx::drive::Transition Event: Disable Voltage [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::Transition 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive3: State: mcx::drive::OperationEnable Event: Goto Off [done] 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive3: Enter state: mcx::drive::SwitchOnDisabled 2023-12-04 16:22:01.664 +0000 [INFO_SM] Drive3: State: mcx::drive::Transition Event: Disable Voltage [done] 2023-12-04 16:22:02.164 +0000 [INFO_SM] Robot State: State: logic::EStopOffState Event: savePersistentData [done]

philippeH

Hi,

Could you make a screenshot from the error handler (GUI)?
Can you also share your EtherCat Configuration (master.xml) that you are using?

Brody

philippeH
Link of master.xml
Page1:

Page2:

philippeH

Hi,

Looks like your second ethercat device (alias 1) has reports an error, because it is related to Slave 4, 5 and 6.
What you can try is to check for example: is if you receive data from this device this can be done via the desk tool:

Example (check position actual value):

if you ssh to the controller:

if you type ethercat sl all the slaves in OP?
if you type dmesg can you send me the results.

also it could be that your slave is in an error state, can you read out the error description?
How to do this: example is for slave on (alias 5) -p5, for you this would be (alias 1) -p1

mcx-intel:~$ ethercat -p5 sdos
SDO 0x203f, "Error report"
  0x203f:00, r-r-r-, uint8, 8 bit, "Error report"
  0x203f:01, r-r-r-, string, 64 bit, "Description"
SDO 0x603f, "Error code"
  0x603f:00, r-r-r-, uint16, 16 bit, "Error code"

For example you can read out the error code or error report

mcx-intel:~$ ethercat upload -p5 0x203f 0x1
NoFault 
mcx-intel:~$ ethercat upload -p5 0x603f 0x0
0x0000 0

Brody

Sorry,
the second drive had a Control circuit voltage drop error,
because error message show EStopOpenCircState I thought there were some issue in my config file,
so I didn't notice drive had error.

But when drivers is in error state,
controller can't reset the drive error after press acknowledge button?

So now GUI can get the statusword of each joint and go to Engage:

By the way,
after employ config or using sudo motorcortex restart when arrival 30min connection limit,
the Angle value of each joint will be very large,
so I need to press Reference All button every time,
how can controller record the offset?

After press Reference All button:

philippeH

Hi,

But when drivers is in error state, controller can't reset the drive error after press acknowledge button?
Only when error on the drive is resolved, the acknowledge button rests the errors.

Yes a free license is only active for 30 mins, after this time you need to restart motorcortex

Which kind of encoders are you using? (single turn absolute?)
If you press reference all and press Save Settings, the Offset data is saved after restarting motorcortex.

Brody

Hello,
Which kind of encoders are you using?
I am using incremental encoder now.

Yes, offset data is saved when restarting Motorcortex after press Save Setting button,
I forgot to press this button before,
thanks!