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I am trying to control a Beckhoff AX5106_0000_0203 servodrive with my raspberry pi 3.
The raspberry pi3 image is a preempt_rt image build with yocto.
Scanning the Ethecat devices shows my AX5106_0000_0203 and a SM_Drive_EtherCAT_SoE_Standard axis is found.
The drive was configured and tested using a Beckhoff CX9020 PLC using Twincat 3. From Twincat 3 the startup parameters were exported as xml and inported to Codesys.
When I start my very simple codesys test program, there is an error: EtherCAT is not running, SM_Drive_EtherCAT_SoE_Standard configuration error
I also hear a relais clicking in the servo drive every 2~3 seconds.
With expert setting enabled, online I can change status init/pre-operational and safe-op.
Relais starts clicking when in safe-op. Operational can not be selected.
Ethercat daignostic message switches between 'no error' and 'DC Sync0 Cycle Time'.
Please advise me how I can control the AX5106_0000_0203 or what I should check (Ethercat parameters, Drive startup paramaters?)
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I am trying to control a Beckhoff AX5106_0000_0203 servodrive with my raspberry pi 3.
The raspberry pi3 image is a preempt_rt image build with yocto.
Scanning the Ethecat devices shows my AX5106_0000_0203 and a SM_Drive_EtherCAT_SoE_Standard axis is found.
The drive was configured and tested using a Beckhoff CX9020 PLC using Twincat 3. From Twincat 3 the startup parameters were exported as xml and inported to Codesys.
When I start my very simple codesys test program, there is an error: EtherCAT is not running, SM_Drive_EtherCAT_SoE_Standard configuration error
I also hear a relais clicking in the servo drive every 2~3 seconds.
With expert setting enabled, online I can change status init/pre-operational and safe-op.
Relais starts clicking when in safe-op. Operational can not be selected.
Ethercat daignostic message switches between 'no error' and 'DC Sync0 Cycle Time'.
Please advise me how I can control the AX5106_0000_0203 or what I should check (Ethercat parameters, Drive startup paramaters?)