Hello,
if there isn't connected an engine to a drive, after power on, the ctrlX Drive keeps in "A0051OPmode" and EtherCat "Pre-OP" often.
Normally, if there isn't an engine connected and PLC starts, PLC will check if there is an engine (and what type) to load right engine parameters or to set it into "PA" (parking axis).
In the picture above, the process worked right, command for "PA" was set and drive was switched back to "OM". But EtcherCat keeps in Pre-OP and doesn't switch to "OP".
The only way to fix it is to set whole ctrlX-system (ctrlX-core) to setup and then back to OP, then drive is in OP as well.
What's the reason for drive doesn't switch to ready and OP, how to fix that?
Steps to set drive in OP:
first: switch to "setup"
then: back to "OP"
Now, it works
Axis (still no engine connected) is in "A0014 parking axis" and OP
Thanks for help
As alternative one can use the "Simulation" mode as configuration inside the drive instead of the "Parking axis" command.
Thanks for reply, but PA is not the issue. PA is working fine.
The problem is:
On power on and no engine is connected with the drive, EtherCat communication of the drive keeps in Pre-OP without any reason or error. The only way to set it in OP is via ctrlX-webpage switching to setup and back to OP. And it doesn't matter if an engine is connected or not.
If an engine is connected at power on EtherCat is in OP. If you then disconnect an engine there are no issues, switching axis to PA and back is no problem and works perfect.
I don't understand why drive keeps in Pre-OP but is there a way to restart master communication? Switching to CM clear error back to OM doesn't help.
Hi, I think the behaviour is based on the configuration at this place.
May be you can try enabling, "Slaves have to reach the master state" and check. Also you can define the Master state after system request "Operating/ Setup".
Hope this setting solves your problem
Thanks for hint, tested this setting. But there is no other effect to this topic.
What to see with ctrlX I/O is: Status message: 0x0026: inconsist settings
Would be nice to get info what is inconsist.
The strange thing: If status is set back to INIT manually then, without doing any other thing, reaching OP is no issue, no error, no inconsist setting, nothing.
Axis is set as Parking Axis and everything is as it should be.
The issue "inconsist settings" is always and just after power on with no connected engine then the drive keeps in Pre-OP with this message.
I checked S-0-0423, it's empty:
Axis is set to PA (parking axis) as it should be if no servo-engine is connected. This is done with PLC and works right.
But if there is no engine connected on startup then EtherCat keeps in Pre-OP
But as long as I don't know what the issue is it's impossible to correct "inconsistent settings"
As written, if engine is connected on sturtup, everything is working fine. If engine is disconnected while operating then it works as well, axis is set to parking axis and can be set to OM / Operating again without any issue.