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ICube-Robotics / ethercat_driver_ros2

Hardware Interface for EtherCAT module integration with ros2_control
https://icube-robotics.github.io/ethercat_driver_ros2/
Apache License 2.0
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The slave error cannot be cleared automatically #76

Closed maxwelllls closed 2 months ago

maxwelllls commented 11 months ago

When sending the Clear error control word is not successful, the slave Status word is stuck in the “STATE_FAULT” and the Control Word is also stuck at 0x80. The CIA402 state machine needs a rising edge to trigger the bug clearing

boomy@boomy:~$ ethercat upload -p 8 -t uint16 0x603f 0 0x7580 30080 boomy@boomy:~$ ethercat upload -p 8 -t uint16 0x6041 0 0x9238 37432 boomy@boomy:~$ ethercat upload -p 8 -t uint16 0x6040 0 0x0080 128 boomy@boomy:~$ ethercat upload -p 8 -t uint16 0x6040 0 0x0080 128 boomy@boomy:~$ ethercat upload -p 8 -t uint16 0x6040 0 0x0080 128

jaronski commented 10 months ago

Are the slaves in OP or PREOP mode? You can check that with ethercat slaves

If you want to send a 128 to the slave you have to download it: boomy@boomy:~$ ethercat download -p 8 -t uint16 0x6040 0 128

I had to send the command 3 times sometimes to reset the fault state.

please be careful because the slaves (joints in my case) will start to operate immediately

I hope this helps