Configuration problem for Ingenia EVE XCR and EVE S XCR

[iamdrfly]

Hi =D

I am trying to control three Everest XCR drives using ROS2 EtherCAT driver. I followed the instructions from this guide. However, I can only enable and move one drive (Drive 3), while the others do not reach the "operation enabled" state.

Since my 3 drives have different product IDs, I created separate YAML configuration files for each of them. I also attempted to switch the RPDO and TPDO orders without success. Below are the details of the configuration for each drive.

The drive's reference manual manual
EtherCAT & CANopen registers link

Configuration for Drive 1 (EVE XCR):

# Configuration file for Ingenia EVE-XCR-E drive
vendor_id: 0x0000029c
product_id: 0x02c30001
auto_fault_reset: true
tpdo: 
  - index: 0x1a00
    channels:
      - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}
      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position, factor: 0.0000001198422491}
      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity, factor: 0.00006283185307}
      - {index: 0x6061, sub_index: 0, type: int8, state_interface: mode_of_operation}
      - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}
rpdo: 
  - index: 0x1600
    channels:
      - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word}
      - {index: 0x607a, sub_index: 0, type: int32, command_interface: position}
      - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity}
      - {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 8}
      - {index: 0x6071, sub_index: 0, type: int16, command_interface: effort}

Configuration for Drive 2 (EVE XCR):

vendor_id: 0x0000029c
product_id: 0x02c31001
auto_fault_reset: true
rpdo:  
  - index: 0x1600
    channels:
      - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word}
      - {index: 0x607a, sub_index: 0, type: int32, command_interface: position}
      - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity}
      - {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 8}
      - {index: 0x6071, sub_index: 0, type: int16, command_interface: effort}
tpdo:  
  - index: 0x1a00
    channels:
      - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}
      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position, factor: 0.0000002396844981}
      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity, factor: 0.0001256637061}
      - {index: 0x6061, sub_index: 0, type: int8, state_interface: mode_of_operation}
      - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}

Configuration for Drive 3 (Working drive EVE S XCR):

vendor_id: 0x0000029c
product_id: 0x03b31001
auto_fault_reset: true
rpdo:  
  - index: 0x1600
    channels:
      - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word}
      - {index: 0x607a, sub_index: 0, type: int32, command_interface: position}
      - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity}
      - {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 8}
      - {index: 0x6071, sub_index: 0, type: int16, command_interface: effort}
tpdo:  
  - index: 0x1a00
    channels:
      - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}
      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position, factor: 0.0000002396844981}
      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity, factor: 0.0001256637061}
      - {index: 0x6061, sub_index: 0, type: int8, state_interface: mode_of_operation}
      - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}

Below is the ros2_control EtherCAT configuration:

    <ros2_control name="ec_single_axis" type="system">
      <hardware>
        <plugin>ethercat_driver/EthercatDriver</plugin>
        <param name="master_id">0</param>
        <param name="control_frequency">1000</param>
      </hardware>

    <joint name="${name}_HAA">
        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
        <state_interface name="error_code"/>
        <command_interface name="position">
          <param name="min">"${haa_min_count}"</param>
          <param name="max">"${haa_min_count}"</param>
        </command_interface>
        <command_interface name="velocity">
          <param name="min">"${haa_min_mrev_sec}" </param>
          <param name="max">"${haa_max_mrev_sec}"</param>
        </command_interface>
        <command_interface name="effort"/>
        <command_interface name="reset_fault"/>
        <ec_module name="drive_1">
          <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
          <param name="alias">0</param>
          <param name="position">0</param>
          <param name="mode_of_operation">8</param>
          <param name="slave_config">/home/lab/grace_ros2_ws/src/grace_description/config/driver_1c.yaml</param>
        </ec_module>
    </joint>

    <joint name="${name}_HFE">
        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
        <state_interface name="error_code"/>
        <command_interface name="position">
          <param name="min">"${hfe_min_count}"</param>
          <param name="max">"${hfe_min_count}"</param>
        </command_interface>
        <command_interface name="velocity">
          <param name="min">"${hfe_min_mrev_sec}" </param>
          <param name="max">"${hfe_max_mrev_sec}"</param>
        </command_interface>
        <command_interface name="effort"/>
        <command_interface name="reset_fault"/>
        <ec_module name="drive_2">
          <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
          <param name="alias">0</param>
          <param name="position">1</param>
          <param name="mode_of_operation">8</param>
          <param name="slave_config">/home/lab/grace_ros2_ws/src/grace_description/config/driver_2c.yaml</param>
        </ec_module>
    </joint>

    <joint name="${name}_KFE">
        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
        <state_interface name="error_code"/>
        <command_interface name="position">
          <param name="min">"${kfe_min_count}"</param>
          <param name="max">"${kfe_min_count}"</param>
        </command_interface>
        <command_interface name="velocity">
          <param name="min">"${kfe_min_mrev_sec}" </param>
          <param name="max">"${kfe_max_mrev_sec}"</param>
        </command_interface>
        <command_interface name="effort"/>
        <command_interface name="reset_fault"/>
        <ec_module name="drive_1">
          <plugin>ethercat_generic_plugins/EcCiA402Drive</plugin>
          <param name="alias">0</param>
          <param name="position">2</param>
          <param name="mode_of_operation">8</param>
          <param name="slave_config">/home/lab/grace_ros2_ws/src/grace_description/config/driver_3b.yaml</param>
        </ec_module>
    </joint>

    </ros2_control>

My setup is based on Ubuntu 22.04 and ROS2 Rolling.

I've attached the dmesg output obtained with EtherCAT debug level set to 1 for both scenarios (with and without the 0x6060 register).

the output from ros2 for the first scenario is:

[INFO] [launch]: All log files can be found below /home/lab/.ros/log/2024-10-07-13-20-27-556845-lab-X570-AORUS-PRO-1754316
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [1754335]
[INFO] [robot_state_publisher-2]: process started with pid [1754337]
[INFO] [spawner-3]: process started with pid [1754339]
[INFO] [spawner-4]: process started with pid [1754341]
[robot_state_publisher-2] [INFO] [1728300027.781726491] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [WARN] [1728300027.787804042] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1728300027.787959145] [resource_manager]: Loading hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300027.789292642] [resource_manager]: Initialize hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300027.789513276] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300027.791563557] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300027.792113448] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300027.792629878] [EthercatDriver]: Got 3 modules
[ros2_control_node-1] [INFO] [1728300027.792639488] [resource_manager]: Successful initialization of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300027.792739280] [resource_manager]: 'configure' hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300027.792742820] [resource_manager]: Successful 'configure' of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300027.792746681] [resource_manager]: 'activate' hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300027.792749211] [EthercatDriver]: Starting ...please wait...
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6040, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x607a, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6071, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6060, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6041, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6064, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x606c, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6077, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6061, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6040, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x607a, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6071, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6060, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6041, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6064, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x606c, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6077, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6061, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6040, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x607a, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6071, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6060, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6041, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6064, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x606c, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6077, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6061, 0x0}
[ros2_control_node-1] [INFO] [1728300027.793665469] [EthercatDriver]: Activated EcMaster!
[ros2_control_node-1] 4 slave(s).
[ros2_control_node-1] Master AL states: 0x02.
[ros2_control_node-1] Link is up.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] [INFO] [1728300028.793936625] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1728300028.793966966] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1728300028.793977926] [resource_manager]: Successful 'activate' of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300028.797481686] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [WARN] [1728300028.797540387] [controller_manager]: Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT scheduling. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details.
[ros2_control_node-1] [INFO] [1728300028.830893662] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1728300028.838196588] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1728300028.838753069] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1728300028.838802080] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1728300028.846580915] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1728300028.854602644] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-4] [INFO] [1728300028.860292478] [spawner_forward_position_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1728300028.861003422] [controller_manager]: Configuring controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1728300028.861440281] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1728300028.862676176] [forward_position_controller]: activate successful
[spawner-4] [INFO] [1728300028.864230787] [spawner_forward_position_controller]: Configured and activated forward_position_controller
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 3.
[ros2_control_node-1] Domain: State 1.
[ros2_control_node-1] STATE: Fault with status word :1560
[INFO] [spawner-3]: process has finished cleanly [pid 1754339]
[INFO] [spawner-4]: process has finished cleanly [pid 1754341]
[ros2_control_node-1] Slave: State 0x04.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 6.
[ros2_control_node-1] STATE: Fault with status word :1560
[ros2_control_node-1] Slave: State 0x04.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 9.
[ros2_control_node-1] Domain: State 2.
[ros2_control_node-1] Slave: State 0x04.
[ros2_control_node-1] STATE: Fault with status word :5656
[ros2_control_node-1] Master AL states: 0x0E.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.

The output from ros2 for second scenario (without x6060) is:

[INFO] [launch]: All log files can be found below /home/lab/.ros/log/2024-10-07-13-24-39-278208-lab-X570-AORUS-PRO-1758210
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [1758220]
[INFO] [robot_state_publisher-2]: process started with pid [1758222]
[INFO] [spawner-3]: process started with pid [1758224]
[INFO] [spawner-4]: process started with pid [1758226]
[robot_state_publisher-2] [INFO] [1728300279.504662735] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [WARN] [1728300279.510317613] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1728300279.510507547] [resource_manager]: Loading hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300279.511804534] [resource_manager]: Initialize hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300279.511998058] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300279.514183793] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300279.514732845] [EthercatDriver]: joints
[ros2_control_node-1] [INFO] [1728300279.515253836] [EthercatDriver]: Got 3 modules
[ros2_control_node-1] [INFO] [1728300279.515263916] [resource_manager]: Successful initialization of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300279.515372158] [resource_manager]: 'configure' hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300279.515376178] [resource_manager]: Successful 'configure' of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300279.515379858] [resource_manager]: 'activate' hardware 'ec_single_axis' 
[ros2_control_node-1] [INFO] [1728300279.515382408] [EthercatDriver]: Starting ...please wait...
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6040, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x607a, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6071, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6041, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6064, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x606c, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6077, 0x0}
[ros2_control_node-1] {0, 0, 0x29c, 0x2c30001, 0x6061, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6040, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x607a, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6071, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6041, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6064, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x606c, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6077, 0x0}
[ros2_control_node-1] {0, 1, 0x29c, 0x2c31001, 0x6061, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6040, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x607a, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x60ff, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6071, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6060, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6041, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6064, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x606c, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6077, 0x0}
[ros2_control_node-1] {0, 2, 0x29c, 0x3b31001, 0x6061, 0x0}
[ros2_control_node-1] [INFO] [1728300279.516150554] [EthercatDriver]: Activated EcMaster!
[ros2_control_node-1] 4 slave(s).
[ros2_control_node-1] Master AL states: 0x02.
[ros2_control_node-1] Link is up.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Slave: online.
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] STATE: Not Ready to Switch On with status word :0
[ros2_control_node-1] [INFO] [1728300280.516692270] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1728300280.516718850] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1728300280.516728511] [resource_manager]: Successful 'activate' of hardware 'ec_single_axis'
[ros2_control_node-1] [INFO] [1728300280.520593511] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [WARN] [1728300280.520670382] [controller_manager]: Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT scheduling. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details.
[ros2_control_node-1] Domain: WC 3.
[ros2_control_node-1] Domain: State 1.
[ros2_control_node-1] STATE: Fault with status word :1560
[ros2_control_node-1] [INFO] [1728300280.652741673] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1728300280.661549216] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1728300280.662111448] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1728300280.662173569] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1728300280.669453371] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1728300280.673585577] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-4] [INFO] [1728300280.679462130] [spawner_forward_position_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1728300280.680107143] [controller_manager]: Configuring controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1728300280.680632364] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1728300280.681855009] [forward_position_controller]: activate successful
[spawner-4] [INFO] [1728300280.683515944] [spawner_forward_position_controller]: Configured and activated forward_position_controller
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Domain: WC 6.
[ros2_control_node-1] STATE: Fault with status word :1560
[INFO] [spawner-3]: process has finished cleanly [pid 1758224]
[INFO] [spawner-4]: process has finished cleanly [pid 1758226]
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.
[ros2_control_node-1] Slave: State 0x01.
[ros2_control_node-1] Slave: State 0x02.
[ros2_control_node-1] Domain: WC 9.
[ros2_control_node-1] Domain: State 2.
[ros2_control_node-1] Slave: State 0x04.
[ros2_control_node-1] STATE: Fault with status word :5656
[ros2_control_node-1] Master AL states: 0x0A.
[ros2_control_node-1] Slave: State 0x08.
[ros2_control_node-1] Slave: operational.

test_with.txt
test_without_6060.txt

Many thanks for your time

Best
Alessio

[ammaraljodah]

Check few things like:

1. Check the state if the drives
   ethercat slaves
   Are they all opertional
2. If they are check the status word, and faluts, did the faluts clear, if not check why
3. Are you sending the command to enable them, are you claiming the hardware interfaces correctly

[iamdrfly]

Hi @ammaraljodah,
Thank you for your time,

1. Only the third drive reaches the OP. The other two drives (first and second) become SAFEOP+E
2. when I kill the ros2_ethercat all the drives switch to PREOP.
3. maybe I am doing wrong but according to the documentation is not necessary to claim the hw interface to reach the OP.
   "After launching the well-configured drive, by default and without fault, motor drive module is brought automatically into the state OPERATION_ENABLED making it ready for use. Automatic transition is only enabled when the control_word command interface is either missing or set to NaN making it possible for the user to take control over the motor drive’s state machine by sending corresponding state transition values using the control_word command interface."

I have noticed that the problem can be caused by the PDO register

• {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 8}

Do you have any suggestions?

Best
Alessio

[ammaraljodah]

Don't worry about the hardware interface, you are right once it comes into OP it will enable automaticly.
You have problem in configuration.
What is the output of
sudo dmesg | grep EtherCAT

[iamdrfly]

Hi @ammaraljodah,

many thanks for your support,
attached the result of sudo dmesg -w (test_2.txt) and sudo dmesg | grep EtherCAT (test_1.txt).
test_1.txt
test_2.txt

The configuration files for the drives are equal for the pdo, only the vendor_id e product_id are different. To find these values I used the command ethercat slaves.

Best
Alessio

[ammaraljodah]

You need to give the permission for the user.
Ros control needs to set pre-emption for the process.

[WARN] [1728300028.797540387] [controller_manager]: Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT scheduling. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details.
[ros2_control_node-1] [INFO] [1728300028.830893662] [controller_manager]: Loading

[ammaraljodah]

Do these settings
https://github.com/ros2-realtime-demo/pendulum/blob/rolling/docs/real_time_linux.md

[ammaraljodah]

Drop the controller frequency to 100Hz in the urdf of the plugin and in the yaml of the ros2 control.
Are you using preempt-rt kernel? If not, you should use it.

[ammaraljodah]

Also use native driver for your ethernet controller instead if the generic

[iamdrfly]

Hi @ammaraljodah,

You are right I am no using a rt patch kernel. Does it make any difference (the problem is related to the pdo config, i do not understand the correlation)?

Unfortunately, I have not an ethernet card compatible with the ones required by link, as you can see below:

lspci -vv | grep Ethernet
04:00.0 Ethernet controller: Intel Corporation I350 Gigabit Network Connection (rev 01)
	Subsystem: Intel Corporation Ethernet Server Adapter I350-T2
04:00.1 Ethernet controller: Intel Corporation I350 Gigabit Network Connection (rev 01)
	Subsystem: Intel Corporation Ethernet Server Adapter I350-T2
05:00.0 Ethernet controller: Intel Corporation I211 Gigabit Network Connection (rev 03)
0a:00.0 Ethernet controller: Intel Corporation I350 Gigabit Network Connection (rev 01)
	Subsystem: Intel Corporation Ethernet Server Adapter I350-T2
0a:00.1 Ethernet controller: Intel Corporation I350 Gigabit Network Connection (rev 01)
	Subsystem: Intel Corporation Ethernet Server Adapter I350-T2

Now I will install the preempt patch and I will update you.

Many thanks
Alessio

[ammaraljodah]

How you know it is PDO config, have you mapped them correctly??

[ammaraljodah]

You need to map the PDOs using a set of SDOs if your drive is having flexible PDOs

[iamdrfly]

Hi @ammaraljodah,

I have followed your suggestion to use rt kernel but it doesn't work, I have the same problems.

Yes, the pdo used in the config files should be fine. Here the sdo available for the ingenia drives sdo_map.txt (This file is obtained by using ethercat sdos -p 0 )

Here the output of dmesg -w dmesg_rt.txt

Here the output of sudo dmesg | grep EtherCAT grep_dmesg.txt

I don't understand how I can control and move only one of the 3 drives, which are identical except for the product and vendor id.

Many thanks for your help

Best regards
Alessio

[ammaraljodah]

You need to map the PDOs, currently you are not mapping any at all.

[iamdrfly]

Hi @ammaraljodah,

I'm not sure what you're referring to.
I've set up the PDO configuration using the YAML files.

# Configuration file for Ingenia EVE-XCR-E drive
vendor_id: 0x0000029c
product_id: 0x02c30001
auto_fault_reset: true
tpdo: 
  - index: 0x1a00
    channels:
      - {index: 0x6041, sub_index: 0, type: uint16, state_interface: status_word}
      - {index: 0x6064, sub_index: 0, type: int32, state_interface: position, factor: 0.0000001198422491}
      - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity, factor: 0.00006283185307}
      - {index: 0x6061, sub_index: 0, type: int8, state_interface: mode_of_operation}
      - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort}
rpdo: 
  - index: 0x1600
    channels:
      - {index: 0x6040, sub_index: 0, type: uint16, command_interface: control_word}
      - {index: 0x607a, sub_index: 0, type: int32, command_interface: position}
      - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity}
      - {index: 0x6060, sub_index: 0, type: int8, command_interface: mode_of_operation, default: 8}
      - {index: 0x6071, sub_index: 0, type: int16, command_interface: effort}

What am I missing? Could you please be more clear?

Best
Alessio

[ammaraljodah]

Is this servo drive has fixed mapping or flexible mapping?
Are those PDOs the same as the fixed mapping?