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Published 20 hours ago • verified publisher icon leggedrobotics

Startup freeze with multiple motors

Open Cdfghglz opened this issue 2 years ago • 0 comments

Hi

Some 70% of the time, the first motor that is called from EthercatMaster's startup() gets stuck in the state 4 - SAFE_OP.

There are no errors on the motor, but it does not react to any subsequent state change attempts. Also it seems to break the communication as the working counter is too low afterwards.

The issue is present with >12 Maxon controllers. I can not reproduce the issue with <12 motors.

Any ide what could be causing this or how to debug? Thanks!

Cdfghglz avatar Oct 27 '22 05:10 Cdfghglz