the choices of NIC for 6 DOF robot with linuxcnc
09 May 2016 09:31 #74401
by sirop
Please follow now Frank#s advise and do on the termonal of the master:
Paste this output to this thread.
Replied by sirop on topic the choices of NIC for 6 DOF robot with linuxcnc
Thank sirop very much!!
All the things I need can be got through the pdos. Is it necessary to configure the sdos? What is the reasons for the PLL error? Does it have the relationship with the sdo just as you said?
Please follow now Frank#s advise and do on the termonal of the master:
etherlab slaves -v
etherlab pdosPaste this output to this thread.
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09 May 2016 10:56 - 09 May 2016 12:09 #74403
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
Thanks sirop. My frist question has been solved when I change the INTEL e1000e NIC
Last edit: 09 May 2016 12:09 by chuchengbing.
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09 May 2016 12:22 #74405
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
Thanks cgc. As you said, I start with a configuration and only with one slave.When I closed the distributed clocks in my xml file, there is not any PLL errors and when I add the distributed clocks, PLL error occured even with one slave. That just means the PLL error questions have the relationships with the DC configs and the configuration of DC I did before is not corrected. What is confused is how to correctly configure the DC?
Hello,
please start with a simple configuration and only with one slave.
If this is running, you can take all slaves and more registers.
Maybe try a config like this:
Warning: Spoiler!
<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
<slave idx="0" type="generic" vid="99998888" pid="00020001" configPdos="true">
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="targetpos" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="Actual_Pos" halType="s32"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>
And try first without distributed clocks, disabe line <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
Please tell us a litte bit about your hardware, manufacturer, type ....
If you start the PC, what say "ehercat slaves" ?
regards Frank
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09 May 2016 12:57 - 10 May 2016 07:55 #74407
by sirop
Replied by sirop on topic the choices of NIC for 6 DOF robot with linuxcnc
If your slave manual does not give you complete info on the DC mode of your slave (AssignActivate word),
you might need to consult:
download.beckhoff.com/download/document/...c2_registers_2i7.pdf
about registers 0x0980 and 0x0981 .
you might need to consult:
download.beckhoff.com/download/document/...c2_registers_2i7.pdf
about registers 0x0980 and 0x0981 .
Last edit: 10 May 2016 07:55 by sirop. Reason: typo
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10 May 2016 14:34 - 10 May 2016 14:36 #74447
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
Thanks for all.
Now it also has the errors:
EtherCAT 0: Released.
EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
EtherCAT 0-0: Acknowledged state SAFEOP.
EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
EtherCAT 0-1: Acknowledged state SAFEOP.
EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
EtherCAT 0-2: Acknowledged state SAFEOP.
I think the reasion is DC configruation in xml file and the parameter(now,AssignActivate="300", Sync0Cycle="*1", Sync0shift="0") which I set are not correctly. And the parameter which is most likely to go wrong is "Syncshift". Can any one can tell me how to set this parameter correctly?
Thanks very much!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Now it also has the errors:
EtherCAT 0: Released.
EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
EtherCAT 0-0: Acknowledged state SAFEOP.
EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
EtherCAT 0-1: Acknowledged state SAFEOP.
EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
EtherCAT 0-2: Acknowledged state SAFEOP.
I think the reasion is DC configruation in xml file and the parameter(now,AssignActivate="300", Sync0Cycle="*1", Sync0shift="0") which I set are not correctly. And the parameter which is most likely to go wrong is "Syncshift". Can any one can tell me how to set this parameter correctly?
Thanks very much!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Last edit: 10 May 2016 14:36 by chuchengbing.
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10 May 2016 15:25 #74449
by sirop
Replied by sirop on topic the choices of NIC for 6 DOF robot with linuxcnc
Can you please paste the part of your slave XML file that describes the DC.
I mean the so called ESI XML that comes from the vendor.
The XML tag that part begins with is usually <DC> .
I mean the so called ESI XML that comes from the vendor.
The XML tag that part begins with is usually <DC> .
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11 May 2016 02:53 #74482
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
Hi sirop, thanks for the reply.
Of course, the below details is the DC contents contained in the XML file from the vendor:
I just plate the contents about the DC, thank you.
<Dc Unknown64Bit="1" UnknownFRMW="1">
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</Desc>
<AssignActivate>#x0300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
</OpMode>
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>
Of course, the below details is the DC contents contained in the XML file from the vendor:
I just plate the contents about the DC, thank you.
<Dc Unknown64Bit="1" UnknownFRMW="1">
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</Desc>
<AssignActivate>#x0300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
</OpMode>
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>
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11 May 2016 03:37 #74483
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
I also think about it, when I don't use the DC,it is OK. So, is there a possibility that there is something wrong in the EtherCAT master? The master I am using now comes from the system and is embedded into the Linux kernel, when the system is on, the master run automatically.
Does someone know the version of ethercat master which can configure the DC correctly?
Thanks again!!!!!!!!!!!!!!!!!!!
Does someone know the version of ethercat master which can configure the DC correctly?
Thanks again!!!!!!!!!!!!!!!!!!!
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11 May 2016 08:24 - 11 May 2016 08:26 #74490
by sirop
I guess you use github.com/sirop/ec-debianize by S. Ittner, the etherlab master version used there is
github.com/sittner/ec-debianize/blob/mas...herlabmaster.tar.bz2 .
If you really think that some more recent patches to etherlab master could solve your problem,
try to use the source code from sourceforge.net/p/etherlabmaster/code/ci/default/tree/ .
But before doing this check some other options.
1. As said before, SII EEPROM maybe partially invalid.
2. The AssignActivate (0x0300) word in your slave manual maybe wrong or not apply for all cases.
3. Your slave seems to support 64 bit timestamps? But your master runs on 32 bit?
Mixing 32 and 64 bit timestamps can also be a problem.
See this example:
lists.etherlab.org/pipermail/etherlab-users/2012/001693.html
If you tried out everything of the above mentioned, but this "PLL" problem is still there,
you might need a more fine grained DC control. For this you'll have to edit
either at least github.com/sittner/linuxcnc-ethercat/blo...c_main.c#L1114-L1128
or code your own component following this example wiki.linuxcnc.org/cgi-bin/wiki.pl?Etherlab .
BTW, what is 3.4.9-rtai-686-pse? I thought there is only 3.4.9-rtai-686-pae in the LinixCNC world.
Replied by sirop on topic the choices of NIC for 6 DOF robot with linuxcnc
I also think about it, when I don't use the DC,it is OK. So, is there a possibility that there is something wrong in the EtherCAT master? The master I am using now comes from the system and is embedded into the Linux kernel, when the system is on, the master run automatically.
Does someone know the version of ethercat master which can configure the DC correctly?
Thanks again!!!!!!!!!!!!!!!!!!!
I guess you use github.com/sirop/ec-debianize by S. Ittner, the etherlab master version used there is
github.com/sittner/ec-debianize/blob/mas...herlabmaster.tar.bz2 .
If you really think that some more recent patches to etherlab master could solve your problem,
try to use the source code from sourceforge.net/p/etherlabmaster/code/ci/default/tree/ .
But before doing this check some other options.
1. As said before, SII EEPROM maybe partially invalid.
2. The AssignActivate (0x0300) word in your slave manual maybe wrong or not apply for all cases.
3. Your slave seems to support 64 bit timestamps? But your master runs on 32 bit?
Mixing 32 and 64 bit timestamps can also be a problem.
See this example:
lists.etherlab.org/pipermail/etherlab-users/2012/001693.html
If you tried out everything of the above mentioned, but this "PLL" problem is still there,
you might need a more fine grained DC control. For this you'll have to edit
either at least github.com/sittner/linuxcnc-ethercat/blo...c_main.c#L1114-L1128
or code your own component following this example wiki.linuxcnc.org/cgi-bin/wiki.pl?Etherlab .
BTW, what is 3.4.9-rtai-686-pse? I thought there is only 3.4.9-rtai-686-pae in the LinixCNC world.
Last edit: 11 May 2016 08:26 by sirop.
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11 May 2016 08:48 #74491
by chuchengbing
Replied by chuchengbing on topic the choices of NIC for 6 DOF robot with linuxcnc
Hello sirop, thank you very much.
I will try the measures as you said on the top and I will tell you the results.
I will try the measures as you said on the top and I will tell you the results.
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