Ethercat HAL driver

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27 Jul 2018 02:31 #114928 by sqmathlete
Replied by sqmathlete on topic Ethercat HAL driver
@ Ilya,

This might be helpful for manually converting Hex => Little Endian

www.scadacore.com/tools/programming-calc...nline-hex-converter/

regards,
Dan
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30 Jul 2018 20:02 #115168 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello Ilya,
  I think that the paremtro that try to configure and later read is not in the configuration, "DeASDA", you would have to use the "generic" method or try to modify the file lcec_deasda.c and lcec_deasda.your wish, I first usually configure everything through TwinCAT and then export all the configuration and parameters to the corresponding files, I hope I can help you with something.
regards
Chimeno
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03 Aug 2018 12:08 - 03 Aug 2018 12:09 #115502 by schlank
Replied by schlank on topic Ethercat HAL driver
Hello!

I have some CANopen-Standard 402 Stepper-Motors and I want to use them with LinuxCNC. They can be configured to operate via ordinary Step/Dir interface. The CAN Bus is then exclusively used to put the motor into operation with the Step/Dir interface, not for actual motion planing. My plan was then to get the whole thing running with a Mesa card "the old fashioned way"

No I read on page 12 that via EtherCAT and some Beckhoff hardware I could use these motors properly via CANopen.

I am now unsure which approach to chose. The old-fashioned way seems to be straight forward but I anyway need to wire the CAN bus through the machine and get a script or something working to put the motors into Step/Dir operation (This I already managed, motors were running)

Using the CANBus is nicer from technical perspective and maybe the motors will also perform better as they were developed to work with CANopen (Just as guess). On the other hand I have no idea how complicated it is to get the motors running via the EtherCAT driver. Some Information are form 2014 or older, some Github pages are not available anymore and some files are missing.

The Mesa Card would be around 200€, the Beckhoff gear is slightly more expansive, depending on how cheap you can get it on eBay.

Would be nice to get some feedback which way to go and how much one need to get into Ethercat and CANopen in detail to get things running. Thanks in advance.
Last edit: 03 Aug 2018 12:09 by schlank.

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03 Aug 2018 13:24 #115516 by Ilya
Replied by Ilya on topic Ethercat HAL driver
Thank you Chimeno and Dan for your responsiveness!
Everything was simple.
In the lcec_deasda.c file, the correct pin already was created.
In my case lcec.0.X.enc-index-ena

thanks,
Ilya
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04 Aug 2018 13:55 #115604 by chimeno
Replied by chimeno on topic Ethercat HAL driver
hello I do not think it is very difficult you can manage CanOpen through EK1100 and EL6751, using the generic module, to do the tests, I recommend that you configure everything through TWINCAT and then export it to linuxcnc-ethercat, in my opion if You do not know much about ethercat, it would be easier and cheaper to use the MESA card, I hope I have helped.
regards
Chimeno

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20 Aug 2018 10:45 - 20 Aug 2018 11:24 #116366 by KRSO
Replied by KRSO on topic Ethercat HAL driver
Hi.

New member here, and new to LinuxCNC!
I'm doing some research for a new CNC.
I want to make a CNC with a distributed/decentralized ethercat servo system with small DC supplied servo drivers at around 80-120VDC.
Have anyone successfully used Copley Plus series, Elmo Gold series or Ingenia servo drives?
Are there any reasons for these to not work with LinuxCNC?

Best Regards Kristian
Last edit: 20 Aug 2018 11:24 by KRSO.

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20 Aug 2018 11:27 - 20 Aug 2018 11:29 #116369 by sirop
Replied by sirop on topic Ethercat HAL driver
I used Copley Plus drives without problems.

Any drive will "see" only the EtherLAB master.
LinuxCNC will only make you create corresponding IO pins.

The more interesting question is precision of your setup: that's depends on your encoders, gear trains (backlash)...
Last edit: 20 Aug 2018 11:29 by sirop.

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20 Aug 2018 13:38 - 20 Aug 2018 13:42 #116373 by KRSO
Replied by KRSO on topic Ethercat HAL driver
That's excellent! My fist choice would be Elmo Gold. We'll see what I can get within the budget.

I bought a complete three axis dual gantry Aerotech (AGS10000) linear motor stage to play with. All parts, including enclosure, but without servo drives. Accuracy should be pretty good;)

Mainly for PnP, but might also be used for 3D printing and light milling.
Last edit: 20 Aug 2018 13:42 by KRSO.

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22 Aug 2018 09:57 #116443 by andypugh
Replied by andypugh on topic Ethercat HAL driver
Can someone who is watching this thread and knows more about EtherCAT than I do (ie, more than zero) take a look at this thread?

forum.linuxcnc.org/38-general-linuxcnc-q...with-ethercat#116440

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31 Aug 2018 01:59 #116896 by cscheng
Replied by cscheng on topic Ethercat HAL driver
Hi,experts:

I`m a new one at learning linuxcnc.
I meet a serious problem now. When I execute command 'start' in halrun, the linux system will be no response in few seconds. The screen is no flash。It seems that the os has halt.
I use Linuxcnc 2.7.14 on debain,and ethercat hal driver.
my hal command list below,
loadusr -W lcec_conf ethercat_config_Delta_R1-all.xml
loadrt lcec
 loadrt threads name1=test period1=1000000 
addf lcec.read-all cs-test
addf lcec.write-all cs-test
show thread

net link0 =>lcec.0.2.ot0
linksp link0 lcec.0.1.in0

net link1 =>lcec.0.2.ot1
linksp link1 lcec.0.1.in1

net link2 =>lcec.0.2.ot2
linksp link2 lcec.0.1.in2

start

and the XML file list below,
<masters>
	<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
		<slave idx="1" type="generic" vid="000001DD" pid="00006002" configPdos="true">
			<syncManager idx="0" dir="in">
				<pdo idx="1a00">
					<pdoEntry idx="6000" subIdx="1" bitLen="1" halPin="in0" halType="bit"/>
				</pdo>
				<pdo idx="1a01">
					<pdoEntry idx="6010" subIdx="1" bitLen="1" halPin="in1" halType="bit"/>
				</pdo>
			</syncManager>
		</slave>
	</master>
</masters>

has anyone has meet such situation?

cs.
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