Ethercat HAL driver

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28 Sep 2018 04:32 #118089 by andrax
Replied by andrax on topic Ethercat HAL driver
@ Giorgio

this is a misunderstanding
It's not about the Profibus protocol. It is about the terminal el6731.
infosys.beckhoff.com/english.php?content...mServiceData.htm&id=

Master and slave terminals for PROFIBUS
The master and slave terminals for PROFIBUS correspond to the FC3101 PCI card from Beckhoff. Thanks to the connection via Ethernet, no PCI slots are required in the PC.

The EL6731 can run the PROFIBUS protocol with all features; in the EtherCAT Terminal network it enables integration of any Profibus devices. Thanks to the in-house development of the PROFIBUS chip, the terminals are equipped with the latest version of the PROFIBUS technology – including high-precision isochronous mode for axis control and extended diagnostic options. This masters are the only ones that support different poll rates for the slaves.


Best regards

Andre

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28 Sep 2018 14:30 #118117 by sqmathlete
Replied by sqmathlete on topic Ethercat HAL driver
Hi again,

Can the ethercat hal driver handle a slave that only operates in asynchronous mode?

Dan

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30 Sep 2018 12:57 #118234 by stepmotor
Replied by stepmotor on topic Ethercat HAL driver
Hello dears ! Please help to understand. Trying to connect Delta A2-E drive. Set Ethercat HAL driver on linuxcnc 2.7.14 .

Ethercat run ok !
$ethercat slave

root@cnc:/home/cnc/linuxcnc/configs/swm-fm45a# ethercat slave
0 0:0 PREOP + ASDA-A2-E


When run the profile (swm-fm45a) from the example, the following error appears:
Warning: Spoiler! [ Click to expand ]

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01 Oct 2018 16:18 - 01 Oct 2018 16:18 #118299 by k-1
Replied by k-1 on topic Ethercat HAL driver
@andrax

sorry ... I think you means without adapter ...
Last edit: 01 Oct 2018 16:18 by k-1.

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01 Oct 2018 18:59 #118311 by andrax
Replied by andrax on topic Ethercat HAL driver
@k-1 its Ok

My problem is,
I do not understand "sdoRawData"
Can someone help me?

Best regards

Andre

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10 Oct 2018 06:42 #118625 by gbcwbz
Replied by gbcwbz on topic Ethercat HAL driver
cscheng,
which linux kernel do you use ? and which ethercat driver do you use, generic r8169 or e100 ?
some one encountered similar problems, and he used RTAI kernel and generic ethercat driver, and solved the problem by switch to native driver (r8169 e100 etc)

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10 Oct 2018 06:46 #118626 by gbcwbz
Replied by gbcwbz on topic Ethercat HAL driver
andrax,

If you want to send an uint32 number, who's value is 1000, and 000003E8 in hex format, then you should write E8 03 00 00 in sdoRawData field

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10 Oct 2018 16:02 #118641 by andrax
Replied by andrax on topic Ethercat HAL driver
Hello,

the question about PDO and SDO has been resolved.
I found the values ​​and understand the entries.
I have now created the xml without Axes and tested in linuxcnc.
The ethercat haldriver brings a lot of errors but linuxcnc starts and I can address the pins of el1014 and el2008.
The el 6731 has the following statuses:

RUN: flasch
BF: flash
ERR: off

in the Hal:
state-safeop = false
slave-preop = true
state-op = true
state-init = false
slaves-responding = 0x00000004
link-up = true

is there a solution for the errors of ethercat-haldriver?

Best regards

Andre

File Attachment:

File Name: ethercat-c...0-10.xml
File Size:2 KB

File Attachment:

File Name: ethercat-h...rors.txt
File Size:74 KB
Attachments:

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15 Oct 2018 07:51 #118825 by andrax
Replied by andrax on topic Ethercat HAL driver
Hello,

i have an entry:

PDO Content: 0x1600
Size: 6.0
Offs: 0.0
Name: Outputs.3 PD (3 words)_1_0
Type: ARRAY [0..2] OF UNIT

How do I describe this in the XML ?

Best regards

Andre

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21 Oct 2018 12:49 #119155 by andrax
Replied by andrax on topic Ethercat HAL driver
Hallo,

ich habe die Klemme el6731 zum Laufen bekommen.
Der Datenaustausch funktioniert.

Vielen Dank für eure Hilfe...

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