Ethercat HAL driver
this is a misunderstanding
It's not about the Profibus protocol. It is about the terminal el6731.
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.
Ethercat run ok !
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:
LINUXCNC - 2.7.14
Machine configuration directory is '/home/cnc/linuxcnc/configs/swm-fm45a'
Machine configuration file is 'swm-fm45a.ini'
Found file(REL): ./swm-fm45a.hal
./swm-fm45a.hal:20: execv(lcec_conf): Permission denied
./swm-fm45a.hal:20: waitpid failed lcec_conf lcec_conf
./swm-fm45a.hal:20: lcec_conf exited without becoming ready
Shutting down and cleaning up LinuxCNC...
LinuxCNC terminated with an error. You can find more information in the log:
as well as in the output of the shell command 'dmesg' and in the terminal
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)
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:
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?
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