Ethercat HAL driver
k-1 wrote: Sorry guys ... probabily I've posted mine last in wrong place .... I need some info about latency and Ethercat ... I need to run ethercat to 0,250 ms .... and I not understand if these result of latency is enought!
Can anyone reply to me about? Thanks! The link of mine probabily wrongplace to post (here in lcnc forum).
Hi K-1, I would also like to know if, I really do not know how it can be calculated, I do not know if the variable lcec.read-all.time or lcec.write-all.time can tell you something? , Regards Chimeno
ryucz wrote: Hello, i scored many I/O terminals from older machine, that was scrapped. Problem is, that these are K-Bus (KL1002/KL2012 for example)
I have a bus coupler BK1120 for them. Up and running in TwinCAT everything is working fine.
I sucessfully installed linuxcnc-ethercat and i can see my coupler in slaves. I've read somewhere, that K-Bus is not "transparent" to ethercat master, so i guess that's why i see ONLY my coupler.
Looking through code of linuxcnc-ethercat, it seems to have compatibility only for E-Bus devices (EL.... etc)
Is there any possibilty to "talk" with K-Bus terminals and coupler?
Hello, at the beginning of starting with ethercat, I was also asked if K-bus could work, I remember it was not possible, but you can ask in the Etherlab IGH Ethercat forum if anyone has got it, Regards
If you want to go fast. Use ethercat : With XFC it is possible to achieve I/O response times < 100 μs m.beckhoff.com/english/highlights/xfc/introduction.htm
K1: I need to run ethercat to 0,250 ms Then 100 nanosecond's is within your time responce limit my avatar brother.
If the program style is in interrupt model. You could get some nice output.
Do you application need a cnc application? If you can do the application with logic, use the Etherlab provided c example's.
They work fine and you have direct system control. You can even make a c coded interface gui with QT.
Did you know the russian submarines use a long wave radio frequency for communication into the deep ocean...It's a encrypted signal. The same signal is also used for nuclear warfare. Scary isn't it?
The Enigma was also something like this. It didn't take a long time.
For a intro of the old enigma code users.telenet.be/d.rijmenants/nl/enigmasim.htm
Deep sea code explained pdf : users.telenet.be/d.rijmenants/Enigma%20Sim%20Manual.pdf but no word of deep sea radio frequency... haha. I ask a radio specialist about this option. Maybe we can do this with deep sea freqency with ethercat at nano second's instead of common used "old" main frames.. Why not trigger some whale song's with the Ethercat bus? A tiny solared powered submarine in the middle of the atlantic ocian. Invisible for Us and Russia.
What would happen if it has the Chinese flag on it? I think Trump would say.... Fuck it's a huaway modem.
A half year before i have installed the system after this tutorial LINK
Unfortunately, I didn't have time for the project. Now I wanted to continue working on it, but I suddenly get this error
Note: Using POSIX realtime Failed to register PDO entry: No such file or directory LCEC: master 0 PDO entry registration failed lcec: rtapi_app_main: Invalid argument (-22) ./general.hal:2: waitpid failed /usr/bin/rtapi_app lcec ./general.hal:2: /usr/bin/rtapi_app exited without becoming ready ./general.hal:2: insmod for lcec failed, returned -1
Can anyone tell me why that is, unfortunately, I have not been able to find a solution for it.
I have the error on my 32-bit system as well as on my 64-bit system, without which I have changed something
This error can be more then one thing. Mostly of time it's wrong hardware config.
Start your test without any ethercat i/o modules. Only the main "beckhoff ethercat" module and connect cat cable and 24vdc supply
Look good at your xml file.
Insmod failed mean's your real time lcec component can not be inserted to the kernel. Insmod is a linux command.
For 32 bit, it's a .ko file. For 64 bit it's a .so file
There is a invalid argument on the lcec. So your config is the problem.
Please look all over your config. If you don't suceed, no panic.
Linux is power !
andypugh wrote: "Invalid argument" - What is your argument list for the lcec load line?
Hi thank you for your answer, in attachment the config files that I use.
That output I get by input dmesg:
[ 618.171344] EtherCAT: Requesting master 0... [ 618.171347] EtherCAT: Successfully requested master 0. [ 618.172403] EtherCAT ERROR 0 0:4: PDO entry 0x6000:01 is not mapped. [ 618.172434] EtherCAT 0: Releasing master... [ 618.172443] EtherCAT 0: Released.
LINUXCNC - 2.8.0~pre1 Machine configuration directory is '/home/cnc/linuxcnc/configs/KingCNC' Machine configuration file is 'KingCNC.ini' Starting LinuxCNC... emc/iotask/ioControl.cc 701: can't load tool table. Found file(REL): ./general.hal Note: Using POSIX realtime Failed to register PDO entry: No such file or directory LCEC: master 0 PDO entry registration failed lcec: rtapi_app_main: Invalid argument (-22) ./general.hal:2: waitpid failed /usr/bin/rtapi_app lcec ./general.hal:2: /usr/bin/rtapi_app exited without becoming ready ./general.hal:2: insmod for lcec failed, returned -1 Shutting down and cleaning up LinuxCNC... Note: Using POSIX realtime LinuxCNC terminated with an error. You can find more information in the log: /home/cnc/linuxcnc_debug.txt and /home/cnc/linuxcnc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal
I am surprised that it worked before and now does not work
Any how very thanks ... I do too many things ... so my head is often filled with many strange doubts.
It seems that you have an error when registering the PDO, it seems on the device number 4 you can not register 0x6000: 01 quite common, open a terminal and write "ethercat slave" the list of ethercat devices you have to appear "0 servo, 1 servo, 2 servo, 3 EK1100, 4 EL1018, 5 EL2008, if you see everything in PREOP mode, then surely you have some error in the .xml file, I would start by removing all the modules and just connect one and so on until you find the error, I hope I could have oriented you a little, Regards