Ethercat HAL driver

More
14 May 2019 18:58 #133783 by chimeno
Replied by chimeno on topic 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).

regards



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
The following user(s) said Thank You: k-1

Please Log in or Create an account to join the conversation.

More
14 May 2019 19:02 #133784 by chimeno
Replied by chimeno on topic Ethercat HAL driver

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.

BUT

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
Chimeno

Please Log in or Create an account to join the conversation.

More
17 May 2019 19:23 - 18 May 2019 17:15 #134086 by k-1
Replied by k-1 on topic Ethercat HAL driver
@chimeno Sorry, not install the itgh lib. But in these thay I install it so I can reply to you. For now latecy test runnung at same condition for 2 days without problem .... during thse days we have a storm too :)) ... and value not change and not have errors ... so I TRY TO make a test on 0,15 ms .... and i have an error after some minutes ... so the previousone is valid.!!!
Last edit: 18 May 2019 17:15 by k-1.

Please Log in or Create an account to join the conversation.

More
20 May 2019 22:46 - 21 May 2019 02:10 #134409 by Grotius
Replied by Grotius on topic Ethercat HAL driver
@K1

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.
Last edit: 21 May 2019 02:10 by Grotius.

Please Log in or Create an account to join the conversation.

More
01 Jun 2019 21:05 #135583 by Matze-K
Replied by Matze-K on topic Ethercat HAL driver
Hello Guy,s I have a problem with the "linuxcnc-ethercat"

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

BR Mathias

Please Log in or Create an account to join the conversation.

More
01 Jun 2019 21:45 #135587 by andypugh
Replied by andypugh on topic Ethercat HAL driver
"Invalid argument" - What is your argument list for the lcec load line?

Please Log in or Create an account to join the conversation.

More
01 Jun 2019 22:15 #135589 by Grotius
Replied by Grotius on topic Ethercat HAL driver
Hi Mathias,

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 !

Please Log in or Create an account to join the conversation.

More
02 Jun 2019 19:30 - 02 Jun 2019 19:36 #135652 by Matze-K
Replied by Matze-K on topic Ethercat HAL driver

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.
And that from Linuxcnc:
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

Best regards

Mathias
Attachments:
Last edit: 02 Jun 2019 19:36 by Matze-K.

Please Log in or Create an account to join the conversation.

More
03 Jun 2019 15:04 - 06 Jun 2019 10:54 #135754 by k-1
Replied by k-1 on topic Ethercat HAL driver
@Grotius what to say? Surely you made me laugh ... but I don't need very strange things. I'm just trying to push the system to the maximum to see how much I can get. In the end I just have to set 7 and then 14 robotic axes. No nuclear war, espionage or other strange fantasies.

Any how very thanks ... I do too many things ... so my head is often filled with many strange doubts.
Last edit: 06 Jun 2019 10:54 by k-1.

Please Log in or Create an account to join the conversation.

More
03 Jun 2019 19:05 #135778 by chimeno
Replied by chimeno on topic Ethercat HAL driver
hello Matze-K,
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
Chimeno
The following user(s) said Thank You: Matze-K

Please Log in or Create an account to join the conversation.

Time to create page: 0.144 seconds
Powered by Kunena Forum