Ethercat HAL driver

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29 Oct 2019 13:04 #149047 by sqmathlete
Replied by sqmathlete on topic Ethercat HAL driver
@ Conny,

Not as far as I know. Its a pain but having twincat available is kind of a prerequisite for serious trouble shooting and development.

Dan
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01 Nov 2019 17:57 - 02 Nov 2019 09:07 #149378 by JimPanski
Replied by JimPanski on topic Ethercat HAL driver
Hi Dan,

the win pc is on the way. in the meantime, i searched a bit in this forum.
found an other ethercat thread here and got a hint looking into syslog..

Warning: Spoiler! [ Click to expand ]


Warning: Spoiler! [ Click to expand ]


config.xml
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="EK1100"/>
    <slave idx="1" type="EL1004" name="i1"/>
    <slave idx="2" type="EL1004" name="i2"/>
    <slave idx="3" type="EL1004" name="i3"/>
    <slave idx="4" type="EL1004" name="i4"/>
    <slave idx="5" type="EL1004" name="i5"/>
    <slave idx="6" type="EL1004" name="i6"/>
    <slave idx="7" type="EL1004" name="i7"/>
    <slave idx="8" type="EL1004" name="i8"/>
    <slave idx="9" type="EL1004" name="i9"/>
    <slave idx="10" type="EL1004" name="i10"/>
    <slave idx="11" type="EL2008" name="e1"/>
    <slave idx="12" type="EL2008" name="e2"/>
    <slave idx="13" type="EL2024" name="e3"/>
    <slave idx="14" type="EL5101" name="encspi"/>
    <slave idx="15" type="EL5101" name="encx"/>
    <slave idx="16" type="EL5101" name="encz"/>
    <slave idx="17" type="EL4034" name="ana"/>

</master>

</masters>

Makes it sense to post the complete syslog here?

Thanks
Conny
Last edit: 02 Nov 2019 09:07 by JimPanski. Reason: added config

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05 Nov 2019 05:22 #149577 by Nico2017
Replied by Nico2017 on topic Ethercat HAL driver
Hi all,

I have a new drive that I am trying to control with EtherCAT. When using the ethercat-config .xml file used by the linuxcnc-ethercat driver it seems that the drive stay in PRE-OP stage and is not able to go to OP (the lcec state PRE-OP pin is true in the halshow).

When using TwinCAT on a windows machine, using the scan devices button, the drives goes to OP without any issue. There is actually a list of Startup command visible in TwinCAT in the Startup panel that I cannot modify. Should I reproduce those Startup command under the ethercat file for the linuxcnc ethercat driver? Apparently this should be something like using the command <initCmds filename="DriveInitCommand.xml"/> in the slave lines as shown in the linuxcnc-ethercat-master\examples\initcmds code from GitHub.

Then each command should be described like the following example inside DriveInitCommand.xml:
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox><CoE><InitCmds>
	<InitCmd>
		<Transition>PS</Transition>
		<Comment><![CDATA[Max current]]></Comment>
		<Timeout>0</Timeout>
		<Ccs>1</Ccs>
		<Index>32785</Index>
		<SubIndex>17</SubIndex>
		<Data>10270000</Data>
	</InitCmd>
</InitCmds></CoE></EtherCATMailbox>

If you are missing those Startup command, do you think it could be the reason why the drive stays in PRE-OP mode?

Thank you for your help.

Nicolas

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08 Nov 2019 14:31 - 08 Nov 2019 14:34 #149919 by roschi
Replied by roschi on topic Ethercat HAL driver
@Nico2017

A00F transformation to 0x0FA0.

--> You have to switch / interchange the sequence of bytes: 0F A0 --> A0 0F

BR
Andreas
Last edit: 08 Nov 2019 14:34 by roschi.
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