ASD-A2 EtherCAT on LinuxCNC

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14 Apr 2021 20:52 #205938 by arvidb
Replied by arvidb on topic ASD-A2 EtherCAT on LinuxCNC
Could it be that you have marginally unstable servo loops where sometimes a resonance is triggered? Have you tried different tunings?

(I'm absolutely no expert on servo tuning, but it's an idea, anyway...)

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14 Apr 2021 20:58 #205939 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Good day.

Thanks for the idea.
We tried everything.
He does it in positional control and in speed control.

Jirka

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15 Apr 2021 19:55 #206038 by chimeno
Replied by chimeno on topic ASD-A2 EtherCAT on LinuxCNC
Hello @Jirkam,
are you sure you have the DC-MODE mode configured correctly?
<slave idx = "12" type = "DeASDA" name = "X">
      <dcConf assignActivate = "730" sync0Cycle = "250000" sync0Shift = "0" sync1Cycle = "750000" sync1Shift = "0" />
    </slave>


It seems to me that it only supports these two modes, but not the event in SYNC1
1-Free Run Mode (Asynchronous)
2-DC-Synchronous Mode (SYNC0 synchronization)
Supported SYNC0 cycle time
1 ms (PDO cycle time = 1 ms)
2 ms (PDO cycle time = 2 ms)
3 ms (PDO cycle time = 3 ms)

I think the correct option is this
<slave idx = "12" type = "DeASDA" name = "X">
      <dcConf assignActivate = "300" sync0Cycle = "*1" sync0Shift = "0" />
    </slave>

*1 = set to 1ms
SERVO_PERIOD = 1000000


have if this helps??

Greeting
Chimeno

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15 Apr 2021 19:55 #206039 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello.
I have something wrong in .xml.
I modified an .xml that is not in my configuration. By mistake.
That's why we didn't see any change.
Now I have edited the correct .xml and the Lcnc will load without error, but after F2 the servos can be rotated manually. And it shouldn't be.
What's wrong with me?
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
    <slave idx="0" type="EK1100" name="EK1100"/>
    <slave idx="1" type="EL1819" name="DIN1"/>
    <slave idx="2" type="EL1819" name="DIN2"/>
    <slave idx="3" type="EL1088" name="DIN3"/>
    <slave idx="4" type="EL2809" name="DOUT1"/>
    <slave idx="5" type="EL2809" name="DOUT2"/>
    <slave idx="6" type="EL3064" name="AIN"/>
    <slave idx="7" type="EL4004" name="AOUT"/>
    <slave idx="8" type="EL2622" name="RELE1"/>
    <slave idx="9" type="EL2622" name="RELE2"/>
    <slave idx="10" type="EL2622" name="RELE3"/>
    <slave idx="11" type="EL2622" name="RELE4"/>
    <slave idx="12" type="DeASDA_pos" name="X">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="13" type="DeASDA_pos" name="Y1">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="14" type="DeASDA_pos" name="Y2">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
    <slave idx="15" type="DeASDA_pos" name="Z">
      <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>
    </slave>
  </master>
</masters>

Thank you very much.
Jirka

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15 Apr 2021 19:59 #206041 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chimeno

We wrote it at the same time.

I'm not sure I'm right.
I'll try as you write.

Thank you very much.
Jirka

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01 May 2021 21:33 #207576 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi @Chinemo.
So I tried it and since then it's ok.
So I hope it lasts.

Thank you very much for the tip.
Have a nice weekend.
Jirka
The following user(s) said Thank You: chimeno

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06 Sep 2021 20:27 #219789 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hello.
So I'm back.
It lasted without a mistake for a few weeks. I managed to record the behavior on video.
Here is the video
1.red - joint.0.f-error ("X" axis)
2.blue - joint.1.f-error ("Y" axis)
3.green - joint.2.f-error ("Y" axis)
4.purple - joint.3.f-error ("Z" axis)
5.orange - lcec.0.pll-out
6.green - lcec.0.pll-err (it is marked on the video - therefore it is white)

Sometimes he doesn't do it all week.
Sometimes he does it twice a day.
Sometimes he does it all day.
Sometimes it stops making mistakes on its own.
Sometimes I have to restart Linuxcnc to stop making mistakes.

Does anyone know where the problem might be?

Thank you very much Jirka

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05 Dec 2022 05:49 #258559 by mehdidadash
Hi jirkam
Can you attach your final configuration files like XML, INI, HAL,... ?

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05 Dec 2022 12:45 #258589 by jirkam
Replied by jirkam on topic ASD-A2 EtherCAT on LinuxCNC
Hi
I found out that if I turn on the drivers first and only the PC after about 10 seconds, then it doesn't make the error.
Thank you.
Jirka
Attachments:
The following user(s) said Thank You: mehdidadash

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05 Dec 2022 13:09 #258592 by db1981
Replied by db1981 on topic ASD-A2 EtherCAT on LinuxCNC
Hello Jirka,

i have noticed an "~big" error in your hal file.

you adding lcec.real-all and write-all at the beginning of the hal file.

caused that liunxcnc builds its execution order of task functions in the order they are placed in the hal file, your servo-thread calls ec-read and then immediatly writes out lcec-write. So nothing is done with the Data in the meantime. Lcec.write-all uses "old"data from the last cycle . Which causes timing issues and leads to an bad servo tuning.

the right order would be:

addf lcec.read-all (gets data from hardware)
addf motion, value-converts, pids, classicladder etc.. (works with the data)

last addf lcec.write-all (send new data to hardware).


In your case lcec.write-all is called in front of motion and pids. So it sends "old" data from the last cylce to the drives without the new calculations. You got an 1
cycle offset between input and output data.

(you can search for "execution order" in the forum, i have descripted this in detail somewhere)

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