Ethercat HAL driver

I had that error using some EL1008 off ebay. The units were dead

You can check with

The final line shows the dead unit.

I'm having the error independently if there are connected or not. In any case I have not any problem when i make ethercat slaves

Could you post your xml file to check if there is something different from mine?

We used that same module on a working machine for a customer;
The config was like this;

We added the EL3062 into the source if anyone is interested. Can probably be implemented with the generic driver anyway(?)

I've solved it using the generic type, but i would appreciated if anyone could discover why doesn't work using ELxxxx

Hello, I am transform the EL2004 files to EP2338 box for compiling it but no posible, how I must configure this 2 files for get lcec_ep2338.o and use me box for pulse-direction control?

Best regards

lcec_el2xxx.h

//
// Copyright (C) 2011 Sascha Ittner <This email address is being protected from spambots. You need JavaScript enabled to view it.>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//

#include "lcec.h"
#include "lcec_el2xxx.h"

typedef struct {
hal_bit_t *out;
hal_bit_t invert;
unsigned int pdo_os;
unsigned int pdo_bp;
} lcec_el2xxx_pin_t;

void lcec_el2xxx_write(struct lcec_slave *slave, long period);

int lcec_el2xxx_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
lcec_master_t *master = slave->master;
lcec_el2xxx_pin_t *hal_data;
lcec_el2xxx_pin_t *pin;
int i;
int err;

// initialize callbacks
slave->proc_write = lcec_el2xxx_write;

// alloc hal memory
if ((hal_data = hal_malloc(sizeof(lcec_el2xxx_pin_t) * slave->pdo_entry_count)) == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "hal_malloc() for slave %s.%s failed\n", master->name, slave->name);
return -EIO;
}
memset(hal_data, 0, sizeof(lcec_el2xxx_pin_t) * slave->pdo_entry_count);
slave->hal_data = hal_data;

// initialize pins
for (i=0, pin=hal_data; i<slave->pdo_entry_count; i++, pin++) {
// initialize POD entry
LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000 + (i << 4), 0x01, &pin->pdo_os, &pin->pdo_bp);

// export pins
if ((err = hal_pin_bit_newf(HAL_IN, &(pin->out), comp_id, "%s.%s.%s.dout-%d", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.dout-%02d failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}
if ((err = hal_param_bit_newf(HAL_RW, &(pin->invert), comp_id, "%s.%s.%s.dout-%d-invert", LCEC_MODULE_NAME, master->name, slave->name, i)) != 0) {
rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "exporting pin %s.%s.%s.dout-%02d-invert failed\n", LCEC_MODULE_NAME, master->name, slave->name, i);
return err;
}

// initialize pins
*(pin->out) = 0;
pin->invert = 0;
}

return 0;
}

void lcec_el2xxx_write(struct lcec_slave *slave, long period) {
lcec_master_t *master = slave->master;
lcec_el2xxx_pin_t *hal_data = (lcec_el2xxx_pin_t *) slave->hal_data;
uint8_t *pd = master->process_data;
lcec_el2xxx_pin_t *pin;
int i, s;

// set outputs
for (i=0, pin=hal_data; i<slave->pdo_entry_count; i++, pin++) {
s = *(pin->out);
if (pin->invert) {
s = !s;
}
EC_WRITE_BIT(&pd[pin->pdo_os], pin->pdo_bp, s);
}
}



lcec_el2xxx.h


//
// Copyright (C) 2011 Sascha Ittner <This email address is being protected from spambots. You need JavaScript enabled to view it.>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
#ifndef _LCEC_EL2XXX_H_
#define _LCEC_EL2XXX_H_

#include "lcec.h"

#define LCEC_EL2xxx_VID LCEC_BECKHOFF_VID

#define LCEC_EL2002_PID 0x07D23052
#define LCEC_EL2004_PID 0x07D43052
#define LCEC_EL2008_PID 0x07D83052
#define LCEC_EL2022_PID 0x07E63052
#define LCEC_EL2024_PID 0x07E83052
#define LCEC_EL2032_PID 0x07F03052
#define LCEC_EL2034_PID 0x07F23052
#define LCEC_EL2042_PID 0x07FA3052
#define LCEC_EL2084_PID 0x08243052
#define LCEC_EL2088_PID 0x08283052
#define LCEC_EL2124_PID 0x084C3052
#define LCEC_EL2808_PID 0x0AF83052
#define LCEC_EL2809_PID 0x0AF93052

#define LCEC_EL2002_PDOS 2
#define LCEC_EL2004_PDOS 4
#define LCEC_EL2008_PDOS 8
#define LCEC_EL2022_PDOS 2
#define LCEC_EL2024_PDOS 4
#define LCEC_EL2032_PDOS 2
#define LCEC_EL2034_PDOS 4
#define LCEC_EL2042_PDOS 2
#define LCEC_EL2084_PDOS 4
#define LCEC_EL2088_PDOS 8
#define LCEC_EL2124_PDOS 4
#define LCEC_EL2808_PDOS 8
#define LCEC_EL2809_PDOS 16

int lcec_el2xxx_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);

#endif

Why don't you use the generic one?

You describe your EP2338 in the xml file and type=generic.

Hi everybody,

I would like to ask for help running LinuxCNC with Sascha's EtherCAT HAL driver using AX5xxx servo drives from Beckhoff.

Here is Beckhoff's xml drive description file:



My drive is AX5201-0000-0200, but that model is missing in the xml file, so I use the info for AX5201-0000-0203, assuming it's approximately the same.

Here is my configuration file:



I must mention that there isn't any watchdog information in Beckhoff's xml file so I used some logical values.

The problem is that whenever I plug the ethernet cable in the drive's ethercat input, the drive display indicates that there is an error named "F581".
Here is the official Beckhoff's description about this error.

I can properly start the drive in TwinCAT and I can see the "Startup" IDN values that TwinCAT is writing to the drive, so I write the same IDN values to the drive with "ethercat soe_write" command, but still no success. The drive display continue to blink and indicate the "F581" error.

Do you have any ideas?
Any help would be appreciated.
Thank you.

Hi

first of all your xml-config-file for the HAL driver is wrong for the dcconf.

You have:
<dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="50000"/>
You should have:
<dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="50000"/>

Next Test should go like this:
1. Unplug cable
2. start or restart ethercat master
3. reboot drive
4. plug cable
--> no error should appear -->5.
--> if an error appears than it is no Linuxcnc/HAL-Driver issue.
5. test for the drive with "ethercat slaves" (soe_write won't work as far as i know forthat drives)
--> check for product ID and compare/search in original xml file --> check parameters
6. start lcnc

Hope that will solve your problem.

Regards
Andreas

Beckhoff AX5xxx uses Sercos over Ethercat (SOE), while drivers of Sacha work for CanOpen over Ethercat (COE). Beckhoff anounced that new drives will use COE and SOE will be deprecated. If you succed, you will be the first one to connect linuxcnc with AX5xxx, please post your solution when it will be available, I am interested to use AX5xxxx.