Ethercat HAL driver

i have been following along and was able to get my ECT60's to move with this setup but scaling is off.

Mike

chimeno wrote: Hello @jc2ktr,

Well, the first thing is to reconfigure the driver in TWINCAT3, that it works in OP and you can move the engines, I attach the program in TWINCAT3 with the modified PDOs according to linuxcnc-ethercat, now you will have to configure the rest yourself, compare and see if you help.


I attach an image of where to change the PDOs, if you change the operating mode you will also have to change them.


I attach an image of where you have the configuration in blue, it is configured in mode 8, (position) you will have to read the manual to see the different modes to see which one interests you the most

Greeting
Chimeno

Hello @ Chimeno,

i´ve tried today to get my Drive in OP-State under Linux without Succes
I opend your TwinCAT Project and tried to Compare it with mine, which i will add to my Post also.

What i don´t understand at the moment is, do i have to add every single PDO entry to the PDO Content list in TwinCAT which i want to use under LinuxCNC? For Example the ControlWord includes more than one entries. Do i have to add every single one to the list?

The at the moment Preferred mode is #8 The CSP-Mode. At the moment it is more important that the configuration works somehow.

In the long term i will then See if its suitable.


Thanks

Hello @jc2ktr

i´ve tried today to get my Drive in OP-State under Linux without Succes

Well, if we get it!!

I opend your TwinCAT Project and tried to Compare it with mine, which i will add to my Post also.

In my project I need to register PDO.

What i don´t understand at the moment is, do i have to add every single PDO entry to the PDO Content list in TwinCAT which i want to use under LinuxCNC? For Example the ControlWord includes more than one entries. Do i have to add every single one to the list?

You just have to add the PDOs you need to use, for example: within the record


it is best to leave the EC60 device by default, one way to do it is with TWINCAT3, add a new device (don't read it) just register again the default form that comes with TWINCAT3, it should work again and take it to OP then you can use the file of the user @MRBaird that uses the generic form

Greeting
Chimeno

chimeno wrote: Hello @jc2ktr

it is best to leave the EC60 device by default, one way to do it is with TWINCAT3, add a new device (don't read it) just register again the default form that comes with TWINCAT3, it should work again and take it to OP then you can use the file of the user @MRBaird that uses the generic form

Greeting
Chimeno

Hello @Chimeno,

I tried to remove the device and add a new device, hope i´ve done it the right way, made Screenshots of how i´ve done it.
The question is, should i activate the Configuration in TwinCAT or is it enough to add it.

Thanks for your patience with me

Hello @jc2ktr

I tried to remove the device and add a new device, hope i´ve done it the right way, made Screenshots of how i´ve done it.
The question is, should i activate the Configuration in TwinCAT or is it enough to add it.

If you have to configure the device and activate it, you should have it in NC mode, the device has to go to OP and be able to move the motor.

Thanks for your patience with me

Don't worry, I'm like you too, and at the beginning everything costs a lot to understand and work.


Greeting
Chimeno

chimeno wrote: Hello @jc2ktr

I tried to remove the device and add a new device, hope i´ve done it the right way, made Screenshots of how i´ve done it.
The question is, should i activate the Configuration in TwinCAT or is it enough to add it.

If you have to configure the device and activate it, you should have it in NC mode, the device has to go to OP and be able to move the motor.

Thanks for your patience with me

Don't worry, I'm like you too, and at the beginning everything costs a lot to understand and work.

Hi @Chimeno,

i am back under LinuxCNC, most of my EC-Slaves are OP only my ECT-Drive still don't do anything.

Started LinuxCNC and enabled the Machine, after that i've done a dmesg see attachment.

After starting the Ethercat bus it tells me following:

[ 1502.144042] EtherCAT ERROR 0-main-7: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 1502.148059] EtherCAT ERROR 0-main-7: AL status message 0x0036: "DC Sync0 Cycle Time".

and later then

[ 1741.894170] EtherCAT ERROR 0-main-7: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 1741.898181] EtherCAT 0: Slave states on main device: PREOP, OP + ERROR.
[ 1741.898183] EtherCAT ERROR 0-main-7: AL status message 0x0036: "DC Sync0 Cycle Time".
[ 1741.906199] EtherCAT 0-main-7: Acknowledged state PREOP.


don't know at the moment what this messages try to tell me




Greeting
Chimeno