Ethercat HAL driver

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

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?

1600

6040 control word
6060 operation mode
607a target position
60ff tarjet velocity

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

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

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

chimeno wrote:

Hello @jc2ktr

Could it be that registers of more than one bit cannot be registered in bit mode?
you rectified the file you can try??

I am also not very clear about the SDO record in that format is correct, I think it is better to configure the value by PDO and simply register it with HAL

setp lcec.0.7.opmode 8

also the

appTimePeriod

value should be equal to the servo thread value

Greeting
Chimeno