Ethercat HAL driver

More
5 years 8 months ago #197958 by db1981
Replied by db1981 on topic Ethercat HAL driver
okay, there are 2 different pieces:

-the generic ethercat driver (part of linuxcnc ethercat) runs at your servo thread

-the generic network card driver for the ethercat master. This driver can have much more jitter then an dedicated driver for your network chip, in an realtime environment.

Please Log in or Create an account to join the conversation.

More
5 years 8 months ago - 5 years 8 months ago #197976 by JKAVS
Replied by JKAVS on topic Ethercat HAL driver
@db1981

I'm talking about the generic Ethercat driver. The one that needs a custom XML-file but can used with almost any Ethercat device. Somewhere in this thread was concerns that it is not fast enough for servo drives.
Last edit: 5 years 8 months ago by JKAVS.

Please Log in or Create an account to join the conversation.

More
5 years 8 months ago #197977 by db1981
Replied by db1981 on topic Ethercat HAL driver
That's wrong! there are no speed/cycle time differences between the generic or an special generated ethercat driver.
The following user(s) said Thank You: Nico2017

Please Log in or Create an account to join the conversation.

More
5 years 8 months ago #197978 by JKAVS
Replied by JKAVS on topic Ethercat HAL driver
Maybe I have mixed up the two generic drivers. I browsed the thread back and found a post where it was said that the generic network card driver is slower.

That shouldn't be a problem for me. At least my card is one which should have a specific driver.

Please Log in or Create an account to join the conversation.

More
5 years 8 months ago - 5 years 8 months ago #198189 by bkt
Replied by bkt on topic Ethercat HAL driver
I have a big problem, I can't configure my axis, I can make it move smoothly but I can't drive it in velocity mode .... not because there isn't something wrong, but I think it just comes from a lot of confusion that I'm doing ... I use the generic drive speed profile and I can't figure out which parameters compared to the classic mesa 7i77 configuration I have to insert .... I insert an excerpt of my xml to understand the nomenclature .... and an excerpt from the file. hal ....

/* xml */
Code:
<masters> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1"> <slave idx="0" type="generic" vid="000007DD" pid="01" configPdos="true"> <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig> <sdoConfig idx="60C2" subIdx="1"><sdoDataRaw data="01"/></sdoConfig> <sdoConfig idx="60C2" subIdx="2"><sdoDataRaw data="FD"/></sdoConfig> <sdoConfig idx="607E" subIdx="0"><sdoDataRaw data="00"/></sdoConfig> <!-- <sdoConfig idx="607E" subIdx="1"><sdoDataRaw data="E0"/></sdoConfig> <sdoConfig idx="6091" subIdx="1"><sdoDataRaw data="0375"/></sdoConfig> /* gear ratio param ... but not work ... so I leave it*/ <sdoConfig idx="6091" subIdx="2"><sdoDataRaw data="0010"/></sdoConfig> <sdoConfig idx="6092" subIdx="1"><sdoDataRaw data="0360"/></sdoConfig> <sdoConfig idx="6092" subIdx="2"><sdoDataRaw data="0168"/></sdoConfig> /* questo non và settato*/ --> <syncManager idx="0" dir="out"></syncManager> <syncManager idx="1" dir="in"></syncManager> <syncManager idx="2" dir="out"> <pdo idx="1601"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="driverControl" halType="bit"/> <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="posCommand" halType="float" scale="14000"/> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1A01"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="driverStatus" halType="bit"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="posActual" halType="float" scale="0.000071429"/> <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torActual" halType="float"/> <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float"/> <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="errorStat" halType="float"/> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000" sync1Cycle="0" sync1Shift="0"/> <watchdog divider="2050" intervals="1000"/> </slave>

/* .hal*/
Code:
#******************* # AXIS X #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # these part is ok no need help# # ---PWM Generator signals/setup--- IN ETHERCAT there is no analog signal generator so I think it can be removed #setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [JOINT_0]OUTPUT_SCALE #setp hm2_5i25.0.7i77.0.1.analogout0-minlim [JOINT_0]OUTPUT_MIN_LIMIT #setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [JOINT_0]OUTPUT_MAX_LIMIT # enable _all_ sserial pwmgens # net x-enable hm2_5i25.0.7i77.0.1.analogena # these signals give me problems .... I have to convert them as it is written in the .hal file that I carry later? net x-output => hm2_5i25.0.7i77.0.1.analogout0 # and these signal ?? net x-pos-cmd joint.0.motor-pos-cmd => #?? net x-enable joint.0.amp-enable-out => lcec.0.0.driverControl-3 # ---Encoder feedback signals/setup--- I'm unable to scale encoder raw signal setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [JOINT_0]ENCODER_SCALE net x-pos-fb <= lcec.0.0.posActual #these id right or not? net x-vel-fb <= lcec.0.0.velActual #these id right or not? net x-pos-fb => joint.0.motor-pos-fb <= lcec.0.0.posActual #these id right or not? #actualPos is raw and scaled on xml ... so no need I think. Is right? #net x-index-enable joint.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable #net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts

Finally these is a sample find on these infinite post .... there are converted signal ... but if use "scale" into xml file is necessary converter "posActual" signal from/to u32 for perform [JOINT_0]SCALE signal?

/* converted signal sample from these long post */
Code:
Translate X Position Feedback net RawPositionFeedback0 lcec.0.0.Axis1RxPositionFeedback => x_scale_fb.in setp x_scale_fb.gain [JOINT_0]PSCALE_INV #invert of below setp x_scale_fb.offset 0 net xpos-fb joint.0.motor-pos-fb <= x_scale_fb.out # Translate X Position Command net xpos-cmd joint.0.motor-pos-cmd => x_scale_cmd.in setp x_scale_cmd.gain [JOINT_0]PSCALE #invert of above setp x_scale_cmd.offset 0 net PosCmdX-Scaled x_pos_cmd_u32.in <= x_scale_cmd.out net PosCmdX-IntOut x_pos_cmd_u32.out => lcec.0.0.Axis1TxPositionCommand

but if use "scale" into xml file is necessary converter "posActual" signal from/to u32 for perform [JOINT_0]SCALE signal?
I have not found configuration files that could help me to realize the "SCALE" of the encoder signal .... I don't understand how to get there .... is it just a problem of numeric conversions?

Thanks in advances for any help.
bkt
Last edit: 5 years 8 months ago by bkt. Reason: some type of error copiing xml

Please Log in or Create an account to join the conversation.

More
5 years 8 months ago #198191 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello,

what servo drives are this?

your configured PDOs look like position mode, but you trying to output an velocity command.
Probably the drive has its own position control loop running, then using an additionaly PID in Linuxcnc is wrong.

Please Log in or Create an account to join the conversation.

Time to create page: 0.583 seconds
Powered by Kunena Forum