Ethercat HAL driver

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23 Feb 2021 13:53 #199825 by db1981
Replied by db1981 on topic Ethercat HAL driver
@bkt

sorry i am on the "woodway".....

Now i also got an newer EL5151, and both of them old and new run in the test setup without problems. May be there is wrong information in the SII eeprom. writing the coded pdo config is without errors.

So there must be an wrong thing in your config.

please post the ethercat_conf.xml

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23 Feb 2021 14:44 - 23 Feb 2021 14:55 #199833 by bkt
Replied by bkt on topic Ethercat HAL driver
@db1981 ... sorry for these questions ... but I can compile only my lcec_el5151_f25.c, lcec_el5151_f25.h, lcec_conf.c and lcec_conf.h ... or is necessary to compile all ?

ok, i read your messages just now. Thank you. But I would like to learn how to compile my ethercat component .... so my request is valid but do not prepare anything I would like to do by myself.

And if the problem is in my bad xml better .... I am attaching everything .... et voilĂ :

Warning: Spoiler!


these my .hal

Warning: Spoiler!


tanks a lot.

bkt
Last edit: 23 Feb 2021 14:55 by bkt.

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23 Feb 2021 14:52 - 23 Feb 2021 15:05 #199836 by db1981
Replied by db1981 on topic Ethercat HAL driver
@bkt

about compiling: you have to compile the complete project, the modules have to be linked. After compiling you only got an lcec_conf and an lcec module.

about you config, nothing seems to be wrong.

please do an "ethercat debug 1" , start linuxcnc, then dmesg and look for all ethercat messages for slave 6.
Last edit: 23 Feb 2021 15:05 by db1981. Reason: post overlab
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23 Feb 2021 16:44 #199854 by db1981
Replied by db1981 on topic Ethercat HAL driver
@bkt in addition

you should also better change your addf lcec.write_all line to the last line of addfs in your hal file.

read the post #199443 on page 115 of this thread.
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23 Feb 2021 18:23 - 23 Feb 2021 18:25 #199870 by bkt
Replied by bkt on topic Ethercat HAL driver
My ini have debug = 1 ... but noting appears about -p6 slaves on terminal ...

Changing position lcec.write_all command on .hal file give me stability on power on of sistem (previosly sometime one drive not go on OP mode .... now every time ... so thanks).

But no other .... Have you some other ideas? Because linuxcnc axis Gui not detect -p6 slaves at all. On terminal I can see everytime -p6 slaves on PREOP mode.
Last edit: 23 Feb 2021 18:25 by bkt.

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23 Feb 2021 18:54 - 23 Feb 2021 18:55 #199874 by bkt
Replied by bkt on topic Ethercat HAL driver
ethercat slaves -v command show these situations:

Warning: Spoiler!


Enable PDO Configuration: no <- - - - - el5151
Enable Upload at startup: no

where all other slaves have:

CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes <- - - - all other (not 1008-2008)
Enable Upload at startup: no
Enable SDO complete access: no
Last edit: 23 Feb 2021 18:55 by bkt.

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23 Feb 2021 18:56 - 23 Feb 2021 19:21 #199875 by db1981
Replied by db1981 on topic Ethercat HAL driver
not your ini debug ....

In an terminal window write the command "ethercat debug 1".
This sets the debug level from the ethercat master to the syslog (dmesg).
(0 = debug off, 1=debug messages on, 2=all frames to log) .

After this there must be ethercat messages in your dmesg log.
Start linuxcnc, open a second terminal write the command dmesg, there should be ethercat messages.

you should get something like this:
Warning: Spoiler!
Last edit: 23 Feb 2021 19:21 by db1981. Reason: added dmesg example
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23 Feb 2021 19:18 #199879 by db1981
Replied by db1981 on topic Ethercat HAL driver
CoE details:
Enable SDO: yes //sdo communication
Enable SDO Info: yes //sdo info exists in the si eeprom
Enable PDO Assign: yes //pdo assign to sync managers allowed
Enable PDO Configuration: yes //free mapping from (sdo) register to cyclic pdos allowed, configurable, not neccesary for fixed function cards, in servo drives you can choose what parameter should be exists on the bus.
Enable Upload at startup: no //Mailbox stuff, upload complete object dictionry, file access .....
Enable SDO complete access: no //write raw data to index , without subindexs

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24 Feb 2021 08:38 - 24 Feb 2021 08:41 #199937 by bkt
Replied by bkt on topic Ethercat HAL driver
I used ethercat debug 1 ysterday but nothing of relevant ... so i figured i meant the axis gui debug level .... however i attach the dmesg, which has no warming, just at some point slave 6 doesn't go into OP mode and linuxcnc doesn't seem to care anymore. I ask you once again because it is not clear to me: in my xml el5151 there is .... but in the .hal file I do not use it .... is not that it is for this reason that linuxcnc does not send it in OP? I don't use it because I didn't understand what signals I can use, however having read lcec_el5151.c I can use the enc-raw-count or enc-count pin.

debug in attach.

File Attachment:

File Name: EtercatDeb...vel1.txt
File Size:132 KB
Attachments:
Last edit: 24 Feb 2021 08:41 by bkt.

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24 Feb 2021 08:47 #199940 by bkt
Replied by bkt on topic Ethercat HAL driver
Just now I observe these:

[ 1460.285661] EtherCAT DEBUG 0-main-5: Assigning SII access to PDI.
[ 1460.285662] EtherCAT DEBUG 0-main-6: Configuring mailbox sync managers...
[ 1460.285663] EtherCAT DEBUG 0-main-6: SM0: Addr 0x1000, Size 128, Ctrl 0x26, En 1
[ 1460.285664] EtherCAT DEBUG 0-main-6: SM1: Addr 0x1080, Size 128, Ctrl 0x22, En 1

[ 1460.289681] EtherCAT DEBUG 0-main-0: Assigning SII access to PDI.
[ 1460.289682] EtherCAT DEBUG 0-main-1: Assigning SII access to PDI.
[ 1460.289683] EtherCAT DEBUG 0-main-2: Assigning SII access to PDI.
[ 1460.289684] EtherCAT DEBUG 0-main-6: Assigning SII access to PDI.
[ 1460.297829] EtherCAT DEBUG 0-main-3: Now in PREOP.
[ 1460.297833] EtherCAT DEBUG 0-main-3: Assigning SII access back to EtherCAT.
[ 1460.297835] EtherCAT DEBUG 0-main-4: Now in PREOP.
[ 1460.297837] EtherCAT DEBUG 0-main-4: Assigning SII access back to EtherCAT.
[ 1460.297840] EtherCAT DEBUG 0-main-5: Now in PREOP.
[ 1460.297841] EtherCAT DEBUG 0-main-5: Assigning SII access back to EtherCAT.
[ 1460.302018] EtherCAT DEBUG 0-main-0: Now in PREOP.
[ 1460.302022] EtherCAT DEBUG 0-main-0: Assigning SII access back to EtherCAT.
[ 1460.302025] EtherCAT DEBUG 0-main-1: Now in PREOP.
[ 1460.302027] EtherCAT DEBUG 0-main-1: Assigning SII access back to EtherCAT.
[ 1460.302029] EtherCAT DEBUG 0-main-2: Now in PREOP.
[ 1460.302031] EtherCAT DEBUG 0-main-2: Assigning SII access back to EtherCAT.
[ 1460.302033] EtherCAT DEBUG 0-main-3: Finished configuration.
[ 1460.302035] EtherCAT DEBUG 0-main-4: Finished configuration.
[ 1460.302037] EtherCAT DEBUG 0-main-5: Finished configuration.
[ 1460.302039] EtherCAT DEBUG 0-main-6: Now in PREOP.
[ 1460.302041] EtherCAT DEBUG 0-main-6: Assigning SII access back to EtherCAT.
[ 1460.306209] EtherCAT DEBUG 0-main-0: Finished configuration.
[ 1460.306212] EtherCAT DEBUG 0-main-1: Finished configuration.
[ 1460.306215] EtherCAT DEBUG 0-main-2: Finished configuration.
[ 1460.306217] EtherCAT DEBUG 0-main-6: Finished configuration.


Is normal these? Or is because el5151 need to configure a sincManager as a drive, because I not defined a specific sinc manger for el5151 .....

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