Ethercat HAL driver
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
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 voilà:
these my .hal
tanks a lot.
bkt
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 voilà:
Warning: Spoiler!
<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>
<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="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000" sync1Cycle="0" sync1Shift="0"/>
<watchdog divider="2050" intervals="1000"/>
</slave>
<slave idx="1" 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>
<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="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000" sync1Cycle="0" sync1Shift="0"/>
<watchdog divider="2050" intervals="1000"/>
</slave>
<slave idx="2" 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>
<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="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="-250000" sync1Cycle="0" sync1Shift="0"/>
<watchdog divider="2050" intervals="1000"/>
</slave>
<slave idx="3" type="EK1100" name="Busklemme"/>
<slave idx="4" type="EL1008"/>
<slave idx="5" type="EL2008"/>
<slave idx="6" type="EL5151" name="Enc0"/>
</master>
</masters>these my .hal
Warning: Spoiler!
loadusr -W lcec_conf /home/mine/linuxcnc/configs/3ax/db1981.xml.xml
loadrt lcec
loadrt [KINS]KINEMATICS
setp rotarydeltakins.platformradius 190.00
setp rotarydeltakins.thighlength 340.0
setp rotarydeltakins.shinlength 800.0
setp rotarydeltakins.footradius 74.09
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt conv_u32_float names=cu32f.0,cu32f.1,cu32f.2
loadrt toggle count=1
loadrt encoder num_chan=1
addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread
addf cu32f.0 servo-thread
addf cu32f.1 servo-thread
addf cu32f.2 servo-thread
addf toggle.0 servo-thread
addf encoder.capture-position servo-thread
addf encoder.update-counters servo-thread
net ec-slaves-responding <= lcec.slaves-responding
net ec-link-up <= lcec.link-up
net ec-all-op <= lcec.all-op
net ec_up lcec.state-op => iocontrol.0.emc-enable-in lcec.0.0.driverControl-0 lcec.0.1.driverControl-0 lcec.0.2.driverControl-0
#net ec_up lcec.state-op => iocontrol.0.emc-enable-in
setp encoder.0.position-scale 10
#net x-pos-fb lcec.0.6.enc-pos-scale
#net y-pos-fb lcec.0.6.enc-pos-scale
setp lcec.0.0.driverControl-1 1
setp lcec.0.0.driverControl-2 1
setp lcec.0.1.driverControl-1 1
setp lcec.0.1.driverControl-2 1
setp lcec.0.2.driverControl-1 1
setp lcec.0.2.driverControl-2 1
#net faultReset-All lcec.0.0.driverControl-7 <= esternalCmd => lcec.0.0.driverControl-7 lcec.0.1.driverControl-7 lcec.0.2.driverControl-7
#net faultSignal-0 lcec.0.0.driverStatus-3 => esternalSignal-0
#net faultSignal-1 lcec.0.1.driverStatus-3 => esternalSignal-1
#net faultSignal-2 lcec.0.2.driverStatus-3 => esternalSignal-2
#net faultSignal-3 lcec.0.3.driverStatus-3 => esternalSignal-3
net Xaxe_on joint.0.amp-enable-out => lcec.0.0.driverControl-3
#net Xaxe_on lcec.0.0.driverControl-1
#net Xaxe_on lcec.0.0.driverControl-2
#net Xaxe_on lcec.0.0.driverControl-0
net Yaxe_on joint.1.amp-enable-out => lcec.0.1.driverControl-3
#net Yaxe_on lcec.0.1.driverControl-1
#net Yaxe_on lcec.0.1.driverControl-2
#net Yaxe_on lcec.0.1.driverControl-0
net Zaxe_on joint.2.amp-enable-out => lcec.0.2.driverControl-3
#net Zaxe_on lcec.0.2.driverControl-1
#net Zaxe_on lcec.0.2.driverControl-2
#net Zaxe_on lcec.0.2.driverControl-0
net Xaxe_fb joint.0.motor-pos-fb <= lcec.0.0.posActual
net Xaxe_cmd joint.0.motor-pos-cmd => lcec.0.0.posCommand
net Yaxe_fb joint.1.motor-pos-fb <= lcec.0.1.posActual
net Yaxe_cmd joint.1.motor-pos-cmd => lcec.0.1.posCommand
net Zaxe_fb joint.2.motor-pos-fb <= lcec.0.2.posActual
net Zaxe_cmd joint.2.motor-pos-cmd => lcec.0.2.posCommandtanks 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.
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.
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.
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:
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
Warning: Spoiler!
=== Master 0, Slave 6 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x141f3052
Revision number: 0x00190000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 2320 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0* EBUS up open yes 5 2309976900 0 155
1 EBUS down closed no - - - -
2 N/A down closed no - - - -
3 N/C down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/244, TX: 0x10f4/244
Standard RX: 0x1000/128, TX: 0x1080/128
Supported protocols: CoE, FoE
General:
Group: Measuring
Image name:
Order number: EL5151
Device name: EL5151 1K. Inc. Encoder
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 130 mAEnable 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:
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!
[ 6878.616403] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6878.616404] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x2050:00/32 0x2051:00/32. Entries to map: 0x2050:00/32 0x2051:00/32
[ 6878.616410] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1601.
[ 6878.628440] EtherCAT ERROR 0-main-1: SDO download 0x1602:00 (1 bytes) aborted.
[ 6878.628443] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6878.628445] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6878.628445] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x2850:00/32 0x2851:00/32. Entries to map: 0x2850:00/32 0x2851:00/32
[ 6878.628451] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1602.
[ 6878.802190] EtherCAT 0: Domain 0: 2 working counter changes - now 29/38.
[ 6879.097563] EtherCAT ERROR 0-main-1: SDO download 0x1A01:00 (1 bytes) aborted.
[ 6879.097568] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6879.097569] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6879.097570] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x6611:00/32 0x6613:00/32. Entries to map: 0x6611:00/32 0x6613:00/32
[ 6879.097576] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1A01.
[ 6879.109605] EtherCAT ERROR 0-main-1: SDO download 0x1A02:00 (1 bytes) aborted.
[ 6879.109608] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6879.109610] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6879.109610] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x6E11:00/32 0x6E13:00/32. Entries to map: 0x6E11:00/32 0x6E13:00/32
[ 6879.109616] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1A02.
[ 6879.806263] EtherCAT 0: Domain 0: 2 working counter changes - now 32/38.
[ 6880.656964] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP.
[ 6880.810332] EtherCAT 0: Domain 0: Working counter changed to 35/38.
[ 6880.945634] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 6882.313434] EtherCAT 0: Domain 0: Working counter changed to 38/38.
[ 6882.388840] EtherCAT 0: Slave states on main device: SAFEOP, OP.
[ 6882.677523] EtherCAT 0: Slave states on main device: OP.
[ 6912.574521] EtherCAT 0: Master thread exited.
[ 6912.574637] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6912.574704] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized.
[ 6912.574728] EtherCAT 0: Releasing master...
[ 6912.574730] EtherCAT 0: Released.
[ 6912.578750] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 6912.582796] EtherCAT WARNING 0-main-0: Changed to SAFEOP + ERROR in the meantime.
[ 6912.582799] EtherCAT WARNING 0-main-2: Changed to SAFEOP + ERROR in the meantime.
[ 6912.651939] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[ 6912.945493] EtherCAT 0: Slave states on main device: PREOP.
[ 6913.185198] EtherCAT WARNING: Datagram ffff894e32dde360 (master-fsm) was SKIPPED 1 time.
[ 7246.297856] EtherCAT 0: Master debug level set to 1.
[ 6878.616404] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x2050:00/32 0x2051:00/32. Entries to map: 0x2050:00/32 0x2051:00/32
[ 6878.616410] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1601.
[ 6878.628440] EtherCAT ERROR 0-main-1: SDO download 0x1602:00 (1 bytes) aborted.
[ 6878.628443] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6878.628445] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6878.628445] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x2850:00/32 0x2851:00/32. Entries to map: 0x2850:00/32 0x2851:00/32
[ 6878.628451] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1602.
[ 6878.802190] EtherCAT 0: Domain 0: 2 working counter changes - now 29/38.
[ 6879.097563] EtherCAT ERROR 0-main-1: SDO download 0x1A01:00 (1 bytes) aborted.
[ 6879.097568] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6879.097569] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6879.097570] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x6611:00/32 0x6613:00/32. Entries to map: 0x6611:00/32 0x6613:00/32
[ 6879.097576] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1A01.
[ 6879.109605] EtherCAT ERROR 0-main-1: SDO download 0x1A02:00 (1 bytes) aborted.
[ 6879.109608] EtherCAT ERROR 0-main-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
[ 6879.109610] EtherCAT WARNING 0-main-1: Failed to clear PDO mapping.
[ 6879.109610] EtherCAT WARNING 0-main-1: Currently mapped PDO entries: 0x6E11:00/32 0x6E13:00/32. Entries to map: 0x6E11:00/32 0x6E13:00/32
[ 6879.109616] EtherCAT WARNING 0-main-1: Failed to configure mapping of PDO 0x1A02.
[ 6879.806263] EtherCAT 0: Domain 0: 2 working counter changes - now 32/38.
[ 6880.656964] EtherCAT 0: Slave states on main device: PREOP, SAFEOP, OP.
[ 6880.810332] EtherCAT 0: Domain 0: Working counter changed to 35/38.
[ 6880.945634] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 6882.313434] EtherCAT 0: Domain 0: Working counter changed to 38/38.
[ 6882.388840] EtherCAT 0: Slave states on main device: SAFEOP, OP.
[ 6882.677523] EtherCAT 0: Slave states on main device: OP.
[ 6912.574521] EtherCAT 0: Master thread exited.
[ 6912.574637] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6912.574704] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram initialized.
[ 6912.574728] EtherCAT 0: Releasing master...
[ 6912.574730] EtherCAT 0: Released.
[ 6912.578750] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 6912.582796] EtherCAT WARNING 0-main-0: Changed to SAFEOP + ERROR in the meantime.
[ 6912.582799] EtherCAT WARNING 0-main-2: Changed to SAFEOP + ERROR in the meantime.
[ 6912.651939] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[ 6912.945493] EtherCAT 0: Slave states on main device: PREOP.
[ 6913.185198] EtherCAT WARNING: Datagram ffff894e32dde360 (master-fsm) was SKIPPED 1 time.
[ 7246.297856] EtherCAT 0: Master debug level set to 1.
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
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.
debug in attach.
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 .....
[ 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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