Ethercat HAL driver

bkt
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5 years 8 months ago - 5 years 8 months ago #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:

Warning: Spoiler!

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>
    <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!

Code:

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.posCommand

tanks a lot.

bkt

Last edit: 5 years 8 months ago by bkt.

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db1981
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5 years 8 months ago - 5 years 8 months ago #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: 5 years 8 months ago by db1981. Reason: post overlab

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db1981
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5 years 8 months ago #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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bkt
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5 years 8 months ago - 5 years 8 months ago #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: 5 years 8 months ago by bkt.

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bkt
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5 years 8 months ago - 5 years 8 months ago #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: 5 years 8 months ago by bkt.

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db1981
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5 years 8 months ago - 5 years 8 months ago #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!

[ 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.

Last edit: 5 years 8 months ago by db1981. Reason: added dmesg example

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