Ethercat HAL driver

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.

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

The following user(s) said Thank You: bkt

db1981
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5 years 8 months ago #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

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

Last edit: 5 years 8 months ago by bkt.

bkt
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5 years 8 months ago #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 .....

db1981
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5 years 8 months ago #199943 by db1981

Replied by db1981 on topic Ethercat HAL driver

@bkt

-this is very strange now. Lcnc ethercat doesn't initialize slave 6.
-you don't need to connect a pin from the device in the hal
-no dc config needed for initialization
-please attach ini, hal, and the xml as file (i think it needs an deeper look)
-to avoid strange seetings, do a factory reset of the card: "ethercat download -p6 0x1011 0x01 0x64616F6C --type uint32" -> few seconds -> power cycle

The following user(s) said Thank You: bkt

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