1. Configuring LinuxCNC
  3. Advanced Configuration
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  7. Ethercat HAL driver

Ethercat HAL driver

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07 Mar 2021 11:39 - 07 Mar 2021 11:40 #201279 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver

hello jc2ktr,

the terminal command "ethercat eoe" still doesn't work ?

please go to your ec-debianize folder an do a test run of the get source scripts
"./get_source.sh". it clones the repository and then a full screen of patches have to be applied... or is the patching skipped?


no ethercat eoe still shouts out this:

lcnc@LinuxCNC-M75q:~/ethercat_debianize$ ethercat eoe
Unknown command eoe!

and ./get_source.sh this:

Warning: Spoiler!
Last edit: 07 Mar 2021 11:40 by jc2ktr. Reason: Edit

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07 Mar 2021 11:58 #201280 by db1981
Replied by db1981 on topic Ethercat HAL driver
upppps, don't know why ....

edit the file rules in ec-debianize/etherlabmaster/debian , remove "--disable-eoe" in line 5.

then build and install the ec master packackes again. maybe you need to set the mac adress and drivers in etc/ethercat again, after this.

then test if the master works "ethercat slaves", test if linuxcnc with ethercat behaves normal, and check if "ethercat eoe" exist then we can go further.

i think saschi dropped eoe support, for simplifying it, because with a lot of eoe slaves you would be confused by an flood of eth interfaces....

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07 Mar 2021 12:04 - 07 Mar 2021 12:16 #201283 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver

upppps, don't know why ....

edit the file rules in ec-debianize/etherlabmaster/debian , remove "--disable-eoe" in line 5.

then build and install the ec master packackes again. maybe you need to set the mac adress and drivers in etc/ethercat again, after this.

then test if the master works "ethercat slaves", test if linuxcnc with ethercat behaves normal, and check if "ethercat eoe" exist then we can go further.

i think saschi dropped eoe support, for simplifying it, because with a lot of eoe slaves you would be confused by an flood of eth interfaces....


Well i try it at the moment,

and let you know if it is succesfull.

Thanks

so now i was succesfull to get eoe working

lcnc@LinuxCNC-M75q:~$ ethercat slaves
0 8:0 PREOP + 0x00000024:0x00242c04
1 8:1 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
2 8:2 PREOP + EL1018 8K. Dig. Eingang 24V, 10�s
3 8:3 PREOP + EL1018 8K. Dig. Eingang 24V, 10�s
4 8:4 PREOP + EL1018 8K. Dig. Eingang 24V, 10�s
5 8:5 PREOP + EL2004 4Ch. Dig. Output 24V, 0.5A
6 8:6 PREOP + EL2004 4K. Dig. Ausgang 24V, 0.5A
7 8:7 PREOP + EL2004 4K. Dig. Ausgang 24V, 0.5A
8 8:8 PREOP + ECT60V202(COE)
lcnc@LinuxCNC-M75q:~$ ethercat eoe
Master0
Interface Slave State RxBytes RxRate TxBytes TxRate TxQueue
eoe0a8 0 up 0 0 2624 1656 0/100
lcnc@LinuxCNC-M75q:~$

but how do i get the IndraworksDS to connect to my drive, when i plug in a patch cable to my Network the ethercat bus seems to be terminated :unsure:
Last edit: 07 Mar 2021 12:16 by jc2ktr. Reason: status update

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07 Mar 2021 12:29 #201285 by db1981
Replied by db1981 on topic Ethercat HAL driver
strike......

did you pluged the patch cable in the ethercat network? this will not work...

You would need an second network port on your pc. The ec master now has created an virtual network interface for your eoe device : eoe0a8. (if you type ip addr it shoud be listed...)

What you now need is (virtual)bridge between your second hardware ethernet interface and the eoe network interfaces. Then you can connect from your indradrive pc to the virtual eoe interface over your wifi or second lan port...

I'm not an network administrator, but i reads simple. google "debian bridge interfaces"
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07 Mar 2021 12:38 #201286 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver

strike......

did you pluged the patch cable in the ethercat network? this will not work...

You would need an second network port on your pc. The ec master now has created an virtual network interface for your eoe device : eoe0a8. (if you type ip addr it shoud be listed...)

What you now need is (virtual)bridge between your second hardware ethernet interface and the eoe network interfaces. Then you can connect from your indradrive pc to the virtual eoe interface over your wifi or second lan port...

I'm not an network administrator, but i reads simple. google "debian bridge interfaces"


Well then this was step one, now i need to buy another network card to use it, because my built in wireless adapter don't work under linux :pinch: but this helped me a lot now.

Thank you very much :)

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08 Mar 2021 14:39 - 08 Mar 2021 14:44 #201430 by bkt
Replied by bkt on topic Ethercat HAL driver
@dc1981 .... after last week just now an error as I mentioned to you ... do checking dmesg I see these warning:

EtherCAT WARNING: Datagram 0000000026ab63a1 (master-fsm) was SKIPPED 1 time

and error ....

[ 7773.445798] EtherCAT 0: Bus scanning completed in 268 ms.
[ 7773.445803] EtherCAT 0: Using slave main-0 as DC reference clock.
[ 7773.466036] EtherCAT 0: Slave states on main device: INIT.
[ 7773.490397] EtherCAT 0: Slave states on main device: PREOP.
[ 7774.374797] igb 0000:05:00.0 enp5s0: igb: enp5s0 NIC Link is Down
[ 7774.376414] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 7774.376418] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 7774.380472] EtherCAT ERROR 0-main-0: Failed to receive AL state datagram: Datagram error.
[ 7774.384540] EtherCAT 0: 0 slave(s) responding on main device.

Precisely this happened: I turned off linuxcnc and error60 came out in the drives which means: data receiving abnormal in Op status.
Without thinking I turned off the power and started again without turning off the pc .... so I had the inconvenience of not being able to have the drives in OP anymore but only in PREOP.

I am attaching the dmesg.txt to see if you can help me understand the origin of the problem

thanks
Attachments:
Last edit: 08 Mar 2021 14:44 by bkt.

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08 Mar 2021 16:59 #201445 by bkt
Replied by bkt on topic Ethercat HAL driver
@db1981 after these accident I turn off all system. After some second I power on again the system .... when open axis gui I can see "not ready" messages on screen of drive ID=0 ... all other slaves is ok .... so I operate a dmesg | grep -i EtherCAT command and I find these:

Warning: Spoiler!


so with command ethercat slaves -p0:
bkt@bkt:~$ ethercat slaves -p0
0  0:0  OP  +  EP3E-EC

but is not really on OP state (if try to moove joint 0 I obtain following error) so seems etherlab glue poit to different device .....

regards
bkt

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08 Mar 2021 17:02 #201447 by db1981
Replied by db1981 on topic Ethercat HAL driver
@bkt

this concerns the problem discussed last week? Or you not able to get your system running anymore?

What dmesg tells us:

-you have 8 ??? network interfaces ????
-interface enp5s0 is used for ethercat and is tryed to get configured by the network manager. Try to remove this interface from the network configuration, it should be exclusive for ethercat.
-you have restarted linuxcnc many times ??
-physical link on interface enp5s0 (ethercat) is many times lost. check for grounding /shielding , qualitiy of patchcables (stp)

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08 Mar 2021 17:16 #201449 by db1981
Replied by db1981 on topic Ethercat HAL driver
there are clocking problems and lost frames at slave 0, but this seems to be a physical problem. strange for me is, that its the first slave in the row.
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08 Mar 2021 17:59 #201453 by bkt
Replied by bkt on topic Ethercat HAL driver
@1981 ... yes I have 6 eth plus a custom card which is seen as a series of eth. Patch cable is cat7a .... plus if change it is the same .... I try to work on network interfaces ... is strange for me too .... because other slaves in the row work perfect ....

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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. Ethercat HAL driver
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