Ethercat HAL driver

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23 May 2021 12:05 #209896 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Hello ,
thanks for the help !!!
From solving one error I go to another. I reinstalled Linux. I did everything from the beginning.
I received a new error :
Debug file information:
./ethercat_conf.hal:1: lcec_conf exited without becoming ready
1579
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

File Attachment:

File Name: dmesg_2021-05-23.txt
File Size:43 KB

File Attachment:

File Name: linuxcnc.r...5-23.txt
File Size:5 KB

File Attachment:

File Name: ethercat_c...5-23.xml
File Size:1 KB

File Attachment:

File Name: ethercat_c...5-23.ini
File Size:1 KB

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23 May 2021 12:34 #209900 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello,

please check what happens if you use this ethercat_conf file...

File Attachment:

File Name: ethercat_c...5-23.xml
File Size:1 KB
Attachments:

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23 May 2021 15:41 #209916 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Thanks a lot, I have a new error :
Debug file information:
Note: Using POSIX realtime
note: MAXV max: 400.000 units/sec 24000.000 units/min
note: LJOG max: 400.000 units/sec 24000.000 units/min
note: LJOG default: 400.000 units/sec 24000.000 units/min
Waiting for component 'inihal' to become ready....................................A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
...17861
17883
HAL: ERROR: exit called before init
<commandline>:0: waitpid failed milltask inihal

<commandline>:0: milltask exited without becoming ready
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime


The error does not change even when the LAN cable is switched off.

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23 May 2021 17:42 #209927 by db1981
Replied by db1981 on topic Ethercat HAL driver
ok, ethercat master and linuxcnc ethercat are working!
but you have a few other problems....

-your pdo config for "drivecontrol" can not be haltype bit, this pdo has an bitlength of 16 bits you have to use an signed integer, or create an haltype "complex" entry for this. (search in this thread) if lcnc starting will get so far, you will get new errors....

-there seems to be an physical problem with the ethercat connection, the link on your network card gets often down, check for emv, hf dispancy, or cabel ...

-the actual problem is not ethercat related: I guess you can't start an config with one axis, axis gui and trivkins are looking for ini parameters that you have deleted. min. 2 Axis in an lathe config...
comment out the ethercat lines in the hal, and check if your config starts.
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23 May 2021 17:53 - 23 May 2021 18:04 #209930 by Grotius
Replied by Grotius on topic Ethercat HAL driver
Hi db,

Even when he would only load his halfile with halcommand. It should work without starting the lcnc.
And maybe he has to do a halrun -U to clean up some things.

in terminal bash :
To clean :
$ yourpath_to/linuxcnc/scripts/./halrun -U
To load :
$ yourpath_to/linuxcnc/bin/./halcmd \-f yourpaht_to/yourhalname.hal
$ yourpath_to/linuxcnc/bin/./halcmd start
Last edit: 23 May 2021 18:04 by Grotius.
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24 May 2021 13:37 #210060 by bkt
Replied by bkt on topic Ethercat HAL driver
I hve some problem interfacing with EL6900 - EL1904 - EL2904 that i to my project .... ethercat -slave terminal comand give me correct value and correct scan of position and name of terminal .... in my xml I add 3 line:
<slave idx="11" type="EL6900" name="EME1"/>
<slave idx="12" type="EL1904" name="EMEin"/>
<slave idx="13" type="EL2904" name="EMEout"/>

but if i write the row in these way nothing change:
<slave idx="11" type="EL6900" />
<slave idx="12" type="EL1904" />
<slave idx="13" type="EL2904" />

the result is my project not start because slave is not detect ..... is necessary write somethings on .hal file at least to make running my linuxcnc project after addinng these module? (no file is loaded on el6900 ... is virgin and new .... never connect to twin safe program ... i would only know if it work and how it work with linuxcnc).

I accept any suggest.

regards

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24 May 2021 19:05 #210092 by Grotius
Replied by Grotius on topic Ethercat HAL driver
Hi Btk,

It looks oke to me. And drivers are available for your items. The el6900 is the most exotic one.
Maybe try one at a time:

<masters>
<master idx="0" appTimePeriod="30000" refClockSyncCycles="1000000">
<slave idx="0" type="EK1100" name="Terminal"/>
<slave idx="1" type="EL6900" name="Name"/>
</master>
</masters>
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24 May 2021 22:19 #210121 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello Btk,

you have to pass some modparams to the slaves, to get the right PDO Configuration.
Have you set the dip switches to unique addresses?

Configuring FSOE Communication is not an easy task, you should know how FSOE Communcation works to do the right things...
I don'T know if an empty 6900 works.
You will have to write down your click order in Twincat at setup time to setup the Parameters in lcnc... The 6900 aranges the pdo like the order you have linked the variables in your TwinSafe project and not how it is displayed in the System Manager...

attached an working example config file.

File Attachment:

File Name: ethercat-conf.xml
File Size:2 KB


tonight its to late for me to explain FSOE....
Attachments:
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25 May 2021 05:54 #210190 by bkt
Replied by bkt on topic Ethercat HAL driver
:( :( .... I was hoping at least once in a quick start ... I know it will be something that will require at least 2/3 days and millary tests before being operational .... but if it is not complicated we don't like it?

@at grotius: based on my non operative test (only 2 axis) seems include halui libs and halui heather like your skynet in qt project was an easy solution for a qt c++ interfaces .... Before I did the same by sending Modbus signals from QT to Halui GUI (I know LCNC Without Graphical Interfaces) .... sometimes it was little responsive .... so instead the commands have improved a lot.

real thanks for these.

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25 May 2021 08:49 #210208 by foxington
Replied by foxington on topic Ethercat HAL driver
hello there,

excuse me gentlmens,

has anybody successfull running of Kollmorgen drives like AKD or older S300-guys please? I am looking for in this thread from page 1 and I found supreme link www.iram.fr/~blanchet/ethercat/akd/examples/ of AKD...

I am owner of S300 stuff, it is basically the same but different...

thanks for any reply

Slav

stay healthy

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