Ethercat HAL driver

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25 May 2021 14:28 #210228 by db1981
Replied by db1981 on topic Ethercat HAL driver
hello,

looks for me that Beckhoff sold them as AX2000......
This is an normal Coe Drive, so setup should not be very complicated.
There exists many Twincat examples for this drive. If you create an working Twincat config for this, taking the parameters to lcnc-ethercat should be no problem.

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25 May 2021 15:15 #210231 by foxington
Replied by foxington on topic Ethercat HAL driver
what I know about AX2xxx series, it is in licence production of Kollmorgen/Danaher S6xx series. They are same, they have same driveGUI software for configuration etc... but S300 is newer one but very similar as you said... and AKD is current product of Kollmorgen with support but with older is huge problem...

I am asking here because I have existing configuration with S300 drivers + heidenhain 1Vpp linear scales connected to drives and thinking about rebuilt it at ethercat for reading real position and home pulse position from scales... but how I saw it is long long way and no experiences...

What I know from my profesional experiences from PLC world, bckhff and ethercat have most advanced technology of communication and I was shocked about fact it is possible to implement it to lcnc... thankfully by guys like you... thanks

Regards Slav

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25 May 2021 19:29 #210251 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello,

you wrote you have an existing configuration, already ethercat (Beckhoff) or the drives analog controlled with linuxcnc?

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26 May 2021 10:48 #210331 by foxington
Replied by foxington on topic Ethercat HAL driver
In my case, I began with mach long time ago but it was not a way for me... basic code and stability how we all know... later I having 7i76e putted on my lathe(fairly tail began....) now but I hitted limits with realtime position feedback from drive and paralel cables etc etc.... But my machine has just 1Vpp scales... basically I have position loop setted up inside driver but I can not see real position and it is painfull situation now...

S3xx drivers have posibility to put inside ethercat card and I think it should be the way but what I read here it is painfull way at lcnc side of wall...

what I read here, I need in best way - Intel cpu, with realtek 8139 intel chipset for network.. next need ek1100 "koppler " with any card for checking status with xml file + network cable Cat 5 and higher..
this is the easer part of job...

but thankfully, @chimeno and others there, did a lot of stuff by us thanks a lot...

from driver side - i need to know if it is SoE or CoE or what ever else... then find any xml from producer(have one) or export that from twincat and setup SDOs and PDOs...

at lcnc side download right distro(now i have 2.8.1 preemt-rt) and follow one of here well showed step by step tutorial and do that dirty job

easy money or? :laugh:

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27 May 2021 06:33 - 27 May 2021 06:36 #210426 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Hello ,
i can't start linuxCNC with my configuration. I have a new error .
Error in LinuxCNC :
........................
............................
Tvcp.QTVCP.LIB.TOOLBAR_ACTIONS][[37mDEBUG[0m] parceed: text: 50 mm Increment: 50.0 scaled: 1.96850393701 (toolbar_actions.py:609)
[QTvcp.QTVCP.WIDGETS.WIDGET_BASECLASS][[33mWARNING[0m] Nno objectName for HAL pin: <qtvcp.widgets.status_label.StatusLabel object at 0x7f97d1a12180> (widget_baseclass.py:54)
[QTvcp.QTVCP.WIDGETS.JOG_INCREMENTS][[37mDEBUG[0m] Linear Current index: -1 Increment: 0 , selection changed Continuous (jog_increments.py:101)
[QtDesigner.QTVCP.QT_TSTAT][[37mDEBUG[0m] Toolfile does not exist' ../sim.tbl (qt_tstat.py:113)
[QtDesigner.QTVCP.QT_TSTAT][[37mDEBUG[0m] Toolfile does not exist' ../sim.tbl (qt_tstat.py:113)
[QTvcp][[37mDEBUG[0m] Set HAL ready (qtvcp:218)
[QTvcp][[37mDEBUG[0m] Show window (qtvcp:278)
[QTvcp][[36mINFO[0m] postgui filename: [33mqtvcp_postgui.hal[0m (qtvcp:309)
HAL: ERROR: function 'motion-command-handler' may only be added to one thread
qtvcp_postgui.hal:19: addf failed
motmod: already exists
23682
23723
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

This error is displayed in DMESG : Failed to receive DC times datagram: Datagram initialized.

Can't do sync and so gives this error?

File Attachment:

File Name: ethercat-c...27-2.xml
File Size:1 KB

File Attachment:

File Name: linuxcnc.r...27-2.txt
File Size:10 KB

File Attachment:

File Name: qtaxis.ini...5-27.txt
File Size:8 KB

File Attachment:

File Name: dmesg_2021...27-2.txt
File Size:54 KB
Attachments:
Last edit: 27 May 2021 06:36 by besriworld.

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27 May 2021 07:21 #210429 by db1981
Replied by db1981 on topic Ethercat HAL driver
hello,

-in the ethercat_conf file change this line

<syncManager idx="0" dir="out">

to

<syncManager idx="2" dir="out">



-

HAL: ERROR: function 'motion-command-handler' may only be added to one thread
qtvcp_postgui.hal:19: addf failed

this problem is related to your hal files. It seems that you are trying to load motion a second time in the postgui hal , this don't works. to look exactly i need the hal files
The following user(s) said Thank You: besriworld

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29 May 2021 10:14 - 29 May 2021 10:22 #210612 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Thanks a lot for the help!!
After long errors, LinuxCNC is now starts without errors.
Enters OP mode , but i can't turn on the servo motor .
Controlworld 0x6040 is of the type UINT I tried the complex function... I do not have success with it.
when i start LinuxCNC for the first time i got this error in DMESG

[ 9743.437336] EtherCAT 0: 1 slave(s) responding on main device.
[ 9743.437341] EtherCAT 0: Slave states on main device: INIT.
[ 9743.438189] EtherCAT 0: Scanning bus.
[ 9743.517876] EtherCAT ERROR 0-main-0: SDO upload 0x0000:00 aborted.
[ 9743.517887] EtherCAT ERROR 0-main-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ 9743.517892] EtherCAT ERROR 0-main-0: Failed to read number of mapped PDO entries.
[ 9743.517896] EtherCAT ERROR 0-main-0: Failed to read mapped PDO entries for PDO 0x0000.
[ 9743.523378] EtherCAT ERROR 0-main-0: SDO upload 0x0000:00 aborted.
[ 9743.523387] EtherCAT ERROR 0-main-0: SDO abort message 0x06020000: "This object does not exist in the object directory".
[ 9743.523391] EtherCAT ERROR 0-main-0: Failed to read number of mapped PDO entries.
[ 9743.523395] EtherCAT ERROR 0-main-0: Failed to read mapped PDO entries for PDO 0x0000.

but the error goes into OP mode

After commands " dmesg --clear " and restarting the program(linuxcnc) has no errors .
I am attaching the files:

File Attachment:

File Name: ethercat_c...5-29.txt
File Size:1 KB

File Attachment:

File Name: ethercat_c...5-29.txt
File Size:3 KB

File Attachment:

File Name: dmesg_2021...29-2.txt
File Size:5 KB

File Attachment:

File Name: ethercat_c...29-2.xml
File Size:1 KB


I also tried this ( "conv_float_u32") conversion instruction from DINT to float for feedback but I have no success the position of the feedback does not change . If I moved the axis on first start I have a change HAL value in linuxcnc ..but when the program is running and moving the axis-shaft there is no change in linuxcnc

I apologize a lot for the many questions, but i have no experience with linux
Attachments:
Last edit: 29 May 2021 10:22 by besriworld.

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29 May 2021 17:35 #210640 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hi,

what do you mean with op state?

-Ethercat OP State? or
-Drives Power Enabled State?

have you seen this github.com/dbraun1981/hal-cia402 ?
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29 May 2021 21:42 #210649 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Hi ,
EtherCAT 0: Slave states on main device: OP

The servo driver witch debug LED also indicates that it is normal operation status .

I also tried this configuration. But there is no change.б

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29 May 2021 22:15 #210650 by db1981
Replied by db1981 on topic Ethercat HAL driver
what kind of servo drive is this? manual pdf?

Does the feedback value change if you turn the motor shaft by hand?

You are not able to enable the drive?
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