Ethercat HAL driver

db1981 wrote: hello,

theres an bug in your hal file.

Move the line "addf lcec.write-all servo-thread" at the last position of the addf's, after your line "addf conv-float-s32.7 servo-thread ".
at the moment your are constantly writing zero to the drives, because you are sending the output (write-all) before you are doing scaling and calculations.

And you have to move all convertions that are related to inputs (feedback) between
lcec-read and motion, otherwise motion reads zero or old values to.

-addf lcec.read-all
-addf input conversions....
-addf motion, pids, classic ladder...
-addf output conversions....
-addf lcec.write-all (the last)

all modules are called in every cycle in the order you have placed addf in the hal.

read this answer again: forum.linuxcnc.org/24-hal-components/223...er?start=1140#199443

Thanks, i wasn´t aware that this is also neccesary for conversion and scaling

My biggest issue was that my "S-0-0001 TNcyc" cycle time in my Rexroth drives were still 2000us
After setting it to 1000us i was able to jog the axis around

I´ve edited my hal would you please take a look again if it is ok so?

hi,

hal looks good now....

you can get rid of your convert and scale modules like so:

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="s32"/>

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="0.0001"/>


<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="s32"/>

<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="10000"/>

db1981 wrote: hi,

hal looks good now....

you can get rid of your convert and scale modules like so:

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="s32"/>

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="0.0001"/>


<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="s32"/>

<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="10000"/>

Thanks. i´ll try it these days

Thanks for your help

Just found looking for an answer to a forum question:

www.crowdsupply.com/harmonic-bionics/ease

Useful?

Damn i just saw the price, dayumnnnn!
I'll have a Mesa 7i92 please !

andypugh wrote:

Just found looking for an answer to a forum question:

www.crowdsupply.com/harmonic-bionics/ease

Useful?

Actually, i bought one last week and it arrived friday, but i haven't had the time to tinker with it yet. My plan was to use it for I/O for the control-panel. Instead of using loads of rather expensive Beckhoff modules.... An arduino can handle most(all?) the inputs and handle outputs such as powergraph for the spindle etc...

/Thomas