Ethercat HAL driver
- Schaumstofffräsnewbie
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15 Nov 2021 08:06 #226553
by Schaumstofffräsnewbie
Replied by Schaumstofffräsnewbie on topic Ethercat HAL driver
Took my old ethercat.hal file with the adjustments you mentioned, but I got a different error. Seems like I got Permission issues for some access..
I attached the used file below and the error message from the terminal.
I attached the used file below and the error message from the terminal.
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15 Nov 2021 09:25 #226560
by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello,
please check if in the folder /etc/udev/rules.d a file named 99-EtherCAT.rules exists...
if not create this file in the folder with this line in it:
KERNEL ==" EtherCAT [0 -9]*" , MODE ="0664"
after a reboot, it should work.
Note, that you have to use the editor for creating the file with sudo rights. z.b."sudo pluma /etc/udev/ruldes.d/99-EtherCAT.rules"
please check if in the folder /etc/udev/rules.d a file named 99-EtherCAT.rules exists...
if not create this file in the folder with this line in it:
KERNEL ==" EtherCAT [0 -9]*" , MODE ="0664"
after a reboot, it should work.
Note, that you have to use the editor for creating the file with sudo rights. z.b."sudo pluma /etc/udev/ruldes.d/99-EtherCAT.rules"
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- Schaumstofffräsnewbie
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15 Nov 2021 11:37 #226569
by Schaumstofffräsnewbie
Replied by Schaumstofffräsnewbie on topic Ethercat HAL driver
This file is already existing, but named 99-ethercat.rules instead of 99-EtherCAT.rules ..
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15 Nov 2021 11:58 #226570
by db1981
Replied by db1981 on topic Ethercat HAL driver
I don't understand what happends, the last days it was running on your pc....
try :
-sudo adduser $USER ethercat
and
-sudo adduser root ethercat
-> reboot
try :
-sudo adduser $USER ethercat
and
-sudo adduser root ethercat
-> reboot
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15 Nov 2021 12:21 #226573
by Schaumstofffräsnewbie
Replied by Schaumstofffräsnewbie on topic Ethercat HAL driver
That worked. Now I got these errors, but I suppose that is cause there are only the lcec lines in my hal file at the moment.
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15 Nov 2021 13:22 #226576
by db1981
Replied by db1981 on topic Ethercat HAL driver
yes, add motion and the other stuff again...
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06 Apr 2022 09:09 - 08 Apr 2022 07:01 #239424
by GuiHue
Replied by GuiHue on topic Ethercat HAL driver
blanked, see new post for ping.
Last edit: 08 Apr 2022 07:01 by GuiHue.
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08 Apr 2022 07:04 #239624
by GuiHue
Hi Alex,
did you ever manage to make any progress on this? From what google tells me, this is the only information on a bk1120 with linuxcnc-ethercat I could find. I have a similar setup for trying out and I'm stuck at the same point.
Generally I would argue that when devices coupled through a BK1120 to ethercat, than it should be possible to make that work somehow. At the very least on the level of ethercat on linux itself. From there on, the worst that could happen is some new programming within linuxcnc-ethercat. However, I would hope that a generic configuration would suffice.
Replied by GuiHue on topic Ethercat HAL driver
I think it doesn't reach the op state.
Hi Alex,
did you ever manage to make any progress on this? From what google tells me, this is the only information on a bk1120 with linuxcnc-ethercat I could find. I have a similar setup for trying out and I'm stuck at the same point.
Generally I would argue that when devices coupled through a BK1120 to ethercat, than it should be possible to make that work somehow. At the very least on the level of ethercat on linux itself. From there on, the worst that could happen is some new programming within linuxcnc-ethercat. However, I would hope that a generic configuration would suffice.
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16 Jul 2022 09:45 - 16 Jul 2022 18:39 #247436
by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver
I got a huge Problem with my ethercat bus 
Recently died my old PC. I´ve set up a new one with Debian11 and the EtherCAT install thread pinned here in the forum. Then copied my machine backup, but every time i start my machine the OS freezes and the bus Stops. My dmesg after a hard reboot looks alike:
EDIT:
In the DMESG-Log it seems that Ethercat Telegrams get lost. Who is sending these Telegrams ? The EC-Master? or the Slaves?
This is my Config:
Recently died my old PC. I´ve set up a new one with Debian11 and the EtherCAT install thread pinned here in the forum. Then copied my machine backup, but every time i start my machine the OS freezes and the bus Stops. My dmesg after a hard reboot looks alike:
Warning: Spoiler!
[ 6.772696] Bluetooth: hci0: RTL: fw version 0x099a7253
[ 6.939110] ec_master: loading out-of-tree module taints kernel.
[ 6.939331] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 6.945114] EtherCAT: Master driver 1.5.2 unknown
[ 6.945138] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 6.945141] Bluetooth: BNEP filters: protocol multicast
[ 6.945149] Bluetooth: BNEP socket layer initialized
[ 6.946257] EtherCAT: 1 master waiting for devices.
[ 6.951361] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[ 6.951375] EtherCAT: Accepting 6C:4B:90:CD:99:1D as main device for master 0.
[ 6.951387] ec_generic: Binding socket to interface 2 (enp3s0f0).
[ 6.958410] NET: Registered protocol family 38
[ 6.972415] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6.972480] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.984031] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 7.208025] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 7.232052] Generic FE-GE Realtek PHY r8169-0-300:00: attached PHY driver [Generic FE-GE Realtek PHY] (mii_bus:phy_addr=r8169-0-300:00, irq=IGNORE)
[ 7.388112] r8169 0000:03:00.0 enp3s0f0: Link is Down
[ 8.378725] rtw_8822ce 0000:02:00.0: start vif 40:5b:d8:e3:ad:cf on port 0
[ 8.456465] rtw_8822ce 0000:02:00.0: stop vif 40:5b:d8:e3:ad:cf on port 0
[ 8.685643] rtw_8822ce 0000:02:00.0: start vif b2:23:21:1f:85:b8 on port 0
[ 8.892441] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[ 8.900034] EtherCAT 0: Link state of ecm0 changed to UP.
[ 8.908063] EtherCAT WARNING 0: 26 datagrams TIMED OUT!
[ 8.992273] IPv6: ADDRCONF(NETDEV_CHANGE): enp3s0f0: link becomes ready
[ 9.004036] EtherCAT 0: 11 slave(s) responding on main device.
[ 9.004041] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 9.004130] EtherCAT 0: Scanning bus.
[ 9.004190] EtherCAT WARNING 0-0: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.032972] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.061860] EtherCAT WARNING 0-2: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.660621] EtherCAT WARNING 0-10: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.802731] EtherCAT 0: Bus scanning completed in 796 ms.
[ 9.802734] EtherCAT 0: Using slave 0 as DC reference clock.
[ 9.802736] EtherCAT 0: Starting EoE thread.
[ 9.803104] EtherCAT ERROR 0-0: Data size (343) does not fit in mailbox (0)!
[ 9.803112] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803115] EtherCAT ERROR 0-1: Data size (343) does not fit in mailbox (0)!
[ 9.803119] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803121] EtherCAT ERROR 0-2: Data size (343) does not fit in mailbox (0)!
[ 9.803125] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803164] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803167] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803168] EtherCAT ERROR 0-1: Data size (120) does not fit in mailbox (0)!
[ 9.803171] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803172] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803174] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803212] EtherCAT ERROR 0-0: Data size (96) does not fit in mailbox (0)!
[ 9.803215] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803216] EtherCAT ERROR 0-1: Data size (96) does not fit in mailbox (0)!
[ 9.803218] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803219] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803221] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803260] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803262] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.820551] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 9.820707] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 9.822208] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.822241] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 9.822691] EtherCAT 0-0: Acknowledged state PREOP.
[ 9.828100] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[ 9.828615] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 9.830108] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.830139] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[ 9.830604] EtherCAT 0-1: Acknowledged state PREOP.
[ 9.836110] EtherCAT ERROR 0-2: AL status message 0x001B: "Sync manager watchdog".
[ 9.836412] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 9.837918] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.837951] EtherCAT ERROR 0-2: AL status message 0x001E: "Invalid input configuration".
[ 9.838406] EtherCAT 0-2: Acknowledged state PREOP.
[ 9.900114] EtherCAT ERROR 0-10: AL status message 0x001B: "Sync manager watchdog".
[ 9.907521] EtherCAT 0-10: Acknowledged state SAFEOP.
[ 9.916129] EtherCAT 0: Slave states on main device: PREOP.
[ 6.939110] ec_master: loading out-of-tree module taints kernel.
[ 6.939331] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 6.945114] EtherCAT: Master driver 1.5.2 unknown
[ 6.945138] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 6.945141] Bluetooth: BNEP filters: protocol multicast
[ 6.945149] Bluetooth: BNEP socket layer initialized
[ 6.946257] EtherCAT: 1 master waiting for devices.
[ 6.951361] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[ 6.951375] EtherCAT: Accepting 6C:4B:90:CD:99:1D as main device for master 0.
[ 6.951387] ec_generic: Binding socket to interface 2 (enp3s0f0).
[ 6.958410] NET: Registered protocol family 38
[ 6.972415] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6.972480] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.984031] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 7.208025] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 7.232052] Generic FE-GE Realtek PHY r8169-0-300:00: attached PHY driver [Generic FE-GE Realtek PHY] (mii_bus:phy_addr=r8169-0-300:00, irq=IGNORE)
[ 7.388112] r8169 0000:03:00.0 enp3s0f0: Link is Down
[ 8.378725] rtw_8822ce 0000:02:00.0: start vif 40:5b:d8:e3:ad:cf on port 0
[ 8.456465] rtw_8822ce 0000:02:00.0: stop vif 40:5b:d8:e3:ad:cf on port 0
[ 8.685643] rtw_8822ce 0000:02:00.0: start vif b2:23:21:1f:85:b8 on port 0
[ 8.892441] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[ 8.900034] EtherCAT 0: Link state of ecm0 changed to UP.
[ 8.908063] EtherCAT WARNING 0: 26 datagrams TIMED OUT!
[ 8.992273] IPv6: ADDRCONF(NETDEV_CHANGE): enp3s0f0: link becomes ready
[ 9.004036] EtherCAT 0: 11 slave(s) responding on main device.
[ 9.004041] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 9.004130] EtherCAT 0: Scanning bus.
[ 9.004190] EtherCAT WARNING 0-0: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.032972] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.061860] EtherCAT WARNING 0-2: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.660621] EtherCAT WARNING 0-10: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.802731] EtherCAT 0: Bus scanning completed in 796 ms.
[ 9.802734] EtherCAT 0: Using slave 0 as DC reference clock.
[ 9.802736] EtherCAT 0: Starting EoE thread.
[ 9.803104] EtherCAT ERROR 0-0: Data size (343) does not fit in mailbox (0)!
[ 9.803112] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803115] EtherCAT ERROR 0-1: Data size (343) does not fit in mailbox (0)!
[ 9.803119] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803121] EtherCAT ERROR 0-2: Data size (343) does not fit in mailbox (0)!
[ 9.803125] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803164] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803167] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803168] EtherCAT ERROR 0-1: Data size (120) does not fit in mailbox (0)!
[ 9.803171] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803172] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803174] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803212] EtherCAT ERROR 0-0: Data size (96) does not fit in mailbox (0)!
[ 9.803215] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803216] EtherCAT ERROR 0-1: Data size (96) does not fit in mailbox (0)!
[ 9.803218] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803219] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803221] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803260] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803262] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.820551] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 9.820707] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 9.822208] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.822241] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 9.822691] EtherCAT 0-0: Acknowledged state PREOP.
[ 9.828100] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[ 9.828615] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 9.830108] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.830139] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[ 9.830604] EtherCAT 0-1: Acknowledged state PREOP.
[ 9.836110] EtherCAT ERROR 0-2: AL status message 0x001B: "Sync manager watchdog".
[ 9.836412] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 9.837918] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.837951] EtherCAT ERROR 0-2: AL status message 0x001E: "Invalid input configuration".
[ 9.838406] EtherCAT 0-2: Acknowledged state PREOP.
[ 9.900114] EtherCAT ERROR 0-10: AL status message 0x001B: "Sync manager watchdog".
[ 9.907521] EtherCAT 0-10: Acknowledged state SAFEOP.
[ 9.916129] EtherCAT 0: Slave states on main device: PREOP.
EDIT:
In the DMESG-Log it seems that Ethercat Telegrams get lost. Who is sending these Telegrams ? The EC-Master? or the Slaves?
This is my Config:
Attachments:
Last edit: 16 Jul 2022 18:39 by jc2ktr. Reason: additions
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17 Jul 2022 18:19 #247576
by foxington
Replied by foxington on topic Ethercat HAL driver
hello gentelmens,
have anybody some time to check what is wrong with my lcec config for one benchtop testing axis running under lcec please? driver waiting in preop mode and does not run to op mode. it is kollmorgen S300+ethercat motion card plugged in. I attached photo from original configuration program from that brand. there are some mapped PDOs. I tried used that PDOs but without any succes as running with my configuration of free mapped PDOs.
ps. configs are just for beginning with ethercat, for read stuff from drive and to try workflow.
thanks
regards foxington
have anybody some time to check what is wrong with my lcec config for one benchtop testing axis running under lcec please? driver waiting in preop mode and does not run to op mode. it is kollmorgen S300+ethercat motion card plugged in. I attached photo from original configuration program from that brand. there are some mapped PDOs. I tried used that PDOs but without any succes as running with my configuration of free mapped PDOs.
ps. configs are just for beginning with ethercat, for read stuff from drive and to try workflow.
thanks
regards foxington
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