Ethercat HAL driver

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11 years 9 months ago - 11 years 9 months ago #54754 by sdfzz
Replied by sdfzz on topic Ethercat HAL driver
Nevermind....I got it somewhat working now...

I will try further after configuring an actual system

Thank you guys for help

Regards,

Steve
Last edit: 11 years 9 months ago by sdfzz.
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11 years 9 months ago - 11 years 9 months ago #54934 by Allan
Replied by Allan on topic Ethercat HAL driver
Inspired by Sascha and Roschi I would like to try using Sascha's driver and have purchased
and experimented with a couple of Bechhoff EtherCAT terminals.

At the moment I can't afford to buy servos. Would it be possible to use Sascha's generic
driver with Bechhoff's EL7041 stepper motor driver?

Sascha, in an earlier post you mentioned documentation. If you have some notes in German
or in English I would be happy to put together some documentation (I can translate) which I
would hope would help both others and me to understand and use your driver. EtherCAT makes
so much sense for LinuxCNC it would be great to make it much easier for all to use.
Last edit: 11 years 9 months ago by Allan.
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11 years 9 months ago #55391 by euerka
Replied by euerka on topic Ethercat HAL driver
Dear all,
Now I follow this post and Andreas's manual to connect Yaskawa servopack with linuxcnc, everthing goes well until :
Code:
~/linuxcnc-ethercat/linuxcnc$ halrun rtapi:0 stopped msgd:0 stopped halcmd: loadrt threads name1=master period1=1000000 halcmd: loadusr -W lcec_conf ethercat_config_my.xml halcmd: loadrt lcec halcmd: addf lcec.read-all master halcmd: addf lcec.write-all master halcmd: start
dmesg message shows:
Code:
[705599.272444] EtherCAT 0: Link state of ecm0 changed to UP. [705599.280070] EtherCAT WARNING 0: 1 datagram TIMED OUT! [705599.292077] EtherCAT 0: 1 slave(s) responding on main device. [705599.292087] EtherCAT 0: Slave states on main device: INIT. [705599.292581] EtherCAT 0: Scanning bus. [705599.316499] EtherCAT 0: Bus scanning completed in 24 ms. [705599.316509] EtherCAT 0: Using slave 0 as DC reference clock. [705599.320410] EtherCAT 0: Slave states on main device: PREOP.[color=#ff0000] [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received![/color] [705602.382945] EtherCAT DEBUG: 7E 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00 [705602.382965] EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72 [705602.382983] EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60 [705602.383001] EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60 [705602.383019] EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60 [705602.383037] EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60 [705602.383055] EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60 [705602.383073] EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60 [705670.466102] EtherCAT: Requesting master 0... [705670.466114] EtherCAT: Successfully requested master 0. [705670.466230] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working counter 1. [705670.466236] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 6 byte, type LWR. [705670.466290] EtherCAT 0: Master thread exited. [705670.466297] EtherCAT 0: Starting EtherCAT-OP thread. [705670.467927] EtherCAT WARNING 0: 1 datagram TIMED OUT! [705715.024606] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705715.464737] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705716.183720] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [705716.190654] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705716.312261] EtherCAT 0: Slave states on main device: OP. [705716.349656] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error". [705716.353660] EtherCAT 0-0: Acknowledged state SAFEOP. [705716.464063] EtherCAT WARNING 0: 6 datagrams UNMATCHED! [705717.032627] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 5 times. [705717.192606] EtherCAT 0: Domain 0: 3 working counter changes - now 0/1. [705717.464687] EtherCAT WARNING 0: 18 datagrams UNMATCHED! [705718.036643] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 3 times. [705719.040649] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705719.464082] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705721.492751] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [705721.499648] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705722.885394] EtherCAT 0: Domain 0: Working counter changed to 0/1. [705723.056714] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705723.464068] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705723.888711] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705726.893333] EtherCAT 0: Domain 0: Working counter changed to 0/1. [705726.901697] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error". [705726.904702] EtherCAT 0-0: Acknowledged state SAFEOP. [705727.072708] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705727.464031] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705727.896710] EtherCAT 0: Domain 0: 2 working counter changes - now 0/1. [705731.088737] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705731.464045] EtherCAT WARNING 0: 3 datagrams UNMATCHED !

There are two error as I analyzed, first of all [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received, Is it means there is something wrong with slave?

Second, there is sychronization error, what does it mean? I have to set slave as reference DC clock? DC cycle time is how much? please refer to ethercat_config_my.xml. I am trying to figure it out refer to William post and Ivan 's post ,since
Enable notLRW:yes shows by ethercat slave -v

File Attachment:

File Name: YaskawaSGD...5.00.xml
File Size:725 KB


File Attachment:

File Name: ethercat_c...g_my.xml
File Size:1 KB

.
I am appreciated anyone can give any solution I also will post it to etherlab mailing list.
Thanks!
Attachments:
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11 years 9 months ago - 11 years 9 months ago #55398 by narogon
Replied by narogon on topic Ethercat HAL driver
why have you two dcconf lines:

<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<dcConf assignActivate="0" sync0Cycle="0" sync0Shift="0"/>

I think you must delete the second one

Besides you can't comment the entering pdo. You must define all the data that the master are receiving and sending.
Last edit: 11 years 9 months ago by narogon.
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11 years 9 months ago #55408 by euerka
Replied by euerka on topic Ethercat HAL driver
Hi Nacho,

I use two two dcconf lines:

<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<dcConf assignActivate="0" sync0Cycle="0" sync0Shift="0"/> because I tried to test William's post
I commented the entering pdo because I would like to try Ivan's method , since he mention that his driver also Enable notLRW: yes.

I did as you comment before, the result is the same.

If anyone has other suggestions, I will try it.
Anyhow I will update my status.

Thanks!
-chengxi
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11 years 9 months ago #55410 by narogon
Replied by narogon on topic Ethercat HAL driver
Two DC lines have no sense for me, the parser is going to read one and overwrite the info in the second line.

In any case have you tried to connect and get the OP mode using TwinCAT from Beckhoff? It helps me a lot to understand what was happening and how to write the .xml files.

Other possible error is that you are using fixed pdo configuration 1602 but you don't specify to the slave configuring parameter with sdoconfig
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