Ethercat HAL driver

narogon wrote: Two DC lines have no sense for me, the parser is going to read one and overwrite the info in the second line.

Understand, Thanks for your explaination.

narogon wrote: 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.

Yes, I tried it. It works well with Twincat, I can rotate the motor. Maybe I have to come back and try again, because I just tried it, never figure out how does it work and how to write .xml files.

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

I am not clear out this, I will read .xml from vendor creafully and to see how.

-chengxi

euerka wrote:

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

I am not clear out this, I will read .xml from vendor creafully and to see how.

-chengxi

I've read quickly the manual of your servo, check 0x1c12 and 0x1c13 entries. I think you must configure them before sync mode using sdo.

Sorry I'm from my phone and can't describe it better.

Dear all,

to be able to better coordinate future development and for easier setup I've decided to build up a separate project for the Ethercat HAL driver stuff. Please find the new repos (including new devices, functions and bugfixes) here:

github.com/sittner/linuxcnc-ethercat

So, if you have new functions, device drivers or fixes please feel free to fork and send me pull requests.

I also have set up a simple Debian repos (currently without keys) which is intended to be used with the current LinuxCNC Debian Wheezy based dist. This way installation should be very easy:

• create a file "/etc/apt/sources.list.d/linuxcnc-mds.list":
  Code:

  deb http://repo.modusoft.de/linuxcnc/wheezy ./
• # sudo apt-get update
• # sudo apt-get install linuxcnc-ethercat
  The etherlabmaster should be installed automaticaly.
  Currently you will get a warning about missing key.
• edit /etc/default/ethercat to match your setup
• # sudo update-ethercat-config
• reboot
• # ethercat slaves
  this sould show your connected slaves
• start working with Ethercat enabled LinuxCNC

After installation you will find some examples in /usr/share/linuxcnc-ethercat/examples.

Have Fun & Kind Regards

Sascha

Dear all,

Thanks to all your help, now I can jog 3 servos using Omron G5 servo drivers. However, when I hit "home all" button, nothing happens...

- I've connected "axis.N.home-sw-in" to a homing switch, and it seems working fine
- in my ini file, under axis, I added:
HOME = 0.0
HOME_DELAY = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 3.0
HOME_LATCH_BEL = 3.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS=NO
HOME_SEQUENCE = 0
- when I press the home switch, linuxcnc says homing is completed (although the servo did not move at all)
- I did not connect velocity command pins (axis.N.joint-vel-cmd)....would this cause a problem in homing? I can jog all right using position command..

Does anyone encountered a similar issue?

Best regards,

Steve

sdfzz wrote: HOME_LATCH_BEL = 3.0

Typo?
If the INI really sees this then it will see a latch-velocity of zero.

HOME_FINAL_VEL = 0.0

And this one really is zero.

Try non-zero values for all the velocities.

Hi,

Thank you for the reply.. I found the problem.

I used LinuxCNC-add-hal-ethercat distribution from: github.com/aschiffler/linuxcnc/tree/add-hal-ethercat

And line 380 of linuxcnc/src/emc/motion/homing.c is commented out, preventing servos from searching for home.. ( github.com/aschiffler/linuxcnc/blob/add-.../emc/motion/homing.c )

Regards,

Steve