Ethercat HAL driver

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

The issue about the homing in the repos github.com/aschiffler/linuxcnc is fixed

The intention to modify the homing source code was about the following cases:
- absolut / multi turn encoder --> HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 6.6; axis is homed at actual position feedback value; no movement
- drive driven homing sequence and switches connected directly to drives --> HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 9.9; NC waits for home-sw-in and assumes movement by the drive it self; axis is homed to position HOME_OFFSET (home-sw-in HAL pin is connected via EtherCAT to corresponding bit in status word of the drive)
- (Standard) NC driven homing sequence --> HOME_SEARCH_VEL != 0.0 HOME_LATCH_VEL != 0.0; NC commands the joint; axis is homed to position HOME_OFFSET
- (Standard) No homing needed / simulation --> HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0

Roschi,

Thank you for your reply. I was aware of 6.6 and 9.9 settings.... I saw it from your previous comments. I guess it is a way to select the desired homing mode, although without a proper documentation, it may cause confusions.

Also, thank you for the fix.

Regards,

Steve

Sascha,

I tried your new project. Installation was much easier, and now I can jog and home my axis.

Thank you!

the first error :Mailbox corrupt received

I've encountered this issue two month ago.
you need to contact the drive manufacturor and update your driver version to 2.0.0

euerka wrote:

Dear all,
Now I follow this post and Andreas's manual to connect Yaskawa servopack with linuxcnc, everthing goes well until :

~/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:

[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!

HI, about the Mailbox corrupt received error

I've encountered this issue two month ago.
you need to contact the drive manufacturor and update your driver version to 2.0.0

sdfzz wrote:

Sorry...one more question..

when I tried roschi's sameple hal and ini files to load linuxcnc, i got errors:

my-mill.hal:4: execv(lcec_conf): No such file or directory
my-mill.hal:4: lcec_conf exited without becoming ready

This line gives the error: loadusr -W lcec_conf /root/linuxcnc/configs/my-mill/ethercat_config_n.xml

I did place the correct xml file inside my config folder.

I saw from one of the video that you run

/etc/init.d/ethercat start

before you run linuxcnc. However, for my case, there is no ethercat file in /etc/init.d. Is there any mistakes in my installation?

Regards,

Steve

I also meet this problem when I install hal on another computer.
Can u tell me how to solve it ?
Thank U.