Ethercat HAL driver

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11 years 7 months ago #56612 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver

euerka wrote: 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!


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
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11 years 7 months ago #57314 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver

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.
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11 years 7 months ago #57326 by sdfzz
Replied by sdfzz on topic Ethercat HAL driver
Hi, kyoshiro1108,

Would you please try typing "sudo ethercat start" on your terminal before running LinuxCNC?

Regards,

Steve
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11 years 7 months ago #57341 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver

sdfzz wrote: Hi, kyoshiro1108,

Would you please try typing "sudo ethercat start" on your terminal before running LinuxCNC?

Regards,

Steve


The ethercat run on background when I boot up the computer.
so that I can execute ethercat slaves and ethercat master command.

but the problem still exist....
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11 years 7 months ago #57363 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver
I used the other command

$./configure --enable-simulator

to build linuxcnc and the error is .....

$ cd linuxcnc-add-hal-ethercat/
$ . scripts/rip-environment
$ halrun

halcmd: loadrt threads name1=master period1=1000000
halcmd: loadusr -W lcec_conf /home/oslab/Desktop/ethercat_config_my.xml
halcmd: loadrt lcec
lcec: dlopen: /home/oslab/linuxcnc-add-hal-ethercat/rtlib/lcec.so: cannot open shared object file: No such file or directory
<stdin>:3: /home/oslab/linuxcnc-add-hal-ethercat/bin/rtapi_app exited without becoming ready
<stdin>:3: insmod failed, returned -1
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11 years 5 months ago #58343 by euerka
Replied by euerka on topic Ethercat HAL driver
I start to try Sittner new repository < github.com/sittner/linuxcnc-ethercat > , and make, make install.
Everything goes well until I try to load my configure xml, there are errors as follow:
Code:
halcmd: loadusr -W lcec_conf ethercat_config_my.xml lcec_conf: ERROR: unexpected node master found lcec_conf: ERROR: Parse error at line 1: parsing aborted <stdin>:4: lcec_conf exited without becoming ready

My configure file as below:
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1"> <slave idx="0" type="generic" vid="00000539" pid="02200001" configPdos="true"> <syncManager idx="0" dir="out"/> <syncManager idx="1" dir="in"/> <syncManager idx="2" dir="out"> <pdo idx="1602"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/> <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="velocity" halType="s32"/> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1A02"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="S32"/> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> <sdoConfig idx="6060" subIdx="0"> <sdoDataRaw data="08"/> </sdoConfig ><sdoConfig idx="60C2" subIdx="1"> <sdoDataRaw data="01"/> </sdoConfig> <sdoConfig idx="60C2" subIdx="2"> <sdoDataRaw data="FD"/> </sdoConfig> </slave> </master>

I think my configure file format should be OK, because I use it before. May I know how to test this new respository works ?

I already start ethercat,
Code:
ethercat master
or
Code:
ethercat slave -v
show normal.


By the way

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.


After you install etherlab, the default directory will be /opt/etherlab
you can use soft link
Code:
sudo ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/ethercat
Then you can start ethercat by
Code:
/etc/init.d/ethercat start
Hope it helps.
-Chengxi
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