Ethercat HAL driver

sdfzz
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31 Mar 2015 06:12 #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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kyoshiro1108
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31 Mar 2015 12:34 #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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kyoshiro1108
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01 Apr 2015 13:47 #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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euerka
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03 May 2015 07:19 #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:

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:

<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,

ethercat master

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

sudo ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/ethercat

Then you can start ethercat by

/etc/init.d/ethercat start

Hope it helps.
-Chengxi

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euerka
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03 May 2015 08:43 #58345 by euerka

Replied by euerka on topic Ethercat HAL driver

I got the answer after I read the source code.
add

<masters>
......
</master>

in configure file to support multi-master.

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pavel7890
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19 May 2015 03:56 #58833 by pavel7890

Replied by pavel7890 on topic Ethercat HAL driver

Hi,

I finally started to work out my indradrive ethercat project. I acquired Wasino gang lathe and want to use 2 axis servo and main spindle, all controlled by ethercat.

I started with main spindle. So far so good

Just a bit playing with correct soft start/stop spindle procedure.

I guess I found a bug in sittners lcec_conf.c for scale and offset. Since I do not have any experience with git contribution i put it here:

// parse scale
if (strcmp(name, "scale") == 0) {
floatReq = 1;
p->floatScale = atof(val);
continue;
}

// parse offset
if (strcmp(name, "offset") == 0) {
floatReq = 1;
p->floatOffset = atof(val);
continue;
}

There was not continue; so it just parsed scale parameter with error.
Hope it helps.

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sascha
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20 May 2015 17:21 #58889 by sascha

Replied by sascha on topic Ethercat HAL driver

You are right, thank you.

I've took it into master: github.com/sittner/linuxcnc-ethercat/com...7da79e3406d6d881dc8b

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bkt
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Platinum Member

26 May 2015 13:17 #59059 by bkt

Replied by bkt on topic Ethercat HAL driver

sorry at all .... I have not experience with ethercat ..... and i read some specification on linuxcnc doc ethercat, I have a doubt: How many drives can be connected to LinuxCNC with EtherCAT with safe/robust operation ?

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a60081
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06 Jun 2015 19:02 #59516 by a60081

Replied by a60081 on topic Ethercat HAL driver

I want to create two domain for pdos because the motor i used is required one domain(1600) for transfer, and another one for receive(1A00).
If only one domain, it will be synchronize error.

How could i edit it in lcec.c?

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narogon
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08 Jun 2015 23:11 - 08 Jun 2015 23:12 #59628 by narogon

Replied by narogon on topic Ethercat HAL driver

a60081 wrote:
I want to create two domain for pdos because the motor i used is required one domain(1600) for transfer, and another one for receive(1A00).
If only one domain, it will be synchronize error.

How could i edit it in lcec.c?

Check tutorial

step 9 parameter 4.

I think you mean sync managers when you say domains.

Last edit: 08 Jun 2015 23:12 by narogon.

The following user(s) said Thank You: a60081, Nico2017

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