Ethercat HAL driver

great work!

Hi, I have installed the EtherCAT master follow the wiki wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver . I have some beckhoff modules: EK1100 ,EL2008,EL1008,EL2521. But I can't visit the slaves. When running 'ethercat master',it shows:

Master0
Phase: Waiting for device(s)...
Active: no
Slaves: 0
Ethernet devices:
Main: 00:01:6c:8b:dd:f8 (waiting...)
Link: DOWN
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Tx errors: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Common:
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Lost frames: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 1040384 -606352 -1065589
Rx rate [KByte/s]: 0.0 0.0 1645326.0
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: None
Application time: 0
2000-01-01 00:00:00.000000000

My Network adapter is Intel Pro/100 VM, and the ethercat config file content is:
MASTER0_DEVICE="00:01:6C:8B:DD:F8"
DEVICE_MODULES="e100"

So I don't know how to fix it. anyone can help?

I'm no expert but I've got it working with an EK1100 on both e1000 and r8169 network cards with a variety of slave modules. Here what I would do...

I'm not using the etherlab control as outlined by sascha. I just use the etherlab (1.5.2) package control scripts from the command line.
My config file is in /etc/ethercat.conf as per etherlab default but the modified version outlined on the wiki places it elsewhere... so you might have a problem there.

You should try to get the etherlab part running first -- so going to the etherlab mailing list may also be a good start.

First you can check that the module is the correct module it should be
sudo ethercatctl stop

check your 'normal' driver is e100 not e1000 or e1000e
lsmod | grep -i e100
if e100 is not listed then that might the problem

sudo ethercatctl start

note any errors; check dmesg for errors

then check the module is loaded
sudo lssmod | grep -i ec
you should have
ec_master
ec_e100

any module listed with a ec_ prefix is an ethercat module;

If that looks OK then run the ethercat command with -v to print more info.
Check dmesg after running
ethercat -v master

Thanks very much for your answer! I de-installed the package 'ethercat_1.5.2-1_i386.deb', and then reinstalled the ethercat master by using etherlab source code. Finally , it works.
I just follow the etherlab's doc:

$ ./configure
$ make
$ make modules

# make install
# make modules install
# depmod

cd /opt/etherlab
cp etc/sysconfig/ethercat /etc/sysconfig/
ln -s etc/init.d/ethercat /etc/init.d/

then customize the sysconfig file /etc/sysconfig/ethercat
start the master
/etc/init.d/ethercat start

and I can find the master and slaves.
$ sudo /opt/etherlab/bin/ethercat -v master
Master0
Phase: Idle
Active: no
Slaves: 4
Ethernet devices:
Main: e0:05:c5:eb:5a:7f (attached)
Link: UP
Tx frames: 35480
Rx frames: 35479
Lost frames: 0
Tx bytes: 2148072
Tx errors: 0
Tx frame rate [1/s]: 250 780 458
Tx rate [KByte/s]: 14.6 46.1 27.1
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0

Backup: None.
Distributed clocks:
Reference clock: Slave 0
Application time: 0
2000-01-01 00:00:00.000000000





sudo /opt/etherlab/bin/ethercat -v slave
=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x044c2c52
Revision number: 0x00110000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3877337170 0 0
1 EBUS up open yes 1 3877338060 890 145
2 MII down closed no - - - -
3 N/A down closed no - - - -
General:
Group: SystemBk
Image name:
Order number: EK1100
Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: -2000 mA
=== Master 0, Slave 1 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x07d83052
Revision number: 0x00100000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 145 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 EBUS up open yes 0 3816389530 0 145
1 EBUS up open yes 2 3816390130 600 145
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigOut
Image name:
Order number: EL2008
Device name: EL2008 8K. Dig. Ausgang 24V, 0.5A
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 110 mA
=== Master 0, Slave 2 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x03f03052
Revision number: 0x00100000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 290 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 EBUS up open yes 1 2666310340 0 145
1 EBUS up open yes 3 2666310650 310 155
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigIn
Image name: TERM_DI
Order number: EL1008
Device name: EL1008 8K. Dig. Eingang 24V, 3ms
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 90 mA
=== Master 0, Slave 3 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x09d93052
Revision number: 0x03fb0000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 445 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 EBUS up open yes 2 3745942530 0 155
1 EBUS down closed no - - - -
2 N/A down closed no - - - -
3 N/C down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/244, TX: 0x10f4/244
Standard RX: 0x1200/54, TX: 0x1280/54
Supported protocols: CoE, FoE
General:
Group: DigOut
Image name:
Order number: EL2521
Device name: EL2521 1K. Pulse Train Ausgang
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 280 mA

This sould also work with the ethercat deb. I've just modified the way of loading modules and configuration to be a little bit more "debian like", but the doc is not complete.

If using the deb after changing the conf in /etc/default/ethercat just do a "sudo update-ethercat-config". This will activate the new configuration.

Hi

I have some questions about this HAL driver for the ethercat.
I did see that it says that it supports distributed clocks is this also for the servo drives?
Would it work to connect 5 servodrives over ethercat and interpolate them or this driver is not made for that kind of tasks?

We are using ethercat drives at my work, so i have good knowledge about this bt not with this HAL driver and Linux CNC.

Is there any one using servos like i wonder and have good result or its better to go for the old style with analog and pulse signals?


Best regards
Oscar