Ethercat HAL driver

Hi Allen

I attached my current XML file. It uses the <masters> </masters>, otherwise my Ethercat HAL driver did indeed not work.
Just installed Linuxcnc on another computer to be sure, but I still get the same errors. When I loaded my files into the Linuxcnc program I got some errors and I know where the problem is now. Still need to solve it tho.

Hello,
that are 16 single bits,
<pdoEntry idx="2692" subIdx="00" bitLen="16" halPin="poscommand" halType="bit"/>
but that are 32 bit float
axis.0.motor-pos-cmd

regards
Frank

Dear Frank,

Thanks for the tip! I changed my haltype but I get the error that it's a float and doesn't get converted to a s32.
I used the :
loadrt conv_s32_float
loadrt_conv_float_s32

Should I maybe put my lcec.0.0.pos to the conv_float_s32.0.out pin?
And the pos-command to the conv_float_s32.0.in pin.

Hello,
Yes,
you can also use the option "scale" in the *.xml to calculate the unit.

regards
Frank

Please, take a look to this paper: Integration of real-time Ethernet in LinuxCNC link.springer.com/article/10.1007/s00170-015-6786-y
The article uses the example of Sercos III but it works also with EtherCAT and other protocols.

Allen

Andreas Schiffler on youtube has a 3 axis mill with 4th axis runing LinuxCNC using etherCAT

Ethercat coupler--- Modules EL ---and EX see his work

jim Pettit

Got my setup almost working now, but still have problems getting my drive to OP.
When I use the ethercat states op command, I get a red led and a communications error because I need to write some values.
I know this and added those values to my xml file with SdoConfig.
But when I start my ethercat HAL driver using the command terminal, load my xml with lcec_conf and load the lcec module, nothing happens.
Seems like my ethercat master doesn't send a request for the state change to OP, because I get no feedback from the drive (leds, display).
Loading the lcec module should request the OP state right?

Hi,

due to further development of the ethercat hal driver especially the "lcec_conf", the content / use of the XML changed slightly.

1. XML file should start/end with <masters> ... </masters> (as mentioned in this thread before #71267 )
2. In diffrence to my initial introduction of the "scale" option the haltype "special32" won't work (as mentioned in this thread before #71871 )
3. To use eg. pos / poscommand with type float use the haltype "complex" in XML see examples here:
S. Ittner config examples close to line 99.

Regards Andreas

Hi,
I had the same questions as shown this.

forum.linuxcnc.org/forum/24-hal-componen...iver?start=168#58343
How to solve this.
Would you help me?

xiekai

Dear Xiekai,

I think you can solve that by adding the <masters> </masters> in your XML file, as described one post above yours by Andreas.

Billie