Ethercat HAL driver

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10 years 7 months ago #72507 by billiehuijbregts
Replied by billiehuijbregts on topic Ethercat HAL driver
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?

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10 years 6 months ago - 10 years 6 months ago #72647 by roschi
Replied by roschi on topic Ethercat HAL driver
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
Last edit: 10 years 6 months ago by roschi.
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10 years 6 months ago #72892 by xk2010
Replied by xk2010 on topic Ethercat HAL driver
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

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10 years 6 months ago #72898 by billiehuijbregts
Replied by billiehuijbregts on topic Ethercat HAL driver
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
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10 years 6 months ago #73871 by Cpk_Rbt
Replied by Cpk_Rbt on topic Ethercat HAL driver
Just getting started using the HAL driver and the Etherlab EtherCAT Master with a Kollmorgen AKD drive. I've got communications between the EtherCAT Master and drive, then moved on to a basic .hal configuration to test comms. I think I must have something wrong, because the computer freezes up when I try to run the .hal file with
Code:
halrun -I test.hal

Attached is the ethercat config .xml for my drive.

My test.hal file consists of:
Code:
loadusr -W lcec_conf ethercat_config_n.xml loadrt lcec loadrt trivkins loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=1 addf lcec.read-all servo-thread addf lcec.write-all servo-thread start

If anyone has any insight into what I'm doing wrong with this setup, I'd really appreciate it.
Thanks!
Attachments:

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10 years 6 months ago #73872 by andypugh
Replied by andypugh on topic Ethercat HAL driver
It might be instructive to type the HAL commands one at a time. (just type halrun then start typing commands)
To watch what the computer is doing open another terminal window and type
Code:
sudo tail -f /var/log/kernel.log
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