Ethercat HAL driver

sirop
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16 Aug 2016 14:35 #78863 by sirop

Replied by sirop on topic Ethercat HAL driver

No, I get that after start HAL script.

A quick test would be not to start the threads immediately, but wait 30 seconds
and check the logs.

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sirop
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16 Aug 2016 14:40 #78864 by sirop

Replied by sirop on topic Ethercat HAL driver

mfalcon wrote:
@sirop
currently EK1100 coupler, but I did not connect it during starting of linuxcnc , because i was thinking that xml file will be used to check the slaves when I press "run" button in linuxcnc gui.

Connect your EK1100 and use this XML file:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="EK1100" name="D1"/>
  </master>
</masters>

linuxcnc-ethercat does not check the status of a slave if the master could not configure this slave before because this slave was off-line.

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narogon
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16 Aug 2016 15:45 #78878 by narogon

Replied by narogon on topic Ethercat HAL driver

sirop wrote:
Besides all that:
0055-fsm_slave_config_scan-to-fsm_slave.patch
...
The motivating case was a network of about 100 slave devices; while scanning
is fast (under a second, after prior SII patches), the configuration process
to bring the slaves from PREOP to OP took about 80 seconds (and you could
see the lights coming on each slave in sequence). After the patch it takes
about 20 seconds.
lists.etherlab.org/pipermail/etherlab-dev/2016/000553.html

How could I use the lcec component after install the patches???
The patches do lots of code changes and sittner lcec_component can't be installed...

Many thanks for your help sirop

BR

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sirop
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16 Aug 2016 15:53 #78879 by sirop

Replied by sirop on topic Ethercat HAL driver

narogon wrote:
How could I use the lcec component after install the patches???
The patches do lots of code changes and sittner lcec_component can't be installed...

Before applying any patches: did you do the simple test as propose above forum.linuxcnc.org/forum/24-hal-componen.../78878?quote=1#78863 ?

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narogon
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16 Aug 2016 16:45 #78886 by narogon

Replied by narogon on topic Ethercat HAL driver

sirop wrote:

narogon wrote:
How could I use the lcec component after install the patches???
The patches do lots of code changes and sittner lcec_component can't be installed...

Before applying any patches: did you do the simple test as propose above forum.linuxcnc.org/forum/24-hal-componen.../78878?quote=1#78863 ?

Yes I did the test and the same results.

I've tested a different pc with a r8139too and it works. So I assume there is some kind of problem with this network card.

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narogon
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16 Aug 2016 17:54 - 16 Aug 2016 17:54 #78898 by narogon

Replied by narogon on topic Ethercat HAL driver

narogon wrote:

sirop wrote:

narogon wrote:
How could I use the lcec component after install the patches???
The patches do lots of code changes and sittner lcec_component can't be installed...

Before applying any patches: did you do the simple test as propose above forum.linuxcnc.org/forum/24-hal-componen.../78878?quote=1#78863 ?

Yes I did the test and the same results.

I've tested a different pc with a r8139too and it works. So I assume there is some kind of problem with this network card.

I've just tried another r8169 and it doesn't work... Also I've tested using generic driver

Last edit: 16 Aug 2016 17:54 by narogon.

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sirop
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16 Aug 2016 18:40 #78900 by sirop

Replied by sirop on topic Ethercat HAL driver

narogon wrote:

I've tested a different pc with a r8139too and it works. So I assume there is some kind of problem with this network card.

I've just tried another r8169 and it doesn't work... Also I've tested using generic driver[/quote]

Do you have also e1000e network card?

Generic driver won't make anything more reliable or faster.

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narogon
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16 Aug 2016 21:10 #78905 by narogon

Replied by narogon on topic Ethercat HAL driver

sirop wrote:

narogon wrote:

I've tested a different pc with a r8139too and it works. So I assume there is some kind of problem with this network card.

I've just tried another r8169 and it doesn't work... Also I've tested using generic driver

Do you have also e1000e network card?

Generic driver won't make anything more reliable or faster.[/quote]

Im going to buy one r8139 and other e1000e. Ana recommendation? Have every Intel card e1000e?

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sirop
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16 Aug 2016 21:20 #78907 by sirop

Replied by sirop on topic Ethercat HAL driver

narogon wrote:

Im going to buy one r8139 and other e1000e. Ana recommendation? Have every Intel card e1000e?

You can also try ethtool.
Such a simple command like

ethtool -C eth0 rx-usecs 0 rx-frames 1 tx-usecs 0 tx-frames 1

could already make a difference.

I myself use Intel 82583V with e1000e driver.

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jolli
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25 Sep 2016 20:16 #80912 by jolli

Replied by jolli on topic Ethercat HAL driver

Hi,

I'm having trouble using AX5000 servo drivers. Compiled ethercat-master from sources with github/sittner debianizing and "--enable-sii-assign", linuxcnc-ethercat from github/sittner. Regular terminals (EK1100 with EL*) work a-ok. As linuxcnc-ethercat doesn't support SoE init configuration, I've tried to upload the data with a script using "ethercat soe_write" or by plugging ethercat cable to a machine running TwinCAT in config/freerun state. Loading modules in "halrun" goes fine, but a few seconds after starting lcec the driver goes SafeOP with error F4A5 "Parameter error". The drivers never go OP, no hissing from motors. Stopping and unloading lcec seems to reset the driver, and reading the parameter error list (S-0-0021) shows up empty. SoE IDNs are also "factory defaults" at that point.

Should I extend the lcec state machine to upload the configuration during operation state changes? Or is this some other quirk? Contrary to what's stated earlier in the thread, AX5000 doesn't seem to save the parameters in EEPROM - they seem really volatile - and also I've found no options in TwinCAT to do so.

Best regards, jolli

halrun commands:

loadrt threads name1=master period1=1000000
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all master
addf lcec.write-all master
start

ethercat-conf.xml:

<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="1000">
    <slave idx="0" type="generic" vid="00000002" pid="14516012" configPdos="false">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="0018">
                <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="a_masterctrl" halType="bit"/>
                <pdoEntry idx="24" subIdx="00" bitLen="32" halPin="a_velcommand" halType="s32"/>
            </pdo>
            <pdo idx="1018">
                <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="b_masterctrl" halType="bit"/>
                <pdoEntry idx="24" subIdx="00" bitLen="32" halPin="b_velcommand" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="0010">
                <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="a_drivestatusword" halType="bit"/>
                <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="a_pos" halType="s32"/>
            </pdo>
            <pdo idx="1010">
                <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="b_drivestatusword" halType="bit"/>
                <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="b_pos" halType="s32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="50000"/>
    </slave>
</master>
</masters>

SoE IDNs:
Exported from TwinCAT, presumably not relevant here as they should be correct, ie. works with TwinCAT.

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