Ethercat HAL driver

cgc
Offline
Senior Member

03 May 2017 11:07 #92567 by cgc

Replied by cgc on topic Ethercat HAL driver

Hi Warren,
you need the halType complex only, if the drive send one variable that is a union of several individual variables.
E.g. position an status bits together.
With the complex type, you can divide it, like this.
The union is a variable with 48 bit, statusbits and position together.
The complex type divide it in single status bits and separate position

<pdoEntry idx="7000" subIdx="02" bitLen="48" halType="complex">
<complexEntry bitLen="1" halPin="X-cmd-SwitchOn" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-EnableVoltage" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-/QuickStop" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-EnableOperation" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-NewSetpoint" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-ChangeSetImmediatly" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-RelativPos" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-FaultReset" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-Halt" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit09" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit10" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit11" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit12" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit13" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit14" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-bit15" halType="bit"/>
<complexEntry bitLen="32" halPin="X-TargetPos" halType="float" scale="1000"/>
</pdoEntry>

regards Frank

The following user(s) said Thank You: wazza77

Please Log in or Create an account to join the conversation.

roschi
Offline
Senior Member

03 May 2017 12:06 #92571 by roschi

Replied by roschi on topic Ethercat HAL driver

hi warren,

nice to see you agaim on this forum.
just a quick hint from my site. take into account that that the bytes in the sdoconfig -> sdoraw data are reverse orderded.

so eg. numerator shall be 0xe12 then the config is 12 0e

also do the math in the right way num/den shall be the smallest possible Integers in case for estun drives eg. not 4/8 more 1/2

hope that will help.

regards andreas

The following user(s) said Thank You: wazza77

Please Log in or Create an account to join the conversation.

wazza77
Offline
Senior Member

03 May 2017 13:48 #92577 by wazza77

Replied by wazza77 on topic Ethercat HAL driver

Thanks Again guys
roschi now the numbers start making sense I will have a go at it. Do I still need to use the hall complex to specify the scale? If not how do I scale it? it is very frustrating knowing that it is only going to be a little thing that is stopping you in your tracks, but I get so focused that I can't see it! Anyway, this will make me learn more, and I sent you an email about this problem. But I also wanted to let you know about those lunyee drives with the
second encoder feedback loop from linear encoder etc. and your thoughts on them they are SV-DA200
Anyway, I will have a go at it tomorrow.

Please Log in or Create an account to join the conversation.

wazza77
Offline
Senior Member

04 May 2017 02:26 #92615 by wazza77

Replied by wazza77 on topic Ethercat HAL driver

Ok I have removed the halType complex and if I put the scale to "1" i can get them operational but as you could imagine with the scale so low that half a turn shows as 500mm of travel on the axis DRO. now it I put scale to 10 I can start and get operational but as soon as I go to jog an axis it moves a little bit and throws up a joint following error for that axis also shows very large numbers on the axis DRO.
if I put the scale to 100 the drives throw an A07 alarm again

Please Log in or Create an account to join the conversation.

wazza77
Offline
Senior Member

04 May 2017 15:25 #92650 by wazza77

Replied by wazza77 on topic Ethercat HAL driver

So I had to walk away from this for a while and think about what is happening. I came back tried a few things to no avail but
I have noticed when i put any number larger than 1 I get the joint folowing error. If I try to toggle machine power agian the sevo trys to run flat out for les then a second and throws a joint error. And the DRO numbers coming up for that axis are obsinely large like upto a km
(would be a big mill!)

on the last setup scale="1000" and it worked flawlessly now is the issue to do with the halType special32 and im now using halType float? So I am unsure how the scale is working i have looked through the code on the git repository and tried to see how the scale system works and all i can say is i need to learn a lot more about some of the concepts in cpp but i can see how it is used in roschi's halType="special32" but i cant quite get a grip of how it works with the halType float I thin I might have to implement The special32 I can already feel the grey hair (well greyer hair)

Please Log in or Create an account to join the conversation.

sirop
Offline
Elite Member

04 May 2017 15:55 #92659 by sirop

Replied by sirop on topic Ethercat HAL driver

My CanOpen manual says:
TARGET POSITION INDEX 0X607A
Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES RF

Why should your 0X607A be a float?

Please Log in or Create an account to join the conversation.

wazza77
Offline
Senior Member

04 May 2017 22:21 #92678 by wazza77

Replied by wazza77 on topic Ethercat HAL driver

Hi sirop
I was only using float so that I could add scale. the generic.c will check that you have specified float if you have scale
as part of its error handling. I will spend a bit more time tonight going over the code to see how the scaling is implemented and I am looking to see if there is some sort of packet sniffer so I can see what is in the EtherCAT packet.
but this morning I have to drive into town its about 135km each way!

Please Log in or Create an account to join the conversation.

bleachkthe
Offline
New Member

25 May 2017 23:14 #93646 by bleachkthe

Replied by bleachkthe on topic Ethercat HAL driver

Sorry at all a little info ... is possible to run ethercat driver over linuxmint 18 rt_preempt?

regards
BKT

Please Log in or Create an account to join the conversation.

sirop
Offline
Elite Member

25 May 2017 23:21 #93647 by sirop

Replied by sirop on topic Ethercat HAL driver

Yes.

Please Log in or Create an account to join the conversation.

ChrisB
Offline
Junior Member

05 Jun 2017 12:52 #94087 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

Hello,

i am new to ethercat and linux.
But up to now i have installed IgH EtherCAT Master 1.5.2.
I have started ethercat master in the terminal with the gineric linux driver.
The networkleds are blinking and the statemachine is in the state: PREOP
But wehn i try to change to SAFEOP or to OP then the Slave gets the an Fieldbuserror with the wrong length.
I use a Kollmorgen Servostar 30361-NA with Ethercatmodul. Tho the Drive im am connected via RS232 with a Windowsnotebook an the Kollmorgen Drivesetupsoftware. Here i can see the AL-Controlword and AL-Statusword.
My assumption is that my mapping is wrong.
Here is the xml output from the comandlinetool:

<?xml version="1.0" ?>
<EtherCATInfo>
  <!-- Slave 0 -->
  <Vendor>
    <Id>106</Id>
  </Vendor>
  <Descriptions>
    <Devices>
      <Device>
        <Type ProductCode="#x03000600" RevisionNo="#x00000001">S300_S400_S600_S700</Type>
        <Name><![CDATA[S300/S400/S600/S700 EtherCAT Drive (CoE)]]></Name>
        <Sm Enable="1" StartAddress="#x1800" ControlByte="#x26" DefaultSize="512" />
        <Sm Enable="1" StartAddress="#x1c00" ControlByte="#x22" DefaultSize="512" />
        <Sm Enable="1" StartAddress="#x1100" ControlByte="#x24" DefaultSize="0" />
        <Sm Enable="1" StartAddress="#x1140" ControlByte="#x20" DefaultSize="0" />
        <RxPdo Sm="2" Fixed="1" Mandatory="1">
          <Index>#x1702</Index>
          <Name></Name>
          <Entry>
            <Index>#x606b</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name></Name>
            <DataType>UINT32</DataType>
          </Entry>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name></Name>
            <DataType>UINT16</DataType>
          </Entry>
        </RxPdo>
        <TxPdo Sm="3" Fixed="1" Mandatory="1">
          <Index>#x1b01</Index>
          <Name></Name>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name></Name>
            <DataType>UINT32</DataType>
          </Entry>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name></Name>
            <DataType>UINT16</DataType>
          </Entry>
        </TxPdo>
      </Device>
    </Devices>
  </Descriptions>
</EtherCATInfo>

i am using this doc : etherlab.org/download/ethercat/ethercat-1.5.2.pdf
and the attached Kollmorgen Ethercatdocument

on page 52 of ethercat-1.5.2.pdf is the SDO download described.
But i don´t know how to download the attached S300 xml.

Can someone help me?
Thanks a lot
Christian

Please Log in or Create an account to join the conversation.

Time to create page: 0.242 seconds

Ethercat HAL driver

Attachments: