Ethercat HAL driver

sirop
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9 years 5 months ago #93647 by sirop

Replied by sirop on topic Ethercat HAL driver

Yes.

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ChrisB
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9 years 4 months ago #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:

Code:

<?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

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sirop
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9 years 4 months ago - 9 years 4 months ago #94093 by sirop

Replied by sirop on topic Ethercat HAL driver

Christian.Barth wrote: 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.
Christian

In terms of linuxcnc-ethercat your slave is a generic slave, so you need an XML description file similar to github.com/sittner/linuxcnc-ethercat/blo...at-conf.xml#L18-L143 .
If you have already such a file, please share it.

As for SDO download/upload: S300 xml is a slave description according to EtherCAT standard and you do not have to download it anyware.
SDO download however can be used to configure your slave, for instance, its mode of operation. For this you work with single values/numbers and - in less frequent cases - with array of numbers.

Last edit: 9 years 4 months ago by sirop.

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ChrisB
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9 years 4 months ago #94096 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

Hi sirop. Thank you for your fast response. I habe no XML description file. How can i create one? Do you have a documentation?

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sirop
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9 years 4 months ago #94098 by sirop

Replied by sirop on topic Ethercat HAL driver

Christian.Barth wrote: Hi sirop. Thank you for your fast response. I habe no XML description file. How can i create one? Do you have a documentation?

Try

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
    <!--  S300_S400_S600_S700 CANopen slave -->
    <slave idx="0" type="generic" vid="0000006a" pid="03000600" configPdos="false">
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>
      <syncManager idx="2" dir="out">
        <pdo idx="1702">
          <!-- Rx PDOs>
          <pdoEntry idx="606b" subIdx="0" bitLen="32" halPin="YourPinName1" halType="u32"/>
          <pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="YourPinName2" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1b01">
          <!-- Tx PDOs -->
          <pdoEntry idx="6064" subIdx="0" bitLen="32" halPin="YourPinName3" halType="u32"/>
          <pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="YourPinName4" halType="u32"/>
      </syncManager>
    </slave>
  </master>
</masters>

This is a very basic config which I reconstructed from your ethercat xml output. Do not know if I'd had to enumerate all 8 Sync Managers, but you'l see pretty quickly if it works or not.

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ChrisB
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9 years 4 months ago #94102 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

Sorry, but i don´t know where to place the xml or how to activate it......

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