Ethercat HAL driver

Hello,
someone can help me, I have a doubt with this part of the file code, I think this serves for the home function, I do not understand its operation, I can not find any concrete example of how to connect it to the .hal file.

thanks
Chimeno

// update raw position counter
pos_cnt = EC_READ_S32(&pd[hal_data->pos_mot_pdo_os]);
pos_cnt_rel = pos_cnt - hal_data->home_raw;
*(hal_data->enc_raw) = pos_cnt;
*(hal_data->enc_raw_rel) = pos_cnt_rel;
*(hal_data->on_home_neg) = (pos_cnt_rel <= 0);
*(hal_data->on_home_pos) = (pos_cnt_rel >= 0);

pos_cnt <<= 8;
pos_cnt_diff = pos_cnt - hal_data->last_pos_cnt;
hal_data->last_pos_cnt = pos_cnt;
hal_data->pos_cnt += pos_cnt_diff;

rel_count = ((long long) pos_cnt_rel) << 8;

// check for index edge
if (*(hal_data->index_ena)) {
index_tmp = (hal_data->pos_cnt >> 32) & 0xffffffff;
if (hal_data->do_init || !hal_data->last_index_ena) {
hal_data->index_ref = index_tmp;
} else if (index_tmp > hal_data->index_ref) {
hal_data->index_cnt = (long long)index_tmp << 32;
*(hal_data->index_ena) = 0;
} else if (index_tmp < hal_data->index_ref) {
hal_data->index_cnt = (long long)hal_data->index_ref << 32;
*(hal_data->index_ena) = 0;
}
}
hal_data->last_index_ena = *(hal_data->index_ena);

// handle initialization
if (hal_data->do_init || *(hal_data->pos_reset)) {
hal_data->do_init = 0;
hal_data->index_cnt = hal_data->pos_cnt;
}

// compute net counts
net_count = hal_data->pos_cnt - hal_data->index_cnt;

// update raw counter pins
*(hal_data->pos_raw_hi) = (net_count >> 32) & 0xffffffff;
*(hal_data->pos_raw_lo) = net_count & 0xffffffff;

// scale count to make floating point position
*(hal_data->pos_fb) = ((double) net_count) * hal_data->pos_scale_cnt;
*(hal_data->pos_fb_rel) = ((double) rel_count) * hal_data->pos_scale_cnt;

chimeno wrote: Hello,
someone can help me, I have a doubt with this part of the file code, I think this serves for the home function, I do not understand its operation, I can not find any concrete example of how to connect it to the .hal file.

thanks
Chimeno

// update raw position counter
pos_cnt = EC_READ_S32(&pd[hal_data->pos_mot_pdo_os]);
pos_cnt_rel = pos_cnt - hal_data->home_raw;
*(hal_data->enc_raw) = pos_cnt;
*(hal_data->enc_raw_rel) = pos_cnt_rel;
*(hal_data->on_home_neg) = (pos_cnt_rel <= 0);
*(hal_data->on_home_pos) = (pos_cnt_rel >= 0);

pos_cnt <<= 8;
pos_cnt_diff = pos_cnt - hal_data->last_pos_cnt;
hal_data->last_pos_cnt = pos_cnt;
hal_data->pos_cnt += pos_cnt_diff;

rel_count = ((long long) pos_cnt_rel) << 8;

// check for index edge
if (*(hal_data->index_ena)) {
index_tmp = (hal_data->pos_cnt >> 32) & 0xffffffff;
if (hal_data->do_init || !hal_data->last_index_ena) {
hal_data->index_ref = index_tmp;
} else if (index_tmp > hal_data->index_ref) {
hal_data->index_cnt = (long long)index_tmp << 32;
*(hal_data->index_ena) = 0;
} else if (index_tmp < hal_data->index_ref) {
hal_data->index_cnt = (long long)hal_data->index_ref << 32;
*(hal_data->index_ena) = 0;
}
}
hal_data->last_index_ena = *(hal_data->index_ena);

// handle initialization
if (hal_data->do_init || *(hal_data->pos_reset)) {
hal_data->do_init = 0;
hal_data->index_cnt = hal_data->pos_cnt;
}

// compute net counts
net_count = hal_data->pos_cnt - hal_data->index_cnt;

// update raw counter pins
*(hal_data->pos_raw_hi) = (net_count >> 32) & 0xffffffff;
*(hal_data->pos_raw_lo) = net_count & 0xffffffff;

// scale count to make floating point position
*(hal_data->pos_fb) = ((double) net_count) * hal_data->pos_scale_cnt;
*(hal_data->pos_fb_rel) = ((double) rel_count) * hal_data->pos_scale_cnt;

hello again, you can expand the scale, now I need to use the scale correctly.

regards
Chimeno

Hi,

i am using panasonic A6 drives with linuxcnc ethercat hal driver using lcec & lcec_ conf...currently i am facing issue of ethercat synch or dc ( distributed clocks) issue on my system...

details are posted at this ethercat synch & dc problem along with xml file and output waveform attached...

is anyone aware of such issue??

Thanks,
Regards.

Hi
i have 5 Kollmorgen Servostar 300 and a ek1100 and 3 EL 2008 and 2 EL 1018.
My problem is, that the ethercat commandlinetool does not find the ek and the el moules.
When i just plug in the 5 servocontroller i find the 5 slaves.
The leds are flashing. When i plug in all in a row, no slave is found.
Could someone imagine what the problem is?
Thanks

I found the solution.
I changed the sequence. I connected the servocontroller first and ek1100.
Now i can find all slaves.
But i dont understand the problem
Servocontroller use coe

Hello ChrisB,
It may be that the secondary channel of the EK1100 is closed or for some reason or does not work well.
regards
Chimeno