Ethercat HAL driver
this is a misunderstanding
It's not about the Profibus protocol. It is about the terminal el6731.
infosys.beckhoff.com/english.php?content...mServiceData.htm&id=
Master and slave terminals for PROFIBUS
The master and slave terminals for PROFIBUS correspond to the FC3101 PCI card from Beckhoff. Thanks to the connection via Ethernet, no PCI slots are required in the PC.
The EL6731 can run the PROFIBUS protocol with all features; in the EtherCAT Terminal network it enables integration of any Profibus devices. Thanks to the in-house development of the PROFIBUS chip, the terminals are equipped with the latest version of the PROFIBUS technology – including high-precision isochronous mode for axis control and extended diagnostic options. This masters are the only ones that support different poll rates for the slaves.
Best regards
Andre
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- sqmathlete
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Can the ethercat hal driver handle a slave that only operates in asynchronous mode?
Dan
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Ethercat run ok !
$ethercat slave
root@cnc:/home/cnc/linuxcnc/configs/swm-fm45a# ethercat slave
0 0:0 PREOP + ASDA-A2-E
When run the profile (swm-fm45a) from the example, the following error appears:
LINUXCNC - 2.7.14
Machine configuration directory is '/home/cnc/linuxcnc/configs/swm-fm45a'
Machine configuration file is 'swm-fm45a.ini'
Starting LinuxCNC...
Found file(REL): ./swm-fm45a.hal
./swm-fm45a.hal:20: execv(lcec_conf): Permission denied
./swm-fm45a.hal:20: waitpid failed lcec_conf lcec_conf
./swm-fm45a.hal:20: lcec_conf exited without becoming ready
Shutting down and cleaning up LinuxCNC...
LinuxCNC terminated with an error. You can find more information in the log:
/root/linuxcnc_debug.txt
and
/root/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
root@cnc:/home/cnc/linuxcnc/configs/swm-fm45a#
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sorry ... I think you means without adapter ...
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My problem is,
I do not understand "sdoRawData"
Can someone help me?
Best regards
Andre
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which linux kernel do you use ? and which ethercat driver do you use, generic r8169 or e100 ?
some one encountered similar problems, and he used RTAI kernel and generic ethercat driver, and solved the problem by switch to native driver (r8169 e100 etc)
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If you want to send an uint32 number, who's value is 1000, and 000003E8 in hex format, then you should write E8 03 00 00 in sdoRawData field
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the question about PDO and SDO has been resolved.
I found the values and understand the entries.
I have now created the xml without Axes and tested in linuxcnc.
The ethercat haldriver brings a lot of errors but linuxcnc starts and I can address the pins of el1014 and el2008.
The el 6731 has the following statuses:
RUN: flasch
BF: flash
ERR: off
in the Hal:
state-safeop = false
slave-preop = true
state-op = true
state-init = false
slaves-responding = 0x00000004
link-up = true
is there a solution for the errors of ethercat-haldriver?
Best regards
Andre
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i have an entry:
PDO Content: 0x1600
Size: 6.0
Offs: 0.0
Name: Outputs.3 PD (3 words)_1_0
Type: ARRAY [0..2] OF UNIT
How do I describe this in the XML ?
Best regards
Andre
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ich habe die Klemme el6731 zum Laufen bekommen.
Der Datenaustausch funktioniert.
Vielen Dank für eure Hilfe...
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