Ethercat HAL driver

Grotius
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7 years 4 months ago #135589 by Grotius

Replied by Grotius on topic Ethercat HAL driver

Hi Mathias,

This error can be more then one thing. Mostly of time it's wrong hardware config.
Start your test without any ethercat i/o modules. Only the main "beckhoff ethercat" module and connect cat cable and 24vdc supply

Look good at your xml file.

Insmod failed mean's your real time lcec component can not be inserted to the kernel. Insmod is a linux command.
For 32 bit, it's a .ko file. For 64 bit it's a .so file
There is a invalid argument on the lcec. So your config is the problem.
Please look all over your config. If you don't suceed, no panic.

Linux is power !

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Matze-K
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7 years 4 months ago - 7 years 4 months ago #135652 by Matze-K

Replied by Matze-K on topic Ethercat HAL driver

andypugh wrote: "Invalid argument" - What is your argument list for the lcec load line?

Hi thank you for your answer, in attachment the config files that I use.

That output I get by input dmesg:

Code:

[  618.171344] EtherCAT: Requesting master 0...
[  618.171347] EtherCAT: Successfully requested master 0.
[  618.172403] EtherCAT ERROR 0 0:4: PDO entry 0x6000:01 is not mapped.
[  618.172434] EtherCAT 0: Releasing master...
[  618.172443] EtherCAT 0: Released.

And that from Linuxcnc:

Code:

LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/cnc/linuxcnc/configs/KingCNC'
Machine configuration file is 'KingCNC.ini'
Starting LinuxCNC...
emc/iotask/ioControl.cc 701: can't load tool table.
Found file(REL): ./general.hal
Note: Using POSIX realtime
Failed to register PDO entry: No such file or directory
LCEC: master 0 PDO entry registration failed
lcec: rtapi_app_main: Invalid argument (-22)
./general.hal:2: waitpid failed /usr/bin/rtapi_app lcec
./general.hal:2: /usr/bin/rtapi_app exited without becoming ready
./general.hal:2: insmod for lcec failed, returned -1
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/cnc/linuxcnc_debug.txt
and
    /home/cnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

I am surprised that it worked before and now does not work

Best regards

Mathias

Attachments:

Last edit: 7 years 4 months ago by Matze-K.

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bkt
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Platinum Member

7 years 4 months ago - 7 years 4 months ago #135754 by bkt

Replied by bkt on topic Ethercat HAL driver

@Grotius what to say? Surely you made me laugh ... but I don't need very strange things. I'm just trying to push the system to the maximum to see how much I can get. In the end I just have to set 7 and then 14 robotic axes. No nuclear war, espionage or other strange fantasies.

Any how very thanks ... I do too many things ... so my head is often filled with many strange doubts.

Last edit: 7 years 4 months ago by bkt.

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chimeno
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Elite Member

7 years 4 months ago #135778 by chimeno

Replied by chimeno on topic Ethercat HAL driver

hello Matze-K,
It seems that you have an error when registering the PDO, it seems on the device number 4 you can not register 0x6000: 01 quite common, open a terminal and write "ethercat slave" the list of ethercat devices you have to appear "0 servo, 1 servo, 2 servo, 3 EK1100, 4 EL1018, 5 EL2008, if you see everything in PREOP mode, then surely you have some error in the .xml file, I would start by removing all the modules and just connect one and so on until you find the error, I hope I could have oriented you a little, Regards
Chimeno

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Matze-K
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7 years 4 months ago #135974 by Matze-K

Replied by Matze-K on topic Ethercat HAL driver

Hello chimeno,

I can report that there was no error in the xml, nor in the other configs.

I have tested to disconnected the EL1008 and removed from the config, then I can start linuxcnc.
The terminal EL1008 has been broken on channel 0 anyway, I think the whole terminal is now defective.

Nevertheless many thanks for the info from you

PS: Sorry for my bad english, i want to get better

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