Ethercat HAL driver
29 Jul 2019 18:38 - 29 Jul 2019 18:38 #140911
by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello Tommy, attached list of ethercat devices extracted from linux-ethercat-master, in this list are the basics, in theory the entire ELXXXX series can be controlled without problems, although they require programming, initial configuration and a little experience, Greetings
Chimeno
Chimeno
Last edit: 29 Jul 2019 18:38 by chimeno.
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29 Jul 2019 18:53 - 29 Jul 2019 18:58 #140914
by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi guys,
I attach a new EL3403 controller.
regards
Chimeno
I attach a new EL3403 controller.
regards
Chimeno
Last edit: 29 Jul 2019 18:58 by chimeno.
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29 Jul 2019 21:23 #140920
by tommylight
Google translate
Thank you very much, that is exactly what i was looking for !
Replied by tommylight on topic Ethercat HAL driver
Muchas gracias, eso es exactamente lo que estaba buscando !Hello Tommy, attached list of ethercat devices extracted from linux-ethercat-master, in this list are the basics, in theory the entire ELXXXX series can be controlled without problems, although they require programming, initial configuration and a little experience, Greetings
Chimeno
Google translate
Thank you very much, that is exactly what i was looking for !
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- marcin2458
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28 Aug 2019 08:21 #143415
by marcin2458
Replied by marcin2458 on topic Ethercat HAL driver
Hello everyone,
for some time, I have been trying to configure the Stober's inverter MDS5015 on ethercat. I supported examples found on the internet, among others from sittner or roschi. So far I haven't even managed to move the engine shaft even though the configuration seems to be good. Please, could anyone look at my configuration and indicate where I made the mistake?
Best regards,
Marcin
for some time, I have been trying to configure the Stober's inverter MDS5015 on ethercat. I supported examples found on the internet, among others from sittner or roschi. So far I haven't even managed to move the engine shaft even though the configuration seems to be good. Please, could anyone look at my configuration and indicate where I made the mistake?
Best regards,
Marcin
Warning: Spoiler!
ethercat slave -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
Vendor Id: 0x000000b9
Product code: 0x00001388
Revision number: 0x000001f6
Serial number: 0x007b8f42
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3930433816 0 0
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/532, TX: 0x1800/532
Standard RX: 0x1800/246, TX: 0x18f6/246
Supported protocols: CoE, FoE
General:
Group: Drive
Image name: DRIVE
Order number: POSIDRIVE(R) xDS 5000
Device name: SAT-EC-XML-EtherCAT_FastRefValue
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
Vendor Id: 0x000000b9
Product code: 0x00001388
Revision number: 0x000001f6
Serial number: 0x007b8f42
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3930433816 0 0
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x1000/532, TX: 0x1800/532
Standard RX: 0x1800/246, TX: 0x18f6/246
Supported protocols: CoE, FoE
General:
Group: Drive
Image name: DRIVE
Order number: POSIDRIVE(R) xDS 5000
Device name: SAT-EC-XML-EtherCAT_FastRefValue
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: no
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
Warning: Spoiler!
ethercat master -v
Master0
Phase: Operation
Active: yes
Slaves: 1
Ethernet devices:
Main: 18:67:b0:34:5b:f1 (attached)
Link: UP
Tx frames: 1570567
Tx bytes: 99680856
Rx frames: 1570566
Rx bytes: 99680782
Tx errors: 0
Tx frame rate [1/s]: 1000 1000 1000
Tx rate [KByte/s]: 62.0 62.0 62.0
Rx frame rate [1/s]: 1000 1000 1000
Rx rate [KByte/s]: 62.0 62.0 62.0
Common:
Tx frames: 1570567
Tx bytes: 99680856
Rx frames: 1570566
Rx bytes: 99680782
Lost frames: 0
Tx frame rate [1/s]: 1000 1000 1000
Tx rate [KByte/s]: 62.0 62.0 62.0
Rx frame rate [1/s]: 1000 1000 1000
Rx rate [KByte/s]: 62.0 62.0 62.0
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: Slave 0
Application time: 619777113674223392
2019-08-22 08:18:33.674223392
Master0
Phase: Operation
Active: yes
Slaves: 1
Ethernet devices:
Main: 18:67:b0:34:5b:f1 (attached)
Link: UP
Tx frames: 1570567
Tx bytes: 99680856
Rx frames: 1570566
Rx bytes: 99680782
Tx errors: 0
Tx frame rate [1/s]: 1000 1000 1000
Tx rate [KByte/s]: 62.0 62.0 62.0
Rx frame rate [1/s]: 1000 1000 1000
Rx rate [KByte/s]: 62.0 62.0 62.0
Common:
Tx frames: 1570567
Tx bytes: 99680856
Rx frames: 1570566
Rx bytes: 99680782
Lost frames: 0
Tx frame rate [1/s]: 1000 1000 1000
Tx rate [KByte/s]: 62.0 62.0 62.0
Rx frame rate [1/s]: 1000 1000 1000
Rx rate [KByte/s]: 62.0 62.0 62.0
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: Slave 0
Application time: 619777113674223392
2019-08-22 08:18:33.674223392
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28 Aug 2019 09:00 #143420
by cheng
Replied by cheng on topic Ethercat HAL driver
Try to modify xml according to the picture
Maybe xmlfile couldn't be copied, so I modified the screenshot.
I want you to copy and paste xmlfile into the comments.
Maybe xmlfile couldn't be copied, so I modified the screenshot.
I want you to copy and paste xmlfile into the comments.
Attachments:
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- marcin2458
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28 Aug 2019 10:35 #143436
by marcin2458
Replied by marcin2458 on topic Ethercat HAL driver
I tried it, but it doesn't work.
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29 Aug 2019 02:10 #143517
by cheng
Please execute "dmesg" after the error.
You need to determine if the servo drive you are using now, MDS5015, can use the stmds5k driver, and if not, you need to use the "generic" driver.
It is recommended that you search the forum for similar questions. I've seen similar questions before.
Replied by cheng on topic Ethercat HAL driver
I tried it, but it doesn't work.
Please execute "dmesg" after the error.
You need to determine if the servo drive you are using now, MDS5015, can use the stmds5k driver, and if not, you need to use the "generic" driver.
It is recommended that you search the forum for similar questions. I've seen similar questions before.
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- marcin2458
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29 Aug 2019 11:16 - 29 Aug 2019 11:33 #143545
by marcin2458
I don't have any errors. The program opens normally, the axis changes its position on the computer but the motor shaft does not move. I read a "lcec_stmds.c" file and there are used the same variables as I have uploaded to the inverter (Fast Reference Value). That means the inverter should be using the stmds5k driver. I don't found any similar questions on forum which can help me. I add my new configuration
Replied by marcin2458 on topic Ethercat HAL driver
I tried it, but it doesn't work.
Please execute "dmesg" after the error.
You need to determine if the servo drive you are using now, MDS5015, can use the stmds5k driver, and if not, you need to use the "generic" driver.
It is recommended that you search the forum for similar questions. I've seen similar questions before.
I don't have any errors. The program opens normally, the axis changes its position on the computer but the motor shaft does not move. I read a "lcec_stmds.c" file and there are used the same variables as I have uploaded to the inverter (Fast Reference Value). That means the inverter should be using the stmds5k driver. I don't found any similar questions on forum which can help me. I add my new configuration
Last edit: 29 Aug 2019 11:33 by marcin2458.
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29 Aug 2019 12:27 #143552
by sqmathlete
Replied by sqmathlete on topic Ethercat HAL driver
@Marci2485
If you open up LinuxCNC without any errors than the problem could be that you are not bringing the servo into the op state.I think that if you look at the example files and around the middle of this thread there is some information about initializing your amps.
Try setting the control word in the following order
In the hal file, (sorry I can't remember the exact names)
# Control word = 0x06
setp voltage enable? 1
#Control word = 0x07
setp quickstop?
#Link linuxcnc estop/power to servo enable, Control word will toggle between 0x07 and #0x0F
net xxxxxxx xxxxxx xxxxxx
Kind regards,
Dan
If you open up LinuxCNC without any errors than the problem could be that you are not bringing the servo into the op state.I think that if you look at the example files and around the middle of this thread there is some information about initializing your amps.
Try setting the control word in the following order
In the hal file, (sorry I can't remember the exact names)
# Control word = 0x06
setp voltage enable? 1
#Control word = 0x07
setp quickstop?
#Link linuxcnc estop/power to servo enable, Control word will toggle between 0x07 and #0x0F
net xxxxxxx xxxxxx xxxxxx
Kind regards,
Dan
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29 Aug 2019 18:04 - 29 Aug 2019 18:13 #143587
by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi marcin2458,
I don't know if I can help you, the first thing I would do would be in the "ethercat slave" terminal to see that it is in "PREOP +" mode, then start linuxcnc, while running linuxcnc, terminal "ethercat slave" see "OP +" if the "+ "change to an" E "configuration error, can you look at this ?, are you using the latest version of" linuxcnc-ethercat "?
Can you eliminate this line if it happens?
"setp lcec.0.0.srv-enable 1"
regards
Chimeno
I don't know if I can help you, the first thing I would do would be in the "ethercat slave" terminal to see that it is in "PREOP +" mode, then start linuxcnc, while running linuxcnc, terminal "ethercat slave" see "OP +" if the "+ "change to an" E "configuration error, can you look at this ?, are you using the latest version of" linuxcnc-ethercat "?
Can you eliminate this line if it happens?
"setp lcec.0.0.srv-enable 1"
regards
Chimeno
Last edit: 29 Aug 2019 18:13 by chimeno. Reason: Edit
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