Ethercat HAL driver

Have you ever used the command line to control the rotation of the motor?

This was sent to me by Grotius. There is no need to execute linuxcnc xxxxx.ini.

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mabey you can see this video


I hope this will help you.

by cheng

Have you ever used the command line to control the rotation of the motor?

This was sent to me by Grotius. There is no need to execute linuxcnc xxxxx.ini.

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mabey you can see this video


I hope this will help you.

by cheng

@sqmathlete, @chimeno, @cheng

I've checked your advice. When the program is started, the servo is still in the PREOP state and + changes to E. I've checkedm 'dmesg' command and have received such information:

I tried to use the command line to control the rotation but i can only read information about max torque and velocity. When I try to use another command, it's showing up: "The slave selection matches 0 slaves. 'upload' requires a single slave".

I don't know what and where i'm doing wrong

Hi marcin2458,
Do you have well configured the "driver" with the "servo-motor" and all the corresponding parameters?

regards
Chimeno

chimeno wrote:

Hi marcin2458,
Do you have well configured the "driver" with the "servo-motor" and all the corresponding parameters?

Can you try to erase this signal if it solves something?
setp lcec.0.0.extenc-scale [AXIS_0] ENC_SCALE

regards
Chimeno

sorry i never see this error.

i can't help you

Hello again,
Thank you all for your help.

I solved the problem with bad configuration of inputs. It turned out that I have entered bad values in my xml file and I don't have all required parameters in my inverter. The drive goes into op state and there are no errors.

But the shaft is still not moving. Linuxcnc reads the position of the shaft, the moment on the shaft, and even the speed when I spin the shaft with my hand. I checked the operation of the program while connecting the drive to positool and when opening linuxcnc the value of pin D230 (n-reference value) changes to 0% and it remains so despite trying to control - in case of a motion task via linuxcnc it should change according to the speed of the axis but this does not happen, it means that LinuxCNC as the value of D230 still sends the value of 0%.Does anyone have any idea how to solve this problem?
I am asking for your help.
Sincerely,
Marcin

Hi Marcin,
I see that in the new.xml file this configuration:
<dcConf assignActivate = "0" sync0Cycle = "* 1" sync0Shift = "- 2500" />
I think it should be
<dcConf assignActivate = "300" sync0Cycle = "* 1" sync0Shift = "- 2500" />
I also think it's better
<master idx = "0" appTimePeriod = "999895" refClockSyncCycles = "1000">
SERVO_PERIOD = 999955
I think it should be
<master idx = "0" appTimePeriod = "1000000" refClockSyncCycles = "1000">
SERVO_PERIOD = 1000000
in the new.hal file
setp lcec.0.0.srv-enable 1
I think it's better for security
net x-enable => lcec.0.0.srv-enable

regards
Chimeno

@chimeno

I did what you wrote, but the problem remains the same. The motor shaft still does not move. Linuxcnc tracks position, torque and speed but I can't get speed directly from the program. I contacted Stober's technical support and they told me that the program I uploaded to the inverter is properly configured, so the only solution is a badly written hal file but I don't know where I made a mistake.

Regards,
Marcin

Hi Marcin,
You might have the PID set up wrong, try giving it more,
setp x-pid.Pgain 50.0
setp x-pid.maxoutput 1000.0

another thing, when motor is running ?? but does not move ??
Regards
Chimeno