Ethercat HAL driver

Hi Roschi

My drive is Pronet-08AMA-E with an EC100 EtherCAT module. If you look at the ethercat users manual V1.1 it is described in it i have looked everywhere for the v1.2 manual but i can't
find it. drives labeled Pronet-E-8 for example wont support the absolute Encoder and also wont support the external EC100 module. i have been back to Estun and i see that they have
Released new drives like yours with the erthercat system integral to the unit I must have just revived old stock! not that important as long as i get it working!

I think you are right about success stories this is almost a plug and play CNC system when you look at other systems out there Ethercat makes a lot of sense
The only reason why i started my project was because i watched your video. I wanted to do one before this and i had built drives on the uhu servo drive design
but i found the system unreliable and with my work i will be away for a month at a time so when i get home i don't want to spend my time trouble shooting i would like to be machining.

i have read the posts about the license issues and i could see both sides points it is a shame because this could (with some effort ) become a very polished
system like you say you could load the product xml and automatically generate the HAL .xml . I see where you are coming from with powerlink. with a powerlink
stack under a bsd lenience on sourcforge and i have already found a supplier of powerlink servo drives with the absolute encoders in china i saw them at a trade fair.
Might have to pay them a visit next time I am back in china

I was following your document on the Bosch Rexroth drives and i wanted something a little less expensive so i thought i would blaze my own trail and go with Estun
But you beat me to it . I have been trying to get my head around it all and following your example but as you show in your video i can hook it up and talk straight away with the
Ethercat master. but I am afraid i will need your help with the hal file I am a little lost with some of it your video helped a lot and i will give it a few more goes but i think i will need help.
i love the no homing this is why i wanted the Estun drive

Well i better get back to work Happy Easter
Warren

My biggest problem right now is trying to get NC-cycle time and the watchdog also if you are looking for the pdo for torque it is 0x6077 and it is given as per 1000 of rated torque

edit.
OK i see you have this already i don't know why this isn't listed in the manual. i have found your
.xml file i understand now use sdo raw commands to configure the drive and the rest is history
thanks. also i now have manual v1.02 there is a lot more information in there now and some parts have been
clarified recived a quote on the new drives they are cheaper because i don't have to buy an EC 100 module

Hi All,
in case you search for the EtherCAT manual from ESTUN version 1.02 find it here:
link
the original ESTUN XML File for the use in TwinCAT can be find here:
ESTUN_ProNet_V200.xml

I was in contact with the R&D of ESTUN they told me two more parameters:
0x60b1 is the speed feed forward
0x60b2 is the torque feed forward
in case 0x6060 is 8 (cyclic position mode)
for other parameters you can also have a look at the CiA DSP 402
e.g. link

Also you can find some samples for XML, HAL, PLC and INI files that could give hints for setup EtherCAT drives here:
roschi.eu/retrofit/

The modified homing.c --> no need for moving the axis in case of absolut encoders and modified lcec_conf.c, lcec.c --> added scaling parameter feature in xml files can be found here:
link to github

Regards Andreas

Hi guys

i know that a similar issue was posted at the beginning of this but i am missing /master/debian from
/src/hal/drivers/ethercat/master/debian
i git cloned sittner and checkout add-hal-ethercat. i thought the the ec debianiz folder might be what was met to be there so i created master and copied
the debian folder to it but no luck so im flying blind and by the seat of my pants. mind you this is all new to me its been an interesting day
I have learned a lot. graphic drivers and Ethernet drivers all had to be added first real day with linux

[edit] i followed the same line as wen in post 40340 and recived a permission denied when configure -a so i used the sh ./configure -a
and i received [: 40: -a; unexpected operator but then i received that it was successfully config line 40 was fi but i think it is meant to be if but it has no argument for the if statement now

ok the current state of play is i have been able to make ethercat master and linuxcnc
but now i run the command ethercat slaves i get a error along the lines of: Failed to obtain number of master:Failed to open master device /dev/EtherCAT0:No such file or directory.
i looked into init.d and the command ethercat start but came back with no such file or directory
went root and tried it that way and came up wit no sysini/init.d/ethercat file i would appreciate any input on this problem
But for now i'm going to bed its midnight here and I have been at this since 8:30 am i think if i had more experience with Linux
i would see it its probably so simple but well its my first day

Hi Warren,

wazza77 wrote: i looked into init.d and the command ethercat start but came back with no such file or directory
went root and tried it that way and came up wit no sysini/init.d/ethercat file i would appreciate any input on this problem

An automatic loading of etherlab master/kernel modules at boot time depends on your system/runlevel manager (see docs etherlab, docs runlevels common linux)

So for first tests there is a work around (does not solve the configuration for automatic loading at boot time):
Look for the install dir of etherlab. Perhaps the command 'whereis ethercat' gives a hint.
In my case this is /opt/etherlab/.
In this dir (or the dir you find out) go to subdir etc/ and edit ethercat.conf and enter the mac of your NIC you want to use for EtherCAT.
Then enter the command /opt/etherlab/etc/init.d/ethercat start. (If this won't work, check the content of /opt/etherlab/etc/init.d/ethercat for the parameter 'THERCAT_CONFIG=' this should point to the file you have edited with your mac.

Hope this will help.

Regards Andreas