Ethercat HAL driver

chimeno
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07 Jan 2020 19:32 #154239 by chimeno

Replied by chimeno on topic Ethercat HAL driver

Hello again Nico2017,
to my knowledge there is no limited number of devices, if the system crashes it is because you have poorly configured PDOs, also if you have more different PDOs and they do not enter this device, they will affect the following device and will also enter into failure mode, to Sometimes the order of the devices is also important, since each one consumes different relog cycles and causes delays that affect the state of the next device, performed tests with 40 devices in series and without problem, currently in my system I have it due in 2 ethercat masters, some for servos and another for inputs and outputs, if you want I can help you have two teachers, it's really easy.
regards
Chimeno

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chimeno
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07 Jan 2020 19:36 - 07 Jan 2020 20:14 #154241 by chimeno

Replied by chimeno on topic Ethercat HAL driver

Hello phoenix_83
Do you have Quilt installed?

sudo apt-get install quilt

regards
Chimeno

Last edit: 07 Jan 2020 20:14 by chimeno. Reason: Edit

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chimeno
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07 Jan 2020 19:57 #154245 by chimeno

Replied by chimeno on topic Ethercat HAL driver

hello manojpatil,
The attached .xml file is the configuration file I suppose created by TWINCAT3 ?? I think it is not in the correct format, as I can see in the file are you trying to control the SINEE EA100N servo controller
If you are finalizing linuxcnc-ethercat does not include this controller, do you know programming to make your own? if not the best is that you use the generic.
regards
Chimeno

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Nico2017
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07 Jan 2020 22:17 - 07 Jan 2020 22:19 #154265 by Nico2017

Replied by Nico2017 on topic Ethercat HAL driver

Hi Chimeno,
thanks for the input for absence of limitation of EtherCAT slave. I actually tried with two masters, without success so far, but it is nice to have this ability I think. I will reinvestigate my .xml file, I think the issue could potentially be linked to a DC config issue as you relate it in your previous post:

<dcConf assignActivate = "730" sync0Cycle = "125000" sync0Shift = "0" sync1Cycle = "875000" sync1Shift = "0 />

Still not a 100% familiar with the concept involved, so if your understanding of this command line has progressed and there is a method to determine each parameter value, that would be really helpful.

Thank you,

Nicolas

Last edit: 07 Jan 2020 22:19 by Nico2017. Reason: Better explanation

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phoenix_83
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08 Jan 2020 11:40 #154300 by phoenix_83

Replied by phoenix_83 on topic Ethercat HAL driver

Hi Chimeno,

yes, quilt is installed. But what should i do with it?

Sorry for my questions, but i am a newby...

regards
Heiko

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chimeno
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08 Jan 2020 20:41 #154345 by chimeno

Replied by chimeno on topic Ethercat HAL driver

hello phoenix_83
I already have your error located!

sudo git clone git: //github.com/sittner/ec-debianize.git

cd ec-debianize

sudo ./get_source.sh

tenemos este error

error in hg: qpush

solucion
edit the mercurial configuration file

sudo hg config --edit

Add

[extensions]
mq =

save and return to

sudo ./get source.sh

now without mistakes!
you can continue compiling ...

cd etherlabmaster

sudo dpkg-checkbuilddeps

sudo dpkg-buildpackage

cd ..

sudo dpkg -i etherlabmaster_1.5.2+xxxxxx_amd64.deb

sudo dpkg -i etherlabmaster-dev_1.5.2+xxxxxx_amd64.deb

now you just need to edit the ethercat configuration file

sudo geany /etc/default/ethercat

we apply

sudo update-ethercat-config

works!!!!
regards
Chimeno

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narogon
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09 Jan 2020 10:15 #154421 by narogon

Replied by narogon on topic Ethercat HAL driver

Nico2017 wrote:
Hi all,
I was wondering if there was a slave number limitation on the EtherCAT configuration for linuxcnc. I am trying to run a new device, the config xml file works fine when I plug the device alone, but my system crashes when I put it after 15 other slave on my EtherCAT bus.

Is such a limitation exists, is it overall, or is it per master? My computer has two Ethernet port, so maybe I could use the other one as another master. I am just wondering how I would parametrize it in the /etc/default/ethercat file.

Thank you,

Nicolas

There is a memory limitation on linuxcnc:

In src/hal/hal_priv.h (github.com/LinuxCNC/linuxcnc/blob/master/src/hal/hal_priv.h)

you have two constant HAL_SIZE and HAL_STACK_SIZE
I've changed

#define HAL_STACKSIZE 16384	/* realtime task stacksize */

#define HAL_STACKSIZE 32768	/* realtime task stacksize */

and

#define HAL_SIZE  (75*4096)

#define HAL_SIZE  (75*8192)

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Nico2017
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23 Jan 2020 22:14 #155579 by Nico2017

Replied by Nico2017 on topic Ethercat HAL driver

Hi narogon,
I did extend the HAL_SIZE previously. Will try extending the HAL_STACKSIZE too.
I am just wondering

what are the difference between those two parameters?
is there a physical limitation to extending. i guess you cannot put an number too high as at some point you are physically limited by your hardware. Is there a way to enlarge those sizes and compare it a relevant maximum value, to see how we are from this limit?

Thank you again,

Nicolas

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manojpatil
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02 Feb 2020 11:03 #156364 by manojpatil

Replied by manojpatil on topic Ethercat HAL driver

Hello sir,

I am facing the same problem with my Driver, Driver not going to Pr-Op state to Op-state, when I am trying to do that then it will give me the sync error.

can you please help me the How to set up my driver with Linuxcnc step by step???

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chimeno
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02 Feb 2020 11:45 #156368 by chimeno

Replied by chimeno on topic Ethercat HAL driver

Hi manojpatil,
If you can give more information of the device you are trying to control and the configuration you have so far or you can also pass the project in TWINCAT3 I can take a look if I can help you.
regards
Chimeno

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