Ethercat HAL driver

Hi @chimeno
"It is OP" !!!

I tried "EtherCAT_Configurator" and found that "#define LCEC_EL4004_PID 0x0fc23052" in the "lcec_el40x4.h" file does not match.
I wrote "0x0fa43052". And it works.
But I still have errors when I start my PC. And I don't know what to do with it.
Can you advise me?
Thank you very much.
Jirka

Hi @Jirka
I am very happy that everything works, I only have EL4034, in relation to the error, it seems an error in the device number 5, although I am not sure why it gives you error when starting the PC.

Twincat I tried only version "2". But I couldn't connect. I also wondered if there is a problem in the module. I will try to download Twincat 3. Which version should I download? There are 10 pieces.

to see the error messages you can use the command
greeting
Chimeno

Hi @chimero
Thank you very much for your support.
Where can I copy text that is on PC startup? I won't have to do .jpg.
Thank you very much.
Jirka

Hi All,
I have been trying to get LinuxCNC working with EtherCAT and a Kollmorgen AKD Servo Drive.
I have been posting on this other thread:
forum.linuxcnc.org/27-driver-boards/3559...tall?start=60#159103

But I'm stuck on one last thing, and after sifting through this thread, you guys sound like the right audience. I didn't notice any other posts in here indicating the same problem though.

Basically I'm getting data to/from the drive, i started off using StepGen to control the AKD but now i'm using that project to cobble together an EtherCAT setup so i can update my mill and get rid of some signal issues i've got (low voltage parallel port).

Forgive the mess in the HAL/INI files, so don't assume anything is there on purpose and a bit is commented out. I had to use the SCALE HAL component to handle scaling (it's arbitrary right now).

The problem I have not been able to figure out is:
How do i get the EtherCAT/Can state machine to operate based on the enable/disable button in LinuxCNC?

My understanding is it's not a simple bit, the control word (which i have mapped in the pdo section) has to change a few values in sequence for the device to enable/disable, but i haven't found an example of anyone else doing that to enable/disable.

Anyone have an inkling what i'm missing?

Hi @Sockheaven
I do not have the Kollmorgen AKD servo drive, but if this helps you a little with your project, you broken down the control word with the correct form, this would be the enablement pin I think I may have something wrong but it may be the way to go.
Greeting
Chimeno

Hmm, I tried implementing your change, but get an error on startup now:
lcec_conf: ERROR: Invalid complexEntry bitLen 0

it doesn't seem to like a bitlength of 0 - is there a different attribute like bitNum?
I can see why bit length might be an error.