Ethercat HAL driver

chimeno
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6 years 5 months ago - 6 years 5 months ago #168902 by chimeno

Replied by chimeno on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

Hi @sqmathlete

You can add all the PDOs that the controller supports, it would be the same way as the default ones.
If you have TWINCAT3 it is easy to test all the supported PDOs

reguard
Chimeno

Last edit: 6 years 5 months ago by chimeno. Reason: Edit

sqmathlete
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6 years 5 months ago #168971 by sqmathlete

Replied by sqmathlete on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

@ chimeno

Sorry, I was unclear. I meant in the source file lcec_deasda.c.

Also,can you explain how you determined the scale value for this

Code:

 <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actpos" halType="float" scale="1.192092896e-6"/>

Dan

chimeno
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6 years 5 months ago - 6 years 5 months ago #168994 by chimeno

Replied by chimeno on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

Hi @sqmathlete

Además, ¿puede explicar cómo determinó el valor de escala para este

<pdoEntry idx = "6064" subIdx = "00" bitLen = "32" halPin = "actpos" halType = "float" scale = "1.192092896e-6" />

The value I did not look for it, is from a previous publication by @theshade

Sorry, I was unclear. I meant in the source file lcec_deasda.c.

PDOs are defined in lines 194-199, you also have to modify lines 122-148 and put the number of maximum PDOs in the .h file #define

Code:

LCEC_DEASDA_PDOS 6

I don't know if this is what you need ?? If you have the device's .xml description file, I can see it in TWINCAT3 that PDO you need

Reguard
Chimeno

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Last edit: 6 years 5 months ago by chimeno.

The following user(s) said Thank You: sqmathlete

chimeno
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6 years 5 months ago - 6 years 5 months ago #169002 by chimeno

Replied by chimeno on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

Hi all guys, I have attached a new EM3712 controller, for you gamers !!

Reguard
Chimeno

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Last edit: 6 years 5 months ago by chimeno. Reason: Edit .xml

The following user(s) said Thank You: CORBETT

theshade
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6 years 5 months ago - 6 years 5 months ago #169035 by theshade

Replied by theshade on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

Hello @ chimeno,

I made some progress yesterday. When I start linuxcnc my device goes into OP and now if I write this in a terminal.
The motor gets current and I can't turn it by hand anymore:

Code:

ethercat -p0 -t uint16 download 0x6040 0 0x0006 # EnableVoltage+QuickStop
ethercat -p0 -t uint16 download 0x6040 0 0x0007 #                        +SwitchOn
ethercat -p0 -t uint16 download 0x6040 0 0x000f #                                 +EnableOperation

But how and where should I have this in linuxcnc?
[update] I think there are plenty of examples in here: github.com/aschiffler/linuxcnc/tree/master/configs/roschi_cnc
I will try to adapt sth from this in the hal file...

Code:

setp lcec.0.3.drivecontrol-8 1
setp lcec.0.3.drivecontrol-13 1
setp lcec.0.3.drivecontrol-14 1
setp lcec.0.3.signalcontrol-0 0

setp lcec.0.4.drivecontrol-8 1
setp lcec.0.4.drivecontrol-13 1
setp lcec.0.4.drivecontrol-14 1
setp lcec.0.4.signalcontrol-0 0

setp lcec.0.5.drivecontrol-8 1
setp lcec.0.5.drivecontrol-13 1
setp lcec.0.5.drivecontrol-14 1
setp lcec.0.5.signalcontrol-0 0

Also I think my "scaling" is currently wrong, I think the encoders are 1000 steps per rev while the stepper is actually 200 steps per rev.. and I will attach some SFU1605 screws to them.

Thank you again for your support

Last edit: 6 years 5 months ago by theshade.

chimeno
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6 years 5 months ago - 6 years 5 months ago #169148 by chimeno

Replied by chimeno on topic Ethercat HAL generic on raspberry 4 rt (working with beckhoff)

Hi @theshade
I do not use this type of generic file, it costs me a bit, and without having the device it is also a little more difficult
I attach a new .xml file with some changes

a your .hal file

Code:

setp lcec.0.X-cmd-SwitchOn 1
setp lcec.0.X-cmd-EnableVoltage 1
setp lcec.0.X-cmd-/QuickStop 1
setp lcec.0.X-cmd-EnableOperation 1

Now the driver is ready to work ...

the scale is surely wrong if not calculated, but to start leave at 1 and then check the measurement
Could this be the scale?

Code:

<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscmd" halType="float" scale="40.0"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actpos" halType="float" scale="200.0"/>

Now we connect the signals ...

Code:

lcec.0.poscmd -> joint.0.motor-pos-cmd
lcec.0.actpos <- joint.0.motor-pos-fb

I hope it is a good start ...

Reguard
Chimeno

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Last edit: 6 years 5 months ago by chimeno. Reason: Edit

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