Ethercat HAL driver

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12 years 5 months ago - 12 years 5 months ago #46698 by willrat
Replied by willrat on topic Ethercat HAL driver
the solution to the watch dog was to decrease the thread period... should of been obvious!
Code:
loadrt threads name1=master period1=10000

I still get configuration errors on dmesg
Code:
[ 2133.788021] EtherCAT ERROR 0-0: Failed to receive state datagram: Datagram timed out. [ 2133.820015] EtherCAT ERROR 0-0: Failed to receive CoE dictionary request datagram: Datagram timed out. [ 2133.832560] EtherCAT 0: 0 slave(s) responding on main device. [ 2133.848005] EtherCAT 0: 1 slave(s) responding on main device. [ 2133.848008] EtherCAT 0: Slave states on main device: PREOP. [ 2133.848052] EtherCAT 0: Scanning bus. [ 2134.026542] EtherCAT 0: Bus scanning completed in 176 ms. [ 2134.026545] EtherCAT 0: Using slave 0 as DC reference clock. [ 2134.064017] EtherCAT ERROR 0-0: Failed to receive state datagram: Datagram timed out. [ 2134.096021] EtherCAT ERROR 0-0: Failed to receive CoE dictionary request datagram: Datagram timed out. [ 2134.108018] EtherCAT 0: 0 slave(s) responding on main device. [ 2134.120021] EtherCAT 0: 1 slave(s) responding on main device. [ 2134.120024] EtherCAT 0: Slave states on main device: PREOP. [ 2134.120074] EtherCAT 0: Scanning bus.
Last edit: 12 years 5 months ago by willrat.
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12 years 5 months ago #46717 by roschi
Replied by roschi on topic Ethercat HAL driver
Code:
loadrt threads name1=master period1=10000
The unit of time is nanoseconds. I think this time have to match the cycle time set in the XML file and should be 1,000,000 ns. I tested it with a minimal vlaue of 500,000 ns.
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12 years 5 months ago - 12 years 5 months ago #46722 by willrat
Replied by willrat on topic Ethercat HAL driver
Setting the period back helped; as did adding the second dc entry on the xml file and also correcting the pid at the top (missed the F off the end)

So now I've got the system running stable. master and salve are both in state-op

I run the shell scripts a5-2, a5-3, a5-4 to enable the drive (just for testing)
here: app.box.com/s/g7jczj0jc15cv3ztl22m

I can control the drive in velocity mode.

I've not worked out how to clear the fault when the drive goes into error yet; so its a power cycle for that.
Last edit: 12 years 5 months ago by willrat.
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12 years 5 months ago #47190 by narogon
Replied by narogon on topic Ethercat HAL driver
Has someone tried to configure lcec with beckhoff modules?

I'm testing this simple configuration:
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="10"> <slave idx="0" type="EK1100" /> <slave idx="1" type="EL1014" /> </master>

But i obtain this error EtherCAT ERROR 0 0:1: PDO entry 0x6000:01 is not mapped.


Is there any known error in lcec_el1xxx.c or any other file of hal ethercat driver?
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12 years 5 months ago #47192 by willrat
Replied by willrat on topic Ethercat HAL driver
I had that error using some EL1008 off ebay. The units were dead

You can check with
Code:
user@emc-test:~$ ethercat slaves 0 0:0 INIT + EK1100 EtherCAT-Koppler (2A E-Bus) 1 65535:0 INIT + 0xffffffff:0xffffffff

The final line shows the dead unit.
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12 years 5 months ago - 12 years 5 months ago #47193 by narogon
Replied by narogon on topic Ethercat HAL driver
I'm having the error independently if there are connected or not. In any case I have not any problem when i make ethercat slaves
Code:
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus) 1 0:1 PREOP + EL1014 4K. Dig. Eingang 24V, 10�s
Last edit: 12 years 5 months ago by narogon.
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