Ethercat HAL driver

Hello @Grotius

Sorry, I did not explain myself well, the guide is not mine, I only ask how the EL6021 device has been programmed, I am not very clear how I should approach it.

Greeting
Chimeno

@Grotius
Thanks for posting your ISO... I am checking it out now.
The device name was excellent "Skynet"


@Chimeno
Thanks for your work on EL3351... another module added to the list.


Both of you guy's have done a lot of work for all of us.... thanks again for all that you have done.. Still super grateful to you Albert for helping me with my EL5151 problem back in the past.

Robert

To save others time in the future.. the HAL files in Grotius ISO is located here:

/usr/share/linuxcnc/hallib/

@Grotius
Excellent job on the ISO... I have 2 computer setups already running with each of them hooked to a EK1100 and EL7041. I can see the pins in HAL CONFIG in both setups. About to start tweaking HAL files.

I checkt my configs a few times and found my misstake. Highsignal stays on PIN 3

Hello,
i use a Beckhoff EK1100 and as DI EL1008
now i have some problems on my hal, ini or xml
in my machine hal config is lcec.0.1.din-6´s dir as oUT
I think it has to be IN.
can someone look at my configs and tell me what iam doing wrong?

Ethercat is working

ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x044c2c52
Revision number: 0x00120000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0* MII up open yes - 3618587528 0 0
1 EBUS up open yes 1 3618587838 310 155
2 MII down closed no - - - -
3 N/A down closed no - - - -
General:
Group: SystemBk
Image name:
Order number: EK1100
Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: -2000 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x03f03052
Revision number: 0x00120000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, delay measurement only
DC system time transmission delay: 155 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0* EBUS up open yes 0 2885716336 0 155
1 EBUS down closed no - - - -
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigIn
Image name: TERM_DI
Order number: EL1008
Device name: EL1008 8K. Dig. Eingang 24V, 3ms
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 90 mA



ethercat pdos
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize 1, ControlRegister 0x00, Enable 1
TxPDO 0x1a00 "Channel 1"
PDO entry 0x6000:01, 1 bit, "Input"
TxPDO 0x1a01 "Channel 2"
PDO entry 0x6010:01, 1 bit, "Input"
TxPDO 0x1a02 "Channel 3"
PDO entry 0x6020:01, 1 bit, "Input"
TxPDO 0x1a03 "Channel 4"
PDO entry 0x6030:01, 1 bit, "Input"
TxPDO 0x1a04 "Channel 5"
PDO entry 0x6040:01, 1 bit, "Input"
TxPDO 0x1a05 "Channel 6"
PDO entry 0x6050:01, 1 bit, "Input"
TxPDO 0x1a06 "Channel 7"
PDO entry 0x6060:01, 1 bit, "Input"
TxPDO 0x1a07 "Channel 8"
PDO entry 0x6070:01, 1 bit, "Input"

Hi,

If i look i suspect it could be the file name : ethercat_config_4.xml
Are you sure, its 4? Or is it the 4'th attempt?
You could use full file path to be sure.
For the rest i see nothing to worry about.

Good luck !

@Corbett,

How is your skynet iso running? If you have suggestions for future iso's. Let me know !
I am quite happy with this iso. I only miss a syntific calculator.. and a automatic coffee EL-T1000 device slave.

Hi,
I installed GROTIUS' image and was supprised, that everything worked out of the box.
I did a, wrote a small xml with the EL1008, EL2008, EL2521 and EL 7041-1000 and that was it - wow! Thank you all for the hours of work saved.

My next step is to add a Lenze 8400 Frequency Inverter and a Kollmorgen AKD.
I have the vendors ESI-XMLs and found this tutorial, to create a xml for the generic driver: docs.google.com/document/d/1GiB065ZIAaoM...xGQl2X9DM9-THNM/edit

Is this still the way to go or did someone write a script in the meantime?
Is there a place/repository to share config files?

I am gradually working my way forward in this thread. Can someone recommend a website/tutorials where all the knowledge is a bit more condensed? Browsing through 100s of posts does not seem to be the most effectiv way to get information

Thank you all for all for all the effort you put into this project, that allows me to start so quickly!

Cheers
Jan

Hi @Automata ;

I am trying to integrate with A5B drivers, but i couldnt manage it. While i was searching forum i saw your post.

On my system; when i try to enable the motors, drivers give SyncManager 2/3 error.

On Etherlab side i am seeing every driver as ethercat slave and i can make all of them Servo Enable by etherlab commands via Control words (6040 6 and then 15). It means ethercat is working well, but i have problems with servo driver Sync parameters.

I will be very happy if you can send me Parameter / Object file of one of your Driver so i can check.

Thank you
Gokhan

@Grotius

Excellent job... I do not see anything to add at the moment, as you have everything covered. It definitely saves a ton of time compared to building. Very happy that you put this together and posted. I was working on doing a similar setup, but you have a better ISO than what I was doing.


I definitely want the EL-T1000 slave. That would complete my Skynet deployment!!!

Robert