Ethercat HAL driver

More
5 years 11 months ago #189545 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello @JanMrlth,

Do I need a 'real' driver to be able to run a axis in real time? How much slower is the generic driver?


In my experience, the generic driver works very well if you have few connected devices, enough if they are in free mode and if it is in SYNC0 mode, nothing happens if a cycle is lost because the next cycle I will read the data again, but if you have many devices and you use the SYNC0 and SYNC1 mode, I advise you to use the e1000e controller, the configuration of the devices is much faster and you have no loss of synchronism.

Greeting
Chimeno
The following user(s) said Thank You: JanMrlth
More
5 years 11 months ago #189547 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello @tetw

I don't understand what your problem is, it is best to start a device one by one, first the ones included in linuxcnc-ethercat and the generic ones are the last ones, don't configure anything until you have registered PDOs and devices in OP.

Greeting
Chimeno
More
5 years 11 months ago - 5 years 11 months ago #189712 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver
Hi,

i got following Error message if i try to run my first created ethercat_conf.xml
it says: lcec_conf: ERROR: Parse error at line 52: mismatched tag.
It is the </master> tag in my XML, but i don´t know what it should look like.

The complete error log follows.

File Attachment:

File Name: ethercat-conf.txt
File Size:3 KB
Attachments:
Last edit: 5 years 11 months ago by jc2ktr. Reason: log files added
More
5 years 11 months ago #189719 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello @jc2ktr

I attach modified file, the error is that you have to close the slave at the end
Code:
<slave idx="0" type="generic" vid="00000A88" pid="0A880002" configPdos"true"> ...... ...... </slave>

Greeting
Chimeno
Attachments:
The following user(s) said Thank You: jc2ktr
More
5 years 11 months ago #189791 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver
Thank you i must have missed this. I found another error in my Config. There was an <syncManager> entry which was not neccesary.

My Device Runs now, but how can i get my I/O´s to my axis configuration.
More
5 years 11 months ago #189886 by tetw
Replied by tetw on topic Ethercat HAL driver

Grotius wrote: Hi,

One thing you can check is the following. You have used capital letters in your mac. They are different then your terminal output.
Maybe it can cause an issue.

Hi Grotius,
Yes the mac is correct, I tried with uppercase and lowercase

Grotius wrote: What does this command tell you : $ ethercat cstruct ?? or ./ethercat cstruct

I attach l’output file

File Attachment:

File Name: slave_2020-11-20.c
File Size:20 KB


Grotius wrote: Installing your link is an option. But there is a iso you can use. Wich makes the full process about 10 minutes.

If you can marbles the link the ISO and the installation steps
thanks for your time.

chimeno wrote: Hello @tetw

I don't understand what your problem is, it is best to start a device one by one, first the ones included in linuxcnc-ethercat and the generic ones are the last ones, don't configure anything until you have registered PDOs and devices in OP.

Greeting
Chimeno

Hi Chimeno,
I can't bring the slaves to OP mode.
Code:
dmesg | egrep EtherCAT [ 10.316518] EtherCAT: Master driver 1.5.2 unknown [ 10.316767] EtherCAT: 1 master waiting for devices. [ 10.325681] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown [ 10.325708] EtherCAT: Accepting 00:A0:D2:A5:C0:73 as main device for master 0. [ 10.336070] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 10.336161] EtherCAT 0: Link state of ecm0 changed to UP. [ 10.345732] EtherCAT WARNING 0: 1 datagram TIMED OUT! [ 11.350801] EtherCAT WARNING 0: 125 datagrams TIMED OUT! [ 12.354137] EtherCAT WARNING 0: 125 datagrams TIMED OUT! [ 13.358682] EtherCAT WARNING 0: 121 datagrams TIMED OUT! [ 14.151273] EtherCAT 0: Link state of ecm0 changed to DOWN. [ 80.361852] EtherCAT: Requesting master 0... [ 80.361861] EtherCAT: Successfully requested master 0. [ 80.361899] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0. [ 80.363775] EtherCAT 0: Master thread exited. [ 80.363780] EtherCAT 0: Starting EtherCAT-OP thread. [ 80.369196] EtherCAT WARNING 0: 97 datagrams TIMED OUT! [ 80.397692] EtherCAT 0: Master thread exited. [ 80.397706] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 80.397810] EtherCAT 0: Releasing master... [ 80.397815] EtherCAT 0: Released. [ 80.625045] EtherCAT WARNING: Datagram f6a2e250 (master-fsm) was SKIPPED 1 time. [ 94.471306] EtherCAT: Requesting master 0... [ 94.471315] EtherCAT: Successfully requested master 0. [ 94.471382] EtherCAT ERROR 0 0:1: PDO entry 0x6000:01 is not mapped. [ 94.471965] EtherCAT 0: Releasing master... [ 94.471977] EtherCAT 0: Released.
thanks chimeno.
Time to create page: 0.540 seconds
Powered by Kunena Forum