EtherCAT: How to use the dedicated OmrG5 lcec driver?
05 Jun 2020 20:20 #170275
by arvidb
Replied by arvidb on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
I *think* the Communications setting error is because of wrong DC (distributed clock) Sync0 config. This is not possible to configure with the ethercat command line tool; it must be done with a client program though the etherlabmaster API.
But I found out what the problem is with the linuxcnc-ethercat omrg5 driver! After increasing the ethercat debug level by running 'ethercat debug 1' I found this in syslog when loading the bus config (lcec_conf ...) in halrun:
*duh* Only the R88D-KN01H-ECT product ID (0x00000005) is defined in the linuxcnc-ethercat OmrG5 driver! After modifying the code to add all the G5 drives, my drive (an R88D-KN04H-ECT) now goes to OP state and responds to pos-cmd changes in halrun! Wohoo!
I will try to get the code upstream, but I attach my patch here in case someone wants to use the current commit (from 2019-11-21) of linuxcnc-ethercat with their G5 drives:
The bus config xml file looks like this:
The dcConf and watchdog values are from the manufacturer's device description file.
But I found out what the problem is with the linuxcnc-ethercat omrg5 driver! After increasing the ethercat debug level by running 'ethercat debug 1' I found this in syslog when loading the bus config (lcec_conf ...) in halrun:
Jun 5 20:44:57 debian kernel: [10723.751423] EtherCAT DEBUG 0 0:0: Slave main-0 has no matching product code (0x00000007) for configuration (0x00000005).*duh* Only the R88D-KN01H-ECT product ID (0x00000005) is defined in the linuxcnc-ethercat OmrG5 driver! After modifying the code to add all the G5 drives, my drive (an R88D-KN04H-ECT) now goes to OP state and responds to pos-cmd changes in halrun! Wohoo!
I will try to get the code upstream, but I attach my patch here in case someone wants to use the current commit (from 2019-11-21) of linuxcnc-ethercat with their G5 drives:
The bus config xml file looks like this:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="R88D-KN04H-ECT">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<watchdog divider="2498" intervals="1000"/>
</slave>
</master>
</masters>The dcConf and watchdog values are from the manufacturer's device description file.
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08 Jul 2020 12:02 #173970
by arvidb
Replied by arvidb on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
I'm glad it helps! 
I made a pull request to sittner's github repo a month ago: github.com/sittner/linuxcnc-ethercat/pull/89. Unfortunately I have gotten no reaction to that request yet. Hopefully he we accept it sooner or later.
Note that this driver configures the drives to use the default "258th PDO Mappings", i.e. cyclic synchronous position control only. Maybe it would be a good idea to use some other mapping that allows speed control (and feedback) as well.
Korbi: I'm not sure what else to tell you. I used the bus config file (.xml file) quoted above, and the modified omrG5 driver, as described.
I made a pull request to sittner's github repo a month ago: github.com/sittner/linuxcnc-ethercat/pull/89. Unfortunately I have gotten no reaction to that request yet. Hopefully he we accept it sooner or later.
Note that this driver configures the drives to use the default "258th PDO Mappings", i.e. cyclic synchronous position control only. Maybe it would be a good idea to use some other mapping that allows speed control (and feedback) as well.
Korbi: I'm not sure what else to tell you. I used the bus config file (.xml file) quoted above, and the modified omrG5 driver, as described.
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