hal ini and xml configuration for akd motor driver

hello,
I am trying to run a akd motor driver with an EK1100 ethercat device and i am a novice in this environment, currently I have the linuxcnc, ethercat, and linuxcnc-etrhercat and i can access some data coming from the motor driver in the hal configuration of the linux cnc but i cannot send any motion to the motor.I am having a hard time to make the configuration for the ini hal and xml files. so far i tried many solutions from this forum but none of them worked.
I would gtreatly appreciate if anyone could guide me how to config those files. there is not many tutorials or manual available.
thank you so much in advanced.

hello,

to find out what is not working, a little more information is needed.

-what kind of servo drive is this exactly (link to datasheet/manual)
-which error messages do you get?
-ethercat_conf file
-hal file

thank you for your reply,
here is the link to datasheet and user manual, im using kollmorgen P00606 AKD-x00607:
www.kollmorgen.com/en-us/products/drives/servo/akd/
www.kollmorgen.com/sites/default/files/a...e%20EN%20Rev%20J.pdf
www.kollmorgen.com/sites/default/files/a...e%20EN%20Rev%20F.pdf

the error I get is:

emc/iotask/ioControl.cc 702: can't load tool table.
Found file(REL): ./ethercat.hal
Note: Using POSIX realtime
Failed to register PDO entry: No such file or directory
LCEC: master 0 PDO entry registration failed
lcec: rtapi_app_main: Invalid argument (-22)
./ethercat.hal:9: waitpid failed /usr/bin/rtapi_app lcec
./ethercat.hal:9: /usr/bin/rtapi_app exited without becoming ready
./ethercat.hal:9: insmod for lcec failed, returned -1
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/ryan/linuxcnc_debug.txt
and
/home/ryan/linuxcnc_print.txt


here are my config files and some error logs
 

Hi,

please post:
-the output of dmesg after starting linuxcnc
-the output of "ethercat slaves"

is your config working without the servo drive? (EL1018 / EL2008)

Why have you defined an omron drive in the ethercat_conf? you are talking about kollmorgen

hi,
yes i am using kollmorgen the xml file is the one i copied from the forum. now i made some modification, registering my driver as generic and giving it the right parameters. linuxCNC opens with no errors and i get feedback from lcec and cia402 pins but when i jog the motor or run a gcode, in the hal configuration menu i see the target position but i do not observe any movement on the motor.
also when I enable the servo from the kollmorgan software on windows running from the service bus the servo does not move by hand but when I connect it to linuxcnc from the field bus servo does not even get enabled and i can move it by hand easily.
i will attach my new config files which atleast gets some feedback and opens the linux cnc.
 

btw here is the results of ethercat slaves and ethercat pdos:
ryan@RYAN:/media/ryan/LINUXCNC_2_/configs/sanyodenki$ ethercat slaves
0   0:0  PREOP  E  EK1100 EtherCAT-Koppler (2A E-Bus)
1  58:0  PREOP  +  AKD EtherCAT Drive (CoE)
ryan@RYAN:/media/ryan/LINUXCNC_2_/configs/sanyodenki$ ethercat pdos
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1800, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1c00, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x24, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
  RxPDO 0x1601 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
  RxPDO 0x1602 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
  RxPDO 0x1603 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
SM3: PhysAddr 0x1140, DefaultSize    0, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
  TxPDO 0x1a01 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
  TxPDO 0x1a02 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
  TxPDO 0x1a03 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
 

ok, thats looking much better....

does the slave reach ethercat op state? (open a second terminal after starting linuxcnc and take a look with "ethercat slaves")

if not, have a look at the ethercat entrys in dmesg.

Hi,
I did as you asked, after opening linuxcnc and the slaves command return:
0 0:0 PREOP E EK1100 EtherCAT-Koppler (2A E-Bus)
1 58:0 PREOP + AKD EtherCAT Drive (CoE)


I also checked dmesg this is the last result results regarding ethercat:
[ 1955.690136] EtherCAT 0: 2 slave(s) responding on main device.
[ 1955.690140] EtherCAT 0: Slave states on main device: INIT, PREOP.
[ 1955.690217] EtherCAT 0: Scanning bus.
[ 1955.837838] EtherCAT 0: Bus scanning completed in 144 ms.
[ 1955.837841] EtherCAT 0: Using slave 0 as DC reference clock.
[ 1955.842144] EtherCAT 0: Slave states on main device: PREOP.
[ 1990.108563] EtherCAT: Requesting master 0...
[ 1990.108566] EtherCAT: Successfully requested master 0.
[ 1990.108758] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[ 1990.108760] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[ 1990.108771] EtherCAT 0: Master thread exited.
[ 1990.108773] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1990.108849] EtherCAT WARNING 0: 59 datagrams TIMED OUT!
[ 1990.205780] EtherCAT WARNING 0-0: PDOs configured for SM2, but slave does not provide the sync manager information!
[ 1990.205784] EtherCAT WARNING 0-0: PDOs configured for SM3, but slave does not provide the sync manager information!
[ 1990.205787] EtherCAT ERROR 0-0: Failed to determine PDO sync manager for FMMU!

by the way when im running linuxcnc fro the terminal I get this line of output in the terminal saying permission denied:
link (updating variable file): Operation not permitted
task: main loop took 0.111993 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.122294 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.112026 seconds
Can't run a program when not homed
task: main loop took 0.011703 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.110295 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.126218 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.112377 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.174261 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.110518 seconds

Hi,

at first there is something strange in your system.

1 58:0 PREOP + AKD EtherCAT Drive (CoE)

this should be 0:1 (Master 0 / Slave 1) ...

How is your physical wiring? network card -> ek1100 -> AKD ?

could you please guide me how to access that information?
thank you so much