hal ini and xml configuration for akd motor driver

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01 Oct 2021 08:52 #221940 by itsnotryan
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.

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01 Oct 2021 15:22 #221967 by db1981
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
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01 Oct 2021 15:46 #221970 by itsnotryan
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
 

File Attachment:

File Name: ethercat.hal
File Size:2 KB

File Attachment:

File Name: ethercat-conf.xml
File Size:0 KB

File Attachment:

File Name: ethercat.ini
File Size:5 KB

File Attachment:

File Name: linuxcnc_debug.txt
File Size:0 KB

File Attachment:

File Name: linuxcnc_print.txt
File Size:1 KB
Attachments:

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01 Oct 2021 17:02 #221974 by db1981
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
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01 Oct 2021 18:03 #221977 by itsnotryan
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.
 

File Attachment:

File Name: ethercat_2...0-01.hal
File Size:2 KB

File Attachment:

File Name: ethercat-c...0-01.xml
File Size:1 KB

File Attachment:

File Name: ethercat_2...0-01.ini
File Size:5 KB


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, ""
 
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01 Oct 2021 18:24 #221978 by db1981
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.

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04 Oct 2021 07:25 #222167 by itsnotryan
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!

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04 Oct 2021 08:02 #222170 by itsnotryan
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

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04 Oct 2021 08:03 #222172 by db1981
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 ?

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04 Oct 2021 08:17 #222173 by itsnotryan
could you please guide me how to access that information?
thank you so much

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