Ethercat retrofit question
17 Oct 2021 11:54 #223370
by Niko
Replied by Niko on topic Ethercat retrofit question
OK this explains a few things .
Here is the output of pdos command :
So I should change the Sync master and the 6000 something addresses .
But the IO has 9 input blocks and 7 output blocks . That seems a bit odd .
Here is the output of pdos command :
SM0: PhysAddr 0x1000, DefaultSize 253, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1110, DefaultSize 253, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1220, DefaultSize 70, ControlRegister 0x24, Enable 1
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
RxPDO 0x1601 ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x6081:00, 32 bit, ""
RxPDO 0x1602 ""
PDO entry 0x60ff:00, 32 bit, ""
RxPDO 0x1603 ""
PDO entry 0x6071:00, 16 bit, ""
PDO entry 0x60fe:01, 32 bit, ""
PDO entry 0x60b2:00, 16 bit, ""
SM3: PhysAddr 0x1310, DefaultSize 70, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6041:00, 16 bit, ""
PDO entry 0x6061:00, 8 bit, ""
PDO entry 0x6077:00, 16 bit, ""
TxPDO 0x1a01 ""
PDO entry 0x6064:00, 32 bit, ""
TxPDO 0x1a02 ""
PDO entry 0x6074:00, 16 bit, ""
PDO entry 0x20f2:00, 16 bit, ""
TxPDO 0x1a03 ""
PDO entry 0x60fd:00, 32 bit, ""
PDO entry 0x20b6:00, 32 bit, ""
PDO entry 0x60f4:00, 32 bit, ""
So I should change the Sync master and the 6000 something addresses .
But the IO has 9 input blocks and 7 output blocks . That seems a bit odd .
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17 Oct 2021 12:00 - 17 Oct 2021 14:55 #223371
by Niko
Replied by Niko on topic Ethercat retrofit question
OK that's the pdo of the servo drive .
I'll correct the xml and try again .
Edit :
after reviewing the response of the ethercat pdos command everything became clear .
The only thing needing correction was the syncMaster id . After that the inputs are readable .
I tried my luck with the operator panel . All in all ok but can't seem to find the accepted data types .
halType="u32" u32, s32 and bit are accepted, but what are the 8 and 16 bit types ?
I'll correct the xml and try again .
Edit :
after reviewing the response of the ethercat pdos command everything became clear .
The only thing needing correction was the syncMaster id . After that the inputs are readable .
I tried my luck with the operator panel . All in all ok but can't seem to find the accepted data types .
halType="u32" u32, s32 and bit are accepted, but what are the 8 and 16 bit types ?
Last edit: 17 Oct 2021 14:55 by Niko.
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17 Oct 2021 16:22 #223400
by db1981
Replied by db1981 on topic Ethercat retrofit question
at hal side there exists only u32/s32/bit/float .
the ethercat side you have to specify with the bitlength. Lcec then handles it internal
as s or u 8,16,32 and copys the values to the halpins(32 bit size) .
the ethercat side you have to specify with the bitlength. Lcec then handles it internal
as s or u 8,16,32 and copys the values to the halpins(32 bit size) .
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24 Oct 2021 11:27 - 24 Oct 2021 11:30 #224083
by Niko
Replied by Niko on topic Ethercat retrofit question
OK, so the current state is this .
I have power to the drives and the Estop circuit is ok . But the drives are still reluctant to run .
The drive is in PREOP mode and the status word remains 0 whatever I do .
Is it possible the drive times out after a certain amount of time, or is it something to do with the clock syncronisation ?
P.S. It doesn't respond to error clear as well .
I have power to the drives and the Estop circuit is ok . But the drives are still reluctant to run .
The drive is in PREOP mode and the status word remains 0 whatever I do .
Is it possible the drive times out after a certain amount of time, or is it something to do with the clock syncronisation ?
P.S. It doesn't respond to error clear as well .
Attachments:
Last edit: 24 Oct 2021 11:30 by Niko.
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24 Oct 2021 12:27 #224087
by db1981
Replied by db1981 on topic Ethercat retrofit question
hello,
as long as the drive is in ethercat preop mode there is no cyclic pdo communication.
So, something with the ethercat configuration is still not working.
You have to look in dmesg for the error messages, with ethercat debug level set to 1.
start linuxcnc cnc, and search in dmesg for the messages after the last "ethercat: requesting Master 0" ....
as long as the drive is in ethercat preop mode there is no cyclic pdo communication.
So, something with the ethercat configuration is still not working.
You have to look in dmesg for the error messages, with ethercat debug level set to 1.
start linuxcnc cnc, and search in dmesg for the messages after the last "ethercat: requesting Master 0" ....
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24 Oct 2021 13:28 - 24 Oct 2021 13:39 #224089
by Niko
Replied by Niko on topic Ethercat retrofit question
Report from dmesg :
A few datagrams timed out and the drives have
And all of them have this error
[ 15.109130] EtherCAT WARNING 0-2: CoE Emergency Request received:
Error code 0x3120, Error register 0x00, data:
[ 15.109135] EtherCAT DEBUG: 00 00 00 00 00
[ 15.109619] EtherCAT ERROR 0-2: Mailbox error response received - Unknown error reply code 0x0013.
[ 15.109628] EtherCAT ERROR 0-2: Failed to read number of assigned PDOs for SM2.And all of them have this error
Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
AL status message 0x001E: "Invalid input configuration".
Last edit: 24 Oct 2021 13:39 by Niko.
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24 Oct 2021 14:58 - 24 Oct 2021 15:00 #224096
by db1981
Replied by db1981 on topic Ethercat retrofit question
seems that the slave has an fixed pdo mapping.
I think you have post the pdo config of this drive on top of page 2.
So build the ethercat_conf exactly like the readout has been.
SM2
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
RxPDO 0x1601 ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x6081:00, 32 bit, ""
RxPDO 0x1602 ""
PDO entry 0x60ff:00, 32 bit, ""
use 1600, 1601 and 1602 to get the pdos you need
I think you have post the pdo config of this drive on top of page 2.
So build the ethercat_conf exactly like the readout has been.
SM2
RxPDO 0x1600 ""
PDO entry 0x6040:00, 16 bit, ""
PDO entry 0x6060:00, 8 bit, ""
RxPDO 0x1601 ""
PDO entry 0x607a:00, 32 bit, ""
PDO entry 0x6081:00, 32 bit, ""
RxPDO 0x1602 ""
PDO entry 0x60ff:00, 32 bit, ""
use 1600, 1601 and 1602 to get the pdos you need
Last edit: 24 Oct 2021 15:00 by db1981.
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24 Oct 2021 15:18 - 24 Oct 2021 15:23 #224098
by Niko
Replied by Niko on topic Ethercat retrofit question
Should I also set the configPdos="true" to false ?
P.S. Do you have any experience with this siitool ?
I'm hoping I can use it to write the spindle sii .
P.S. Do you have any experience with this siitool ?
I'm hoping I can use it to write the spindle sii .
Last edit: 24 Oct 2021 15:23 by Niko.
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24 Oct 2021 16:53 #224105
by db1981
Replied by db1981 on topic Ethercat retrofit question
I don't know this tool. I would do this with twincat, no risk...
In the meantime i had the task to get a lot of Delta vfds working on lcec. Them SII Eeproms has been incomplete too, but i wasn't able to do a working rewrite.
So i created a way to get etherlab master working without the readout content of the SII EEprom. Now you can load a bin file (that has been created from esi xml) at bus startup, i think this will help a lot in the future.
On what Kernel you are working?
Do you have an functional esi xml of your spindle drive?
In the meantime i had the task to get a lot of Delta vfds working on lcec. Them SII Eeproms has been incomplete too, but i wasn't able to do a working rewrite.
So i created a way to get etherlab master working without the readout content of the SII EEprom. Now you can load a bin file (that has been created from esi xml) at bus startup, i think this will help a lot in the future.
On what Kernel you are working?
Do you have an functional esi xml of your spindle drive?
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24 Oct 2021 17:17 #224106
by Niko
Replied by Niko on topic Ethercat retrofit question
I haven't checked the kernel version .
I just installed the latest version from the site .
As for the spindle drive all I have is a portion of the xml machine configuration .
In fact there are two xmls for technosoft drives . All in all they seem to correlate with what's in the machine config file . I'll have to double check it with the pdf for that as well .
I just installed the latest version from the site .
As for the spindle drive all I have is a portion of the xml machine configuration .
In fact there are two xmls for technosoft drives . All in all they seem to correlate with what's in the machine config file . I'll have to double check it with the pdf for that as well .
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