the holy grail...

the help I'm, getting is always appreciated...

now i've added the current files i'm working with ...  but intruth.. i'm not sure what needs to be in what...

this is the ethercat slaves info..

pad@linuxcnc:~$ ethercat slaves
0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
2  0:2  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0.5A
3  0:3  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0.5A
4  1:0  PREOP  +  Savch SDA2-E(CoE) Drive Rev1.3

but i'm scratching my head.. and getting nowhere fast...

can someone tell me what the minimim config i need... and how do i get to see the dro change when i turn the motor.. 

also ... (the quesitons are just pinging into my head.. but how is the scaleing delt with ...

thanks

Pb




 

hello ethercat peeps
 so seems like i've uploaded the wrong ethercat-conf.xml here is the actual one..

which it wont seem to let me upload...

so here it is...

<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1008"/>
<slave idx="2" type="EL1008"/>
<slave idx="3" type="EL2004"/>
<slave idx="4" type="generic" vid="000007e6" pid="53444132" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<sdoConfig idx="2000" subIdx="0">
<sdoDataRaw data="70 17"/>
</sdoConfig>
<!--  Max motor current (6.0)  -->
<sdoConfig idx="2011" subIdx="0">
<sdoDataRaw data="01 00"/>
</sdoConfig>
<!--  Closed loop  -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
</pdo-->
</syncManager-->
</slave>

</master>
</masters>

 

here is my linuxcnc.report

related to this:

OK.. so what I have currently is some Backhoff ethercat IO.. and that was working... (whoop whoop.. ) well i was able to toggle one of the outputs on and off using the Hal tools...

I am pointing out that your ethercat-driver has worked before and you have been able to set/clear an output with the setp lcec.0.xxxxx command?

In your xml there are 2 typos, fix them and try again.

32   </pdo-->
33   </syncManager-->

remove the "--" at the line end.
 

and remove this line from your hal file :

loadusr -W lcec_conf lcec_conf.xml

you have two lines in the hal, that are calling lcec_conf

thanks and thanks again ...

i'm doing lots of tests with HALCMD: but i'm just having no dice with the lcec side of things..

ive tried to point it at all my config files.. and everything.. but i just get errors...

Invalid parameter `/home/pad/linuxcnc/configs/PB_Mill/'
<stdin>:9: waitpid failed /usr/bin/rtapi_app lcec
<stdin>:9: /usr/bin/rtapi_app exited without becoming ready
<stdin>:9: insmod for lcec failed, returned -1

ive tried with the files here there and everywhere...

but its seeming not getting past this point..

Hmmmmmm

OK.. so what I have currently is some Backhoff ethercat IO.. and that was working... (whoop whoop.. ) well i was able to toggle one of the outputs on and off using the Hal tools...


please descripe in detail what you have done above.
At this point i'm not  shure if the installation of linuxcnc-ethercat has worked.

and descripe the physically wiring of your ethercat system.
there is something strange:

0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 PREOP + EL1008 8K. Dig. Eingang 24V, 3ms
2 0:2 PREOP + EL2004 4K. Dig. Ausgang 24V, 0.5A
3 0:3 PREOP + EL2004 4K. Dig. Ausgang 24V, 0.5A
4 1:0 PREOP + Savch SDA2-E(CoE) Drive Rev1.3

 

in your log, i see./PB_Mill.hal:14: execv(./lcec_conf): Permission denied
./PB_Mill.hal:14: waitpid failed ./lcec_conf lcec_conf
./PB_Mill.hal:14: ./lcec_conf exited without becoming ready

So to me that points to missing permissions in the relevant folder here:
deb install: /lib/linuxcnc/modules/
rip install: /linuxcnc-dev/rtlib/

does lcec_conf exist?

if so change its permissions. and see if the error goes away

Also its best to run linuxcnc from the command line for debugging so the errors are printed there for you. I use 
linuxcnc -l
a lot to run the last config I opened.

thank you for all this help...

now in answer to the question about permissions..

are we saying i need to modify the permissions of both the folders.. or is that depending on what install I'm using..

yes there is a lcec_conf file.. (which i got from a git hub i think )

so I've no idea if that's right or wrong...

and also thanks for the command line tip on using the linuxcnc -I for the last config

as a secondary question ... is there any way to check that Lcec is installed correctly ... is there a tool, or script i can run to test.. ??

thanks

Pb