the holy grail...

and if make has worked errorless.

do an "sudo make install" to install linuxcnc ethercat to your linuxcnc installation.

as always... i did not know that i should do that... 

but i'm glad i asked... as its helping make my install instructions as good as i can make them .... 

so  one of the things I'm finding ... (and its being a windows guy i suppose... ) and its that i can use the package manager to make sure i have all the dependencies , and give a way of keeping it current, (as current as this sort of thing can be... ) 

so to get around the error during the make of linuxcnc-ethercat  i installed libexpat1-dev (the libexpat1 was already installed) see the image below... 

onwards and upwards.. 

Pb 
 

moving on a bit.. (two steps forward, one back, maybe)

so now i'm getting good results... 

i've got my ethercat slaves all reporting 


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

i've started a linuxcnc config using the sim (as the starting point) 

i've added the details of the ethercat devices in the ethercat-conf.xml file (moistly taken from a generic cia402 drive, with the Vid and the Pid updated to be my hardwear)

i've got the status words set, control words set... 

but i'm having issues just working on one axis... (i only have one connected currently.. ) 

so i'm missing any ability to bring the drive online.. and i'm not seeing any feedback from the position encoder... 

i feel like i'm so close... 

how do i go about rooting out the areas of the config i need to tweek... 

Pb 


 

walking into a dark room... 

this might be how i can describe how i feel right now... i know the room has a light switch... somewhere... all i need to do is feel around on the walls untill i found it... 

so now i know that the Drive I'm using is a not very popular... I'm the only person i know who has any ... 

but here is the manual for the ethercat operation...  i dont think the ethercat_conf i'm attempting with the pdo's and so on  are wrong.. i am having the issue that i cant see any form of data that lookes like the encoder value in the hal configration.... but anyway... just wanted to addthis into the mix

thanks

Pb 

do little steps....
forget about axis, joint, hal etc ... FIRST the communication has to work.

Start linuxcnc, open a terminal and check with "ethercat slaves" if your slaves are all have changed from preop to op state.
If not the ethercat_conf is not working yet.

Good call.... i'm going to remove the savch servo .. and see if i can just command and read the Beckhoff items...

Pb

Hmmm... so i've got a very basic config... but seems the ethercat devices.. (jsut the beckhoff stuff) is not coming online...

 

very strange.

what tells "dmesg" about ethercat .

well...

here is the dump from dmesg...

what do i make of this..

Pb



sudo dmesg | grep -i ethercat
[sudo] password for pad:
[ 19.050324] EtherCAT: Master driver 1.5.2 unknown
[ 19.050588] EtherCAT: 1 master waiting for devices.
[ 19.093216] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[ 19.093233] EtherCAT: Accepting 00:0F:FE:FD:65:5F as main device for master 0.
[ 19.122417] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 20.554421] EtherCAT 0: Link state of ecm0 changed to UP.
[ 20.562417] EtherCAT 0: 4 slave(s) responding on main device.
[ 20.562420] EtherCAT 0: Slave states on main device: PREOP.
[ 20.563148] EtherCAT 0: Scanning bus.
[ 20.978174] EtherCAT 0: Bus scanning completed in 412 ms.
[ 20.978177] EtherCAT 0: Using slave 0 as DC reference clock.
[ 183.770224] EtherCAT: Requesting master 0...
[ 183.770227] EtherCAT: Successfully requested master 0.
[ 183.770635] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 183.770637] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 183.770652] EtherCAT 0: Master thread exited.
[ 183.770654] EtherCAT 0: Starting EtherCAT-OP thread.
[ 184.508611] EtherCAT 0: Master thread exited.
[ 184.508629] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 184.508696] EtherCAT 0: Releasing master...
[ 184.509187] EtherCAT 0: Released.
[ 329.900166] EtherCAT: Requesting master 0...
[ 329.900170] EtherCAT: Successfully requested master 0.
[ 329.900410] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 329.900412] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 329.900434] EtherCAT 0: Master thread exited.
[ 329.900436] EtherCAT 0: Starting EtherCAT-OP thread.
[ 330.167002] EtherCAT 0: Master thread exited.
[ 330.167019] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 330.167082] EtherCAT 0: Releasing master...
[ 330.167354] EtherCAT 0: Released.
[ 456.085819] EtherCAT: Requesting master 0...
[ 456.085823] EtherCAT: Successfully requested master 0.
[ 456.086081] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 456.086082] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 456.086111] EtherCAT 0: Master thread exited.
[ 456.086114] EtherCAT 0: Starting EtherCAT-OP thread.
[ 464.858540] EtherCAT 0: Master thread exited.
[ 464.858559] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 464.858623] EtherCAT 0: Releasing master...
[ 464.858625] EtherCAT 0: Released.
[ 845.004476] EtherCAT: Requesting master 0...
[ 845.004481] EtherCAT: Successfully requested master 0.
[ 845.004733] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 845.004735] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 845.004791] EtherCAT 0: Master thread exited.
[ 845.004794] EtherCAT 0: Starting EtherCAT-OP thread.
[ 851.865445] EtherCAT 0: Master thread exited.
[ 851.865462] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 851.865524] EtherCAT 0: Releasing master...
[ 851.865962] EtherCAT 0: Released.
[ 1031.725200] EtherCAT: Requesting master 0...
[ 1031.725203] EtherCAT: Successfully requested master 0.
[ 1031.725849] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 1031.725851] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 1031.725905] EtherCAT 0: Master thread exited.
[ 1031.725907] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2750.734947] EtherCAT 0: Master thread exited.
[ 2750.734967] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 2750.735388] EtherCAT 0: Releasing master...
[ 2750.735390] EtherCAT 0: Released.
[ 2750.735999] EtherCAT 0: Scanning bus.
[ 2751.173724] EtherCAT 0: Bus scanning completed in 436 ms.
[ 2751.173726] EtherCAT 0: Using slave 0 as DC reference clock.
[ 2757.173222] EtherCAT: Requesting master 0...
[ 2757.173228] EtherCAT: Successfully requested master 0.
[ 2757.173454] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 2757.173456] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 2757.173480] EtherCAT 0: Master thread exited.
[ 2757.173483] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2757.444499] EtherCAT 0: Master thread exited.
[ 2757.444514] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 2757.444577] EtherCAT 0: Releasing master...
[ 2757.444578] EtherCAT 0: Released.
[ 4618.520190] EtherCAT: Requesting master 0...
[ 4618.520194] EtherCAT: Successfully requested master 0.
[ 4618.520657] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 4618.520658] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 4618.520705] EtherCAT 0: Master thread exited.
[ 4618.520707] EtherCAT 0: Starting EtherCAT-OP thread.
[ 5438.407655] EtherCAT 0: Master thread exited.
[ 5438.407671] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 5438.412074] EtherCAT 0: Releasing master...
[ 5438.412078] EtherCAT 0: Released.
[ 5438.418449] EtherCAT 0: Slave states on main device: INIT.
[ 5438.434758] EtherCAT 0: Scanning bus.
[ 5438.864370] EtherCAT 0: Bus scanning completed in 428 ms.
[ 5438.864372] EtherCAT 0: Using slave 0 as DC reference clock.
[ 5438.914400] EtherCAT 0: Slave states on main device: PREOP.
[ 5440.974382] EtherCAT: Requesting master 0...
[ 5440.974386] EtherCAT: Successfully requested master 0.
[ 5440.974827] EtherCAT 0: Domain0: Logical address 0x00000000, 3 byte, expected working counter 5.
[ 5440.974828] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 3 byte, type LRW.
[ 5440.974876] EtherCAT 0: Master thread exited.
[ 5440.974879] EtherCAT 0: Starting EtherCAT-OP thread.
pad@linuxcnc:~$

puuh, nothing important.

post actual ini, hal, ethercat_conf