So I've put the H3 to the side for now, and have managed to get LinuxCNC installed on a Pi4 as per Hakan's and psuedo's posts.
I've created a new machine profile, and have LinuxCNC loading, and the drives going to OP state, but I have so far failed to get any movement.
The first obvious issue is when I click Machine On, it takes over 50seconds for the Jog/Home buttons to become active.
If I try jogging, I get a following error, and it takes the same 50second plus for the Jog/Home buttons to deactivate.
There are no standout issues in any of the outputs mentioned in pseudo's thread.
Terminal output from linuxcnc -v -
Code:
pi@linuxcnc:~ $ linuxcnc -v
Verbose mode on
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.8.4
Machine configuration directory is '/home/pi/linuxcnc/configs/my_EtherCAT'
Machine configuration file is 'my_EtherCAT.ini'
INIFILE=/home/pi/linuxcnc/configs/my_EtherCAT/my_EtherCAT.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=XYZ
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./my_EtherCAT.hal
Note: Using POSIX realtime
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
note: MAXV max: 25.000 units/sec 1500.000 units/min
note: LJOG max: 25.000 units/sec 1500.000 units/min
note: LJOG default: 6.000 units/sec 360.000 units/min
note: jog_order='XYZ'
note: jog_invert=set()
joint 2 following error
emc/task/taskintf.cc 942: Error on joint 2, command number 85
Running HAL shutdown script
task: 32360 cycles, min=0.000164, max=0.031864, avg=0.010082, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Note: Using POSIX realtime
Removing NML shared memory segments
pi@linuxcnc:~ $
ethercat slaves before starting LinuxCNC-
Code:
pi@linuxcnc:~ $ ethercat slaves
0 0:0 PREOP + CL3-E57H
1 0:1 PREOP + CL3-E57H
2 0:2 PREOP + CL3-E57H
pi@linuxcnc:~ $ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3940305729 0 0
1 MII up open yes 1 3940308529 2800 680
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 680 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 0 3922788069 0 680
1 MII up open yes 2 3922789508 1439 719
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 1399 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 1 3902518293 0 719
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
ethercat slaves once LinuxCNC has loaded -
Code:
pi@linuxcnc:~ $ ethercat slaves
0 0:0 OP + CL3-E57H
1 0:1 OP + CL3-E57H
2 0:2 OP + CL3-E57H
pi@linuxcnc:~ $ ethercat slaves -v
=== Master 0, Slave 0 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3940305729 0 0
1 MII up open yes 1 3940308529 2800 680
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 680 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 0 3922788069 0 680
1 MII up open yes 2 3922789508 1439 719
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: OP
Flag: +
Identity:
Vendor Id: 0x00000a79
Product code: 0x00001000
Revision number: 0x00000001
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 1399 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes 1 3902518293 0 719
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1000/128, TX: 0x1100/128
Supported protocols: CoE
General:
Group: EtherCAT Driver
Image name:
Order number:
Device name: CL3-E57H
CoE details:
Enable SDO: yes
Enable SDO Info: no
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
dmesg - wH while loading LinuxCNC-
Code:
[Dec 1 20:39] EtherCAT: Requesting master 0...
[ +0.000015] EtherCAT: Successfully requested master 0.
[ +0.001595] EtherCAT 0: Domain0: Logical address 0x00000000, 168 byte, expected working counter 9.
[ +0.000009] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 168 byte, type LRW.
[ +0.000081] EtherCAT 0: Master thread exited.
[ +0.000011] EtherCAT 0: Starting EtherCAT-OP thread.
[ +0.349635] EtherCAT 0: Domain 0: Working counter changed to 2/9
[ +0.000010] .
[ +3.897046] EtherCAT 0: Domain 0: Working counter changed to 3/9
[ +0.000009] .
[ +1.003017] EtherCAT 0: Domain 0: 4 working counter changes - now 9/9
[ +0.000008] .
[ +0.089112] EtherCAT 0: Slave states on main device: OP.
dmesg once LinuxCNC is closed-
Code:
[Dec 1 20:46] EtherCAT 0: Master thread exited.
[ +0.000086] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ +0.000129] EtherCAT ERROR 0-2: Failed to receive AL state datagram:
[ +0.000007] Datagram
[ +0.000005] initialized
[ +0.000006] .
[ +0.000033] EtherCAT 0: Releasing master...
[ +0.000009] EtherCAT 0: Released.
[ +0.017978] EtherCAT 0: Slave states on main device: SAFEOP + ERROR.
[ +0.020154] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error".
[ +0.000120] EtherCAT 0-0: Acknowledged state SAFEOP.
[ +0.019835] EtherCAT ERROR 0-1: AL status message 0x001A: "Synchronization error".
[ +0.000133] EtherCAT 0-1: Acknowledged state SAFEOP.
[ +0.020074] EtherCAT ERROR 0-2: AL status message 0x001A: "Synchronization error".
[ +0.000142] EtherCAT 0-2: Acknowledged state SAFEOP.
[ +0.019528] EtherCAT 0: Slave states on main device: PREOP.
[ +0.459963] EtherCAT WARNING: Datagram b81dad78 (master-fsm) was SKIPPED 1 time.
