Ethercat protocol not responding

sharp_reaper wrote:

Hi @fdarling,
How did you manage to a working configuration with Yaskawa Ethercat?
I have the same problem, can you guide me?
 

I did manage to get it working, but I had to disable some FSoE (Function Safety over EtherCAT) related code that I didn't fully understand, and I also had to disable compiling most of the drivers (the non "generic" one) because I needed to make some API changes that would require making small changes to all of the code. So in other words, I did a "hack" that works perfectly for my use case, but in general is a step backwards for the codebase. I need to take the time to finish the changes, and I don't have time at the moment... Perhaps I should post my progress as a fork on GitHub though...

It's something, if you manage to fork it I would appreciate that.
Thank you!

I managed to split domains add assign pdos to respective domain. It works will with other ethercat slaves (with one read domain and one write ) but for yaskawa I am getting AA12.

To add more, I did several changes to get generic slaves working. changed lcec_master to accommodate two domain and two of domain related things (domain registers,domain register length, pdo register) also modified lcec_slave to add r_count and w_count which is total no of EC_DIR_IN and EC_DIR_OUT registers.Also changed signature of proc_init to take bot r_pdo_regs and w_pdo_regs,also changed slave read and write functions to use the correct domain. In slave parse function added functionality for keeping track of r_count and w_count, and allocated r_pdo_regs and w_pdo_regs accordingly. Also used correct domain in process and queue .

And yet I am getting the damn A12. I am almost in stage of giving up..

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module

Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...

By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:

Example for Kollmorgen AKD with IgH EtherCAT Master library

I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.

I will keep you guys posted...

fdarling wrote:

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module
  
  
  Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...
  
  By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:
  
  Example for Kollmorgen AKD with IgH EtherCAT Master library
  
  I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.
  
  I will keep you guys posted...

Hello, would you mind putting your comments and code changes about the yaskawa stuff in here linuxcnc-ethercat
Maybe we can get this also to work in the future.