Jerking during movement
13 Aug 2023 15:08 #277834
by endian
Jerking during movement was created by endian
hello,
anybody knows how can be added e1000e.ko driver or 8190too.ko driver beside generic.ko driver of ethercat control network adapter?
I have this hardware
Ethercat is on enp16s0 = rtl8139 and should be at enp25s0 = e1000e.
I have just probem with jerking during movement... It looks like hardware problem but I do not know on which side... If it is on slave side or master.
I have just benchtop setup for experimenting purposes and error runs through all axis in the same time...
I have checked everything from slave DC, custom component code, shielding of cables, core isolation, etc....
I am controling the servos with this component
Component is very similar to cia402 from mr. dominik braun but It was customized for incremental interface of ds402 standard...
thanks for any ideas
anybody knows how can be added e1000e.ko driver or 8190too.ko driver beside generic.ko driver of ethercat control network adapter?
I have this hardware
WARNING: you should run this program as super-user.
debian
description: Computer
width: 64 bits
capabilities: smp vsyscall32
*-core
description: Motherboard
physical id: 0
*-memory
description: System memory
physical id: 0
size: 4GiB
*-cpu
product: Intel(R) Core(TM)2 Duo CPU E8400 @ 3.00GHz
vendor: Intel Corp.
physical id: 1
bus info: cpu@0
size: 2917MHz
capacity: 3GHz
width: 64 bits
capabilities: fpu fpu_exception wp vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx x86-64 constant_tsc arch_perfmon pebs bts rep_good nopl cpuid aperfmperf pni dtes64 monitor ds_cpl vmx smx est tm2 ssse3 cx16 xtpr pdcm sse4_1 xsave lahf_lm pti tpr_shadow vnmi flexpriority dtherm cpufreq
*-pci
description: Host bridge
product: 4 Series Chipset DRAM Controller
vendor: Intel Corporation
physical id: 100
bus info: pci@0000:00:00.0
version: 03
width: 32 bits
clock: 33MHz
*-display:0
description: VGA compatible controller
product: 4 Series Chipset Integrated Graphics Controller
vendor: Intel Corporation
physical id: 2
bus info: pci@0000:00:02.0
version: 03
width: 64 bits
clock: 33MHz
capabilities: vga_controller bus_master cap_list rom
configuration: driver=i915 latency=0
resources: irq:16 memory:f0000000-f03fffff memory:e0000000-efffffff ioport:2230(size=8) memory:c0000-dffff
*-display:1 UNCLAIMED
description: Display controller
product: 4 Series Chipset Integrated Graphics Controller
vendor: Intel Corporation
physical id: 2.1
bus info: pci@0000:00:02.1
version: 03
width: 64 bits
clock: 33MHz
capabilities: bus_master cap_list
configuration: latency=0
resources: memory:f0400000-f04fffff
*-communication:0
description: Communication controller
product: 4 Series Chipset HECI Controller
vendor: Intel Corporation
physical id: 3
bus info: pci@0000:00:03.0
version: 03
width: 64 bits
clock: 33MHz
capabilities: bus_master cap_list
configuration: driver=mei_me latency=0
resources: irq:30 memory:f0527100-f052710f
*-communication:1
description: Serial controller
product: 4 Series Chipset Serial KT Controller
vendor: Intel Corporation
physical id: 3.3
bus info: pci@0000:00:03.3
version: 03
width: 32 bits
clock: 66MHz
capabilities: 16550 bus_master cap_list
configuration: driver=serial latency=0
resources: irq:17 ioport:2248(size=8) memory:f0524000-f0524fff
*-network
description: Ethernet interface
product: 82567LM-3 Gigabit Network Connection
vendor: Intel Corporation
physical id: 19
bus info: pci@0000:00:19.0
logical name: enp0s25
version: 02
serial: 1c:c1:de:53:03:7b
size: 100Mbit/s
capacity: 1Gbit/s
width: 32 bits
clock: 33MHz
capabilities: bus_master cap_list ethernet physical tp 10bt 10bt-fd 100bt 100bt-fd 1000bt-fd autonegotiation
configuration: autonegotiation=on broadcast=yes driver=e1000e driverversion=3.2.6-k duplex=full firmware=0.5-3 ip=192.168.0.60 latency=0 link=yes multicast=yes port=twisted pair speed=100Mbit/s
resources: irq:28 memory:f0500000-f051ffff memory:f0525000-f0525fff ioport:2100(size=32)
*-usb:0
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #4
vendor: Intel Corporation
physical id: 1a
bus info: pci@0000:00:1a.0
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:20 ioport:2120(size=32)
*-usb:1
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #5
vendor: Intel Corporation
physical id: 1a.1
bus info: pci@0000:00:1a.1
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:21 ioport:2140(size=32)
*-usb:2
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #6
vendor: Intel Corporation
physical id: 1a.2
bus info: pci@0000:00:1a.2
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:22 ioport:2160(size=32)
*-usb:3
description: USB controller
product: 82801JD/DO (ICH10 Family) USB2 EHCI Controller #2
vendor: Intel Corporation
physical id: 1a.7
bus info: pci@0000:00:1a.7
version: 02
width: 32 bits
clock: 33MHz
capabilities: ehci bus_master cap_list
configuration: driver=ehci-pci latency=0
resources: irq:22 memory:f0526800-f0526bff
*-multimedia
description: Audio device
product: 82801JD/DO (ICH10 Family) HD Audio Controller
vendor: Intel Corporation
physical id: 1b
bus info: pci@0000:00:1b.0
version: 02
width: 64 bits
clock: 33MHz
capabilities: bus_master cap_list
configuration: driver=snd_hda_intel latency=0
resources: irq:31 memory:f0520000-f0523fff
*-pci:0
description: PCI bridge
product: 82801JD/DO (ICH10 Family) PCI Express Port 1
vendor: Intel Corporation
physical id: 1c
bus info: pci@0000:00:1c.0
version: 02
width: 32 bits
clock: 33MHz
capabilities: pci normal_decode bus_master cap_list
configuration: driver=pcieport
resources: irq:0 ioport:3000(size=4096) memory:f8000000-f81fffff ioport:f8200000(size=2097152)
*-pci:1
description: PCI bridge
product: 82801JD/DO (ICH10 Family) PCI Express Port 2
vendor: Intel Corporation
physical id: 1c.1
bus info: pci@0000:00:1c.1
version: 02
width: 32 bits
clock: 33MHz
capabilities: pci normal_decode bus_master cap_list
configuration: driver=pcieport
resources: irq:21 ioport:4000(size=4096) memory:f8400000-f85fffff ioport:f8600000(size=2097152)
*-usb:4
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #1
vendor: Intel Corporation
physical id: 1d
bus info: pci@0000:00:1d.0
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:20 ioport:2180(size=32)
*-usb:5
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #2
vendor: Intel Corporation
physical id: 1d.1
bus info: pci@0000:00:1d.1
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:21 ioport:21a0(size=32)
*-usb:6
description: USB controller
product: 82801JD/DO (ICH10 Family) USB UHCI Controller #3
vendor: Intel Corporation
physical id: 1d.2
bus info: pci@0000:00:1d.2
version: 02
width: 32 bits
clock: 33MHz
capabilities: uhci bus_master cap_list
configuration: driver=uhci_hcd latency=0
resources: irq:22 ioport:21c0(size=32)
*-usb:7
description: USB controller
product: 82801JD/DO (ICH10 Family) USB2 EHCI Controller #1
vendor: Intel Corporation
physical id: 1d.7
bus info: pci@0000:00:1d.7
version: 02
width: 32 bits
clock: 33MHz
capabilities: ehci bus_master cap_list
configuration: driver=ehci-pci latency=0
resources: irq:20 memory:f0526c00-f0526fff
*-pci:2
description: PCI bridge
product: 82801 PCI Bridge
vendor: Intel Corporation
physical id: 1e
bus info: pci@0000:00:1e.0
version: a2
width: 32 bits
clock: 33MHz
capabilities: pci subtractive_decode bus_master cap_list
resources: ioport:1000(size=4096) memory:f0600000-f06fffff
*-network
description: Ethernet interface
product: RTL-8100/8101L/8139 PCI Fast Ethernet Adapter
vendor: Realtek Semiconductor Co., Ltd.
physical id: 0
bus info: pci@0000:10:00.0
logical name: enp16s0
version: 10
serial: 00:e0:1c:3c:60:a8
size: 100Mbit/s
capacity: 100Mbit/s
width: 32 bits
clock: 33MHz
capabilities: bus_master cap_list rom ethernet physical tp mii 10bt 10bt-fd 100bt 100bt-fd autonegotiation
configuration: autonegotiation=on broadcast=yes driver=8139too driverversion=0.9.28 duplex=full latency=32 link=yes maxlatency=64 mingnt=32 multicast=yes port=MII speed=100Mbit/s
resources: irq:20 ioport:1100(size=256) memory:f0600000-f06000ff memory:f0620000-f063ffff
*-isa
description: ISA bridge
product: 82801JDO (ICH10DO) LPC Interface Controller
vendor: Intel Corporation
physical id: 1f
bus info: pci@0000:00:1f.0
version: 02
width: 32 bits
clock: 33MHz
capabilities: isa bus_master cap_list
configuration: driver=lpc_ich latency=0
resources: irq:0
*-sata
description: SATA controller
product: 82801JD/DO (ICH10 Family) SATA AHCI Controller
vendor: Intel Corporation
physical id: 1f.2
bus info: pci@0000:00:1f.2
version: 02
width: 32 bits
clock: 66MHz
capabilities: sata ahci_1.0 bus_master cap_list
configuration: driver=ahci latency=0
resources: irq:29 ioport:2250(size=8) ioport:2268(size=4) ioport:2258(size=8) ioport:226c(size=4) ioport:21e0(size=32) memory:f0526000-f05267ff
*-pnp00:00
product: PnP device PNP0b00
physical id: 2
capabilities: pnp
configuration: driver=rtc_cmos
*-pnp00:01
product: PnP device PNP0f13
physical id: 3
capabilities: pnp
configuration: driver=i8042 aux
*-pnp00:02
product: PnP device PNP0303
physical id: 4
capabilities: pnp
configuration: driver=i8042 kbd
*-pnp00:03
product: PnP device PNP0501
physical id: 5
capabilities: pnp
configuration: driver=serial
*-pnp00:04
product: PnP device IFX0102
physical id: 6
capabilities: pnp
configuration: driver=tpm_tis
*-pnp00:05
product: PnP device PNP0c02
physical id: 7
capabilities: pnp
configuration: driver=system
*-pnp00:06
product: PnP device PNP0c02
physical id: 8
capabilities: pnp
configuration: driver=system
*-pnp00:07
product: PnP device PNP0c02
physical id: 9
capabilities: pnp
configuration: driver=system
*-pnp00:08
product: PnP device PNP0c01
physical id: a
capabilities: pnp
configuration: driver=system
WARNING: output may be incomplete or inaccurate, you should run this program as super-user.Ethercat is on enp16s0 = rtl8139 and should be at enp25s0 = e1000e.
I have just probem with jerking during movement... It looks like hardware problem but I do not know on which side... If it is on slave side or master.
I have just benchtop setup for experimenting purposes and error runs through all axis in the same time...
I have checked everything from slave DC, custom component code, shielding of cables, core isolation, etc....
I am controling the servos with this component
component ds402PMC "HAL ds402 Drive interface layer";
//
// Author 2019 Dominik Braun <dominik.braun@eventor.de>
// Customizer (C) 2023 foxington <chabron94@gmail.com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
author "foxington";
license "GPL";
description """
HAL Interface for ds402 Devices,
this component acts as a glue layer between hardware to Hal modules like Ethercat, CAN-Bus or others.\n
It translates raw IO Data from the PDOs to the common linuxcnc Hal pin structure and has build in logic\n
for the ds402 State Control, feedback handling, external homing and build in scaling functions.\n
It delivers two functions: read_all and write_all.\n
The concept of integration in the correspondending task should be as following: \n
################### ########### ######### ############ #####################\n
#HARDWARE INPUT # # ds402 # #Motion # # ds402 # # Hardware Output #\n
# like #-->>--#read_all #-->>>--#Pids #-->--#write_all #-->>--# like #\n
#Ethercat read_all# # etc. # # # # # # Ethercat write_all#\n
################### ########### ######### ############ #####################\n
\n
Hal Example:\n
#########\n
# Setup\n
#########\n
loadrt [KINS]KINEMATICS\n
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS\n
(loadusr -W lcec_conf ethercat-conf.xml)\n
loadrt lcec\n
loadrt ds402 count=3\n
loadrt pid names=x-pid,y-pid,z-pid\n
##########################\n
# Functions servo-thread\n
##########################\n
addf lcec.read-all servo-thread\n
addf ds402.0.read-all servo-thread\n
addf ds402.1.read-all servo-thread\n
addf ds402.2.read-all servo-thread\n
addf motion/ PIDs / PCL / etc .\n
addf ds402.0.write-all servo-thread\n
addf ds402.1.write-all servo-thread\n
addf ds402.2.write-all servo-thread\n
addf lcec.write-all servo-thread\n
#########################################\n
#nets .....\n
By default the component is set to CSP Mode,\n
CSV Mode could be selected with an:\n
setp ds402.0.csp-mode 1 in hal.\n
Mode changing in runtime is currently not supported, to avoid\n
unwanted behaviour.\n
For using the servo drives internal homing procedure configure your\n
joint homing to Home on Index Pulse only and connect the components\n
home Input to the index-enable Pin:\n
HOME_SEARCH_VEL = 0.0\n
HOME_LATCH_VEL = 0.2 (Any value but zero, the homing speed is predetermined by the drives configured speed)\n
HOME_USE_INDEX = TRUE\n
If you are using PIDs, don't forget to connect the PIDs index-enable pin.\n
Even though this component exports many pins, you can choose which functions you want to use:\n
If you would like to use the DS State Machine, connect Statusword and Controlword.\n
For single use of the scaling function connect only the fb and cmd pins from position or velocity.\n
If no Drives homing is needed, let the Pins unconnected.""";
//DS IOs
// user data configuration
pin in unsigned prBase "incremental resolition per one turn... servo as 2^prBase == 1turn(in counts), for example prbase=16 then 1rev of servo will be 2^16 counts = pitch of screw ";
pin in float screw_pitch "value of screw pitch / how far machine move in one servo revolution in cnc machine units (metric/inches)";
pin in bit fault_reset "true, sends fault reset command to the Drive";
pin in bit drive_out_enable "enable driver digital outputs control";
pin in float following_error "value which should be implemented for internal homing subroutine done joint.0.f-error-lim";
//inputs from drive
pin in unsigned statusword "Drives ds402 Statusword, index 0x6041";
pin in signed opmode_display "Drives Modes of Operation feedback register, normally - index 0x6061 but for S3xx it is 0x2353";
pin in signed drv_actual_position "Drives actual Position, index 0x6064";
pin in signed drv_actual_position_incremental "Drives actual Position, index 0x6063";
pin in signed drv_actual_position_incremental_dro "Drives actual position from local linear scale readout, index 0x6063";
pin in signed drv_actual_velocity_incremental "Drives actual Velocity, index 0x606C";
pin in signed drv_actual_warning_code "Drives actual warning code";
pin in signed drv_actual_error_code "Drives actual error code";
pin in signed drv_actual_bus_current_mA "Drives actual bus current in mA";
pin in signed drv_actual_bus_voltage_V "Drives actual bus voltage in V";
pin in signed drv_actual_dio_status "Drives actual DI and DO status, Value of DO can be mapped by via DriveGUI interface software";
pin in signed drv_actual_analog_input_1_mV "Drives actual analog input 1 value in mV";
pin in signed drv_actual_analog_input_2_mV "Drives actual analog input 2 value in mV";
//outputs to drive
pin out unsigned controlword "Drives ds402 Controlword, index 0x6040";
pin out signed opmode "Drives Modes of Operation Input, normally - index 0x6060 but for S3xx it is 0x2352";
pin out signed drv_target_position_incremental "Position command to the drive, index 0x60C1";
pin out signed drv_target_velocity_incremental "Velocity command to the drive, index 0x60FF - (1 RPM = 2^32/(128*4000*60) = 139,81 counts ";
pin out signed drv_target_do_value "DO1 and DO2 target values 0x2302";
//Control IOsc for position planner
pin in bit enable "true enables the Drive";
pin in float pos_cmd "target Position, from Motion or PID";
pin in float velocity_cmd "target Velocity, from Motion or PID";
pin out float pos_fb_from_incremental "Position feedback from incremental feedback, scaled";
pin out float pos_fb_from_incremental_dro "Position feedback from incremental feedback secondary position feedback , scaled";
pin out float velocity_fb_from_incremental "Velocity feedback scaled";
pin out bit drv_fault "true indicates an Drive Error";
pin out bit drv_cold_restart_fault "true indicates an Drive Error";
//Homing IOs
pin io bit home "true starts the Drives internal home procedure, connect this to joint.x.index-enable pin";
pin out bit stat_homed "true indicates that the Drive is internaly homed";
pin out bit stat_homing "true indicates that the Drives homing procedure is running";
//Auxilary IOs
pin out bit stat_ready_to_switchon "Drive in DS State: ready to switch on";
pin out bit stat_switched_on "Drive in DS State: switched on";
pin out bit stat_op_enabled "Drive in DS State: Operation enabled";
pin out bit stat_power_voltage_present "Drive in DS State: switched on, Voltage enabled";
pin out bit stat_fault "Drive hast the fault bit set";
pin out bit stat_no_emergency_stop_active "Drive in State: Quick Stop";
pin out bit stat_switched_on_and_disabled "Drive in DS State: Switch on disabled";
pin out bit stat_warning "Drive has the warning bit set";
pin out bit stat_following_error "Drive has the following error value preset";
pin out bit stat_internal_homed "Drive in State remote / bus operation";
pin out bit stat_target_reached "Drive has reached target position / velocity";
pin out bit stat_limit_switch_reached "Drive has reached Hardware limit switch or Software limit switch";
pin out bit stat_reference_run_active "EtherCAT communication OK";
pin out bit stat_procedure_error "Homing error / emergency stop activated";
pin out bit stat_cold_restart_error "Actual servo amplifier error Fxx can only be cleared by a hardware reset";
pin out bit stat_motion_task_active "Motion task active";
pin out bit opmode_no_mode "Drive has no operation Mode set";
pin out bit opmode_homing "Drive in Mode Homing";
pin out bit opmode_cyclic_position "Drive in Mode Cyclic synchronus Position";
pin out bit opmode_cyclic_velocity "Drive in Mode Cyclic synchronus Velocity";
// power managmet
pin out float power_miliwatt_level "Show electric power for HMI purposes";
// digital peripheries control
pin in bit drv_target_do_1 "Free user defineted output 1";
pin in bit drv_target_do_2 "Free user defineted output 2";
pin out bit stat_di_1 "Status of user defineted input 1";
pin out bit stat_di_2 "Status of user defineted input 2";
pin out bit stat_di_3 "Status of user defineted input 3";
pin out bit stat_di_4 "Status of user defineted input 4";
pin out bit stat_hw_enable "Status of hard used enable";
pin out bit stat_do_1 "Status of output 1";
pin out bit stat_do_2 "Status of output 2";
// analog input value
pin out float stat_ai_1 "Status of analog input 1";
pin out float stat_ai_2 "Status of analog input 2";
//parameters
param rw float pos_scale "increments per machine unit";
param rw float velo_scale "velocity in machine units per 1 Motor revolution";
param rw bit auto_fault_reset "true resets an actual Drive Fault automatically at the next enable Signal";
param rw bit csp_mode "true= CS Position Mode, false= CS Velocity Mode, is only recognized at Linuxcnc Startup, default true";
//internals
variable float pos_scale_old;
variable float velo_scale_old;
variable bool enable_old;
variable bool home_old;
variable bool stat_homed_old;
variable bool stat_fault_old;
variable double pos_scale_rcpt;
variable double velo_scale_rcpt;
variable bool pos_mode;
variable bool init_pos_mode = 0;
variable long auto_fault_reset_delay;
variable unsigned resolution;
variable float incremental_pos_scale;
variable double incremental_pos_scale_rcpt;
variable float incremental_velo_scale;
variable double incremental_velo_scale_rcpt;
variable unsigned resolution_old;
variable float screw_pitch_old;
variable bool scan = false;
//declare functions
function read_all;
function write_all;
option extra_setup yes;
;;
//constants
#define FAULT_AUTORESET_DELAY_NS 100000000LL
#define OPMODE_NONE 0
#define csp_mode_code 250
#define csv_mode_code 254
#define homing_mode_code 249
#define homing_mode_code_display_from_drive 8
#define one_velo_increments 139.81
#define mm_to_meter 1000
#define minute_to_second 60
enum HOME_STATE{HOME_TRIGGER, HOME_CONFIRM, HOME_SEEKING};
static enum HOME_STATE home_state;
EXTRA_SETUP () {
// initialize variables
pos_scale = 1.0;
pos_scale_old = pos_scale + 1.0;
pos_scale_rcpt = 1.0;
velo_scale = 1.0;
velo_scale_old = velo_scale + 1.0;
velo_scale_rcpt = 1.0;
auto_fault_reset = 1;
csp_mode = 1;
home_state = HOME_TRIGGER;
return 0;
}
void check_scales(hal_float_t *scale,float *scale_old, double *scale_rcpt) {
// check for change in scale value
if (*scale != *scale_old) {
// scale value has changed, test and update it
if ((*scale < 1e-20) && (*scale > -1e-20)) {
// value too small, divide by zero is a bad thing
*scale = 1.0;
}
// save new scale to detect future changes
*scale_old = *scale;
// we actually want the reciprocal
*scale_rcpt = 1.0 / *scale;
}
}
FUNCTION(read_all) {
if(!scan){
resolution = (1 << prBase);
if(resolution != 0 && screw_pitch != 0.0){
incremental_pos_scale = resolution / screw_pitch;
incremental_pos_scale_rcpt = 1.0 / incremental_pos_scale;
resolution_old = resolution;
screw_pitch_old = screw_pitch;
}
pos_mode = csp_mode;
if(pos_mode){
opmode = csp_mode_code;
}
else{
opmode = csv_mode_code;
}
scan = true;
}
// check for change in scale value
check_scales(&pos_scale, &pos_scale_old, &pos_scale_rcpt);
check_scales(&velo_scale, &velo_scale_old, &velo_scale_rcpt);
if(resolution != resolution_old || screw_pitch != screw_pitch_old){
if(resolution != 0 && screw_pitch != 0.0){
incremental_pos_scale = resolution / screw_pitch;
incremental_pos_scale_rcpt = 1.0 / incremental_pos_scale;
resolution_old = resolution;
screw_pitch_old = screw_pitch;
}
}
// return value from incremental interface
pos_fb_from_incremental = ( drv_actual_position_incremental) * pos_scale_rcpt * incremental_pos_scale_rcpt;
//*if(pos_fb_from_incremental_dro){
//* pos_fb_from_incremental_dro = ( drv_actual_position_incremental_dro) * pos_scale_rcpt * incremental_pos_scale_rcpt;
//*}
//!HOME_TRIGGER
if(home_state != HOME_TRIGGER){
pos_fb_from_incremental = pos_cmd;
}
// read velocity feedback from increments to m/s
//*if(opmode == opmode_cyclic_velocity){
//* velocity_fb_from_incremental = (drv_actual_velocity_incremental * screw_pitch * velo_scale_rcpt)/(one_velo_increments * minute_to_second);
//*}
// read Modes of Operation
opmode_no_mode = (opmode_display == OPMODE_NONE);
opmode_homing = (opmode_display == homing_mode_code);
//*opmode_cyclic_velocity = (opmode_display == csv_mode_code);
opmode_cyclic_position = (opmode_display == csp_mode_code);
// read status
stat_ready_to_switchon = (statusword >> 0) & 1;
stat_switched_on = (statusword >> 1) & 1;
stat_op_enabled = (statusword >> 2) & 1;
stat_fault = (statusword >> 3) & 1;
stat_power_voltage_present = (statusword >> 4) & 1;
stat_no_emergency_stop_active = (statusword >> 5) & 1;
stat_switched_on_and_disabled = (statusword >> 6) & 1;
stat_warning = (statusword >> 7) & 1;
stat_following_error = (statusword >> 8) & 1;
stat_internal_homed = (statusword >> 9) & 1;
stat_target_reached = (statusword >> 10) & 1;
stat_limit_switch_reached = (statusword >> 11) & 1;
stat_reference_run_active = (statusword >> 12) & 1;
stat_procedure_error = (statusword >> 13) & 1;
stat_cold_restart_error = (statusword >> 14) & 1;
stat_motion_task_active = (statusword >> 15) & 1;
drv_cold_restart_fault = stat_cold_restart_error;
//*stat_di_1 = (drv_actual_dio_status >> 6) & 1;
//*stat_di_2 = (drv_actual_dio_status >> 5) & 1;
//*stat_di_3 = (drv_actual_dio_status >> 4) & 1;
//*stat_di_4 = (drv_actual_dio_status >> 3) & 1;
//*stat_hw_enable = (drv_actual_dio_status >> 2) & 1;
//*stat_do_1 = (drv_actual_dio_status >> 1) & 1;
//*stat_do_2 = (drv_actual_dio_status >> 0) & 1;
//power_miliwatt_level = (drv_actual_bus_current_mA * drv_actual_bus_voltage_V);
//stat_ai_1 = drv_actual_analog_input_1_mV * 0.0001;
//stat_ai_2 = drv_actual_analog_input_2_mV * 0.0001;
// update fault output
if (auto_fault_reset_delay > 0) {
auto_fault_reset_delay -= period;
}
else {
drv_fault = (stat_fault || stat_cold_restart_error) && enable;
}
}
FUNCTION(write_all) {
int enable_edge;
if(opmode){
controlword |= (1 << 2); // activation bit 0 & 1 status word
}
// driver additional informations transfer
//*if(drive_out_enable){
//* drv_target_do_value |= (drv_target_do_1 << 0);
//* drv_target_do_value |= (drv_target_do_2 << 1);
//*}
// detect enable edge
enable_edge = enable && !enable_old;
enable_old = enable;
if (stat_power_voltage_present && !stat_cold_restart_error) {
if (stat_fault) {
if(!enable) {
controlword &= ~(1 << 0); // reset switch on
controlword &= ~(1 << 1); // reset enable voltage
controlword &= ~(1 << 3); // reset enable op
controlword &= ~(1 << 4); // reset mode specific constant
}
if(home_state != HOME_TRIGGER) {
bool bDriveHomingCommandActive = ((controlword >> 11) & 1);
if(bDriveHomingCommandActive){
controlword &= ~(1 << 11); // homing subroutine request reset
}
home_state = HOME_TRIGGER;
if(pos_mode){
opmode = csp_mode_code;
}
else{
opmode = csv_mode_code;
}
}
if (fault_reset) {
controlword |= (1 << 7); // fault reset
}
if (auto_fault_reset && enable_edge) {
auto_fault_reset_delay = FAULT_AUTORESET_DELAY_NS;
controlword |= (1 << 7); // fault reset
}
}
else { // !(stat_fault)
if (stat_switched_on_and_disabled) {
controlword |= (1 << 1); // enable voltage
}
if(enable){
if(stat_ready_to_switchon){
controlword |= (1 << 0); // switch on
controlword |= (1 << 3); // enable op
}
}
else{ // no enable
controlword &= ~(1 << 0); // reset switch on
controlword &= ~(1 << 3); // reset enable op
controlword &= ~(1 << 4); // reset mode specific constant
if(home_state != HOME_TRIGGER){
bool bDriveHomingCommandActive = ((controlword >> 11) & 1);
if(bDriveHomingCommandActive){
controlword &= ~(1 << 11); // reset homing subroutine request reset
}
home_state = HOME_TRIGGER;
if(pos_mode){
opmode = csp_mode_code;
}
else{
opmode = csv_mode_code;
}
}
}
}
}
else { //! stat_power_voltage_present or !stat_cold_restart_error
controlword &= ~(1 << 0); // reset switch on
controlword &= ~(1 << 1); // reset enable voltage
controlword &= ~(1 << 2); // reset activation bit 0 & 1 status word
controlword &= ~(1 << 3); // reset enable op
if(home_state != HOME_TRIGGER){
bool bDriveHomingCommandActive = ((controlword >> 11) & 1);
if(bDriveHomingCommandActive){
//controlword &= ~(1 << 11);// reset homing subroutine request reset
controlword &= ~(1 << 4);// reset homing subroutine request reset
}
home_state = HOME_TRIGGER;
if(pos_mode){
opmode = csp_mode_code;
}
else{
opmode = csv_mode_code;
}
}
}
// write position command
drv_target_position_incremental = (int32_t) (pos_cmd * pos_scale * incremental_pos_scale);
// write velocity command
//*if(opmode == opmode_cyclic_velocity){
//* if(screw_pitch){
//* drv_target_velocity_incremental = ((minute_to_second * velocity_cmd * one_velo_increments * velo_scale)/ screw_pitch);
//* }
//*}
if(home) {
switch (home_state){
case HOME_TRIGGER:
opmode = homing_mode_code;
if(opmode_homing){
pos_fb_from_incremental = pos_cmd;
home_state = HOME_CONFIRM;
break;
}
case HOME_CONFIRM:
pos_fb_from_incremental = pos_cmd;
if (opmode_homing) { // Homing request accepted from driver
//controlword |= (1 << 11); // homing subroutine request set
controlword |= (1 << 4); // homing subroutine request set
if(stat_motion_task_active){
home_state = HOME_SEEKING;
break;
}
}
case HOME_SEEKING:
if(!stat_procedure_error){
if(stat_motion_task_active){
if(stat_target_reached){
;
}
}
else{
if(stat_target_reached){
if(stat_internal_homed){ // stat_internal_homed
controlword &= ~(1 << 4); // reset homing subroutine request reset
home = 0;
break;
}
}
}
}
else{
controlword &= ~(1 << 4); // reset homing subroutine request reset
home_state = HOME_TRIGGER;
if(pos_mode){
opmode = csp_mode_code;
}
else{
opmode = csv_mode_code;
}
break;
}
}
}
else{ // !home
if(home_state == HOME_TRIGGER){
if(pos_mode){
opmode = csp_mode_code;
}
else{
//*opmode = csv_mode_code;
}
}
if(home_state == HOME_SEEKING){ // prefinal step after home reached in the internal subroutine
if(pos_cmd > -(following_error/10) && pos_cmd < (following_error/10)){ // // final step after home reached in the internal subroutine
home_state = HOME_TRIGGER;
}
}
}
}Component is very similar to cia402 from mr. dominik braun but It was customized for incremental interface of ds402 standard...
thanks for any ideas
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13 Aug 2023 21:46 #277882
by CORBETT
Replied by CORBETT on topic Jerking during movement
@foxington
The only way I am aware to change from generic is if you built the IgH ethercat from source. I am not sure how to change from "generic" other than simply trying your device in the ethercat conf file when you "sudo pico /etc/ethercat.conf". I think what you are looking for would need to be done from a source build as I have not changed anything under the repo build that Rod Webster put up.
I really think this is a configuration problem but that does not mean it isn't a hardware problem as you believe. I have not seen Dominik here in a bit to give any input.
When I do the IgH build, I disable the rtl8139. Give me a few hours and I will post you a set of instructions to do the source build. I am busy, but have a set of instructions I was going to post anyway. That way you can try it out and see if it helps you.
Thanks,
Robert
The only way I am aware to change from generic is if you built the IgH ethercat from source. I am not sure how to change from "generic" other than simply trying your device in the ethercat conf file when you "sudo pico /etc/ethercat.conf". I think what you are looking for would need to be done from a source build as I have not changed anything under the repo build that Rod Webster put up.
I really think this is a configuration problem but that does not mean it isn't a hardware problem as you believe. I have not seen Dominik here in a bit to give any input.
When I do the IgH build, I disable the rtl8139. Give me a few hours and I will post you a set of instructions to do the source build. I am busy, but have a set of instructions I was going to post anyway. That way you can try it out and see if it helps you.
Thanks,
Robert
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13 Aug 2023 23:46 #277891
by rodw
Replied by rodw on topic Jerking during movement
Source is here
gitlab.com/etherlab.org/ethercat
Build instructions is here
gitlab.com/etherlab.org/ethercat/-/blob/master/INSTALL.md
And yes their repo used in the Ethercat sticky only includes the generic driver.
gitlab.com/etherlab.org/ethercat
Build instructions is here
gitlab.com/etherlab.org/ethercat/-/blob/master/INSTALL.md
And yes their repo used in the Ethercat sticky only includes the generic driver.
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14 Aug 2023 02:58 #277906
by CORBETT
Replied by CORBETT on topic Jerking during movement
@foxington,
Rod Webster had replied to you while I was putting the instructions up, and gave you the IgH links... If you didn't get it figured out you can take a look if it will help you.
I have an error in the "clone" sections of the instructions as it turned them into hyperlinks when I posted it. I will get it fixed, but wanted to point it out if you did take a look at it.
Thanks,
Robert
Rod Webster had replied to you while I was putting the instructions up, and gave you the IgH links... If you didn't get it figured out you can take a look if it will help you.
I have an error in the "clone" sections of the instructions as it turned them into hyperlinks when I posted it. I will get it fixed, but wanted to point it out if you did take a look at it.
Thanks,
Robert
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14 Aug 2023 11:53 #277949
by endian
Replied by endian on topic Jerking during movement
hello,
I think I should found the problem of jerking... It was probably like everyone from you said DC.
There issection with active windowand this I just edit to "600" and it runs more smoothly and without jerking. I do not know it should help anybody... but it should 
I think I should found the problem of jerking... It was probably like everyone from you said DC.
There is
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
</slave> dcConf assignActivate="300" Please Log in or Create an account to join the conversation.
24 Aug 2023 10:31 #278849
by endian
Replied by endian on topic Jerking during movement
***************************************update***************************************
hello folks,
have anybody had experiences with weird behavior of ethercat, when there are more network adapters on board?
I have hooked up ethercat on first enp25s0 with generic driver(original for ethernet is e1000e) and second enp0s16 is for ethernet with (8190too realtek).
When I have plugged and installed ethercat on single of them, it works fine.. But if I connect ethernet on one of them and ethercat on other of them at same time, ethernet works just fine and ethercat starting freezing... drivers go to bootup menu and lcec crached... should be there some problem with kernel or something else?
Where can I just started digging?
regards Slav
hello folks,
have anybody had experiences with weird behavior of ethercat, when there are more network adapters on board?
I have hooked up ethercat on first enp25s0 with generic driver(original for ethernet is e1000e) and second enp0s16 is for ethernet with (8190too realtek).
When I have plugged and installed ethercat on single of them, it works fine.. But if I connect ethernet on one of them and ethercat on other of them at same time, ethernet works just fine and ethercat starting freezing... drivers go to bootup menu and lcec crached... should be there some problem with kernel or something else?
Where can I just started digging?
regards Slav
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