CiA 402 in 1.15.0

Maybe try starting with a full copy of the latest version of LinuxCNC-Ethercat from github.com/linuxcnc-ethercat/linuxcnc-ethercat? Just adding one or two files probably won't be good enough, depending on which base you're starting with.

this link would be the latest update? and would not be another install from zero.
only the ethercat part?
still wasn't able to get something moving
 

Hello,
I am new to LinuxCNC. I am trying to get a Festo CMMT-AS-C2-3A-EC-S1 to work via Ethercat with the CiA402. Unfortunately, I keep getting error messages when I start it up and have no idea what the problem could be.

Error message when starting up.

Debug file information:
Note: Using POSIX realtime
Failed to execute SDO upload: Input/output error
LCEC: slave 0.yaxis: Failed to execute SDO upload (0x6060:0x00, error -5, abort_code 00000000)
Failed to execute SDO download: Input/output error
LCEC: slave 0.zaxis: Failed to execute SDO download (0x607c:0x00, size 4, byte0=1, error -5, abort_code 00000000)
LinuxCNC Ethercat crashed with signal 11
-- STACK TRACE START
0    /usr/lib/linuxcnc/modules/lcec.so(+0xfc8c) [0x7ff70e4ddc8c]
1    /lib/x86_64-linux-gnu/libc.so.6(+0x3c050) [0x7ff70f2f7050]
2    /lib/x86_64-linux-gnu/libc.so.6(+0xa9d76) [0x7ff70f364d76]
3    /usr/lib/linuxcnc/modules/motmod.so(+0xd9b8) [0x7ff70e6309b8]
4    /usr/lib/linuxcnc/modules/motmod.so(+0xd5ad) [0x7ff70e6305ad]
5    /usr/lib/linuxcnc/modules/motmod.so(+0xd2c3) [0x7ff70e6302c3]
6    /usr/lib/linuxcnc/modules/motmod.so(+0x4a46) [0x7ff70e627a46]
7    /usr/bin/rtapi_app(rtapi_print_msg+0xbf) [0x558ee0026f2f]
8    /usr/lib/linuxcnc/modules/lcec.so(+0x11e94) [0x7ff70e4dfe94]
9    /usr/lib/linuxcnc/modules/lcec.so(+0x1316d) [0x7ff70e4e116d]
10    /usr/lib/linuxcnc/modules/lcec.so(rtapi_app_main+0x348) [0x7ff70e4dee76]
11    /usr/bin/rtapi_app(+0xbd67) [0x558ee0029d67]
12    /usr/bin/rtapi_app(+0xc6be) [0x558ee002a6be]
13    /usr/bin/rtapi_app(+0xccbc) [0x558ee002acbc]
14    /usr/bin/rtapi_app(+0x7a04) [0x558ee0025a04]
15    /usr/bin/rtapi_app(main+0x70f) [0x558ee002548f]
16    /lib/x86_64-linux-gnu/libc.so.6(+0x2724a) [0x7ff70f2e224a]
17    /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x85) [0x7ff70f2e2305]
18    /usr/bin/rtapi_app(_start+0x21) [0x558ee00258f1]
-- STACK TRACE END
./cia402.hal:16: waitpid failed /usr/bin/rtapi_app lcec
./cia402.hal:16: /usr/bin/rtapi_app exited without becoming ready
./cia402.hal:16: insmod for lcec failed, returned -1
HAL: ERROR: pin 'lcec.0.3.out-01' not found
shutdown.hal:2: unlink failed
2648
Stopping realtime threads
Unloading hal components
Waited 3 seconds for master.  giving up.
Note: Using POSIX realtime
lcec: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
motmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
trivkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
homemod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
tpmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

I have attached my hal, ini, and xml files below. Does anyone have any idea what I have configured incorrectly?

Thank you.

Yeah it is a bit tricky this one. The basic_cia402 device is a very capable device, but as usual with ethercat one need to know everything in advance.
The documentation github.com/linuxcnc-ethercat/linuxcnc-et...umentation/cia402.md outlines many details and mentions the modParams, with which one can enable and disable features of the drive.

The first error is about sdo 0x6060 and 0x607c, and in the doc one can see what they do.
Your drives don't have those features is my assumption, or not enabled. You need to get rid of all,those sdo download problems.

Anyway, what you should do is take the output of the command "lcec_configgen"
which will have a long list of modParams and select those you are going to use and your drive has.
Not so easy to enable/disable right but give it a go.

Also, errors from ethercat generally goes into syslog, you can see them with the command "sudo dmesg" the last maybe 20 lines are the importqnt.

Hello, thank you for your reply.

I think it has helped me a little.

I have rewritten my files and based them on “lcec_configgen.”

I found the problem.
There was a second hal file in which it was hidden.

cia402.hal:16: insmod for lcec failed, returned -1HAL: ERROR: pin 'lcec.0.3.out-01' not found

Now I always get this error.Debug file information:Note: Using POSIX realtime./ethercat.hal:15: execv(./lcec_conf): No such file or directory./ethercat.hal:15: waitpid failed ./lcec_conf lcec_conf./ethercat.hal:15: ./lcec_conf exited without becoming ready2729Stopping realtime threadsUnloading hal componentsNote: Using POSIX realtime



 

 

 


 

​​​​​​​What could be the reason for this? Thank you

Remove "./" from the line

 When I remove that, the following error occurs.



 

  If I understand correctly, he has a problem with 6040, which would be the control word.
Unfortunately, I don't understand what the problem is with it. It is present in both files.

Switched to the generic driver, ok.
You probably need to add the configPDOS="true" to the linelike

Thanks.

Yes, I switched to the generic driver. After studying the nearly 1000 pages of documentation, I didn't see any advantages .
I can configure the converter very well directly.

The tip helped me. I had to remove “name=‘D1’” and add “configPdos=”true".
You have to pay attention to upper and lower case here.

Then there were a few minor things in the ini and hal files. Now my bus is running.
Now I just have to take care of the units.