Marco Reps video on youtube about EtherCAT

Evgeny
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2 years 2 months ago #309164 by Evgeny

Replied by Evgeny on topic Marco Reps video on youtube about EtherCAT

I have this
/home/cnc/hal-cia402
o_Oimage missing /media/kunena/emoticons/shocked.png

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chrisfischer
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2 years 2 months ago #309165 by chrisfischer

Replied by chrisfischer on topic Marco Reps video on youtube about EtherCAT

jimwhiting wrote:
Is the ethercat-conf.xml file in the ~/dev/hal-cia402 directory?

Good question, should have mentioned. yes its in there. it wasnt clear from the instructions if anything else is needed like hal files etc.
So right now there is the ethercat-conf.xml the cia402.comp and the lincense and readme files. there is also an example folder with a less complete ethercat-conf.

i used the marcos ethercat-conf file and removed some info as i only have two drives under power right now.

Warning: Spoiler!

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">

    <!-- A axis EL8 Servo Drive -->
    <slave idx="0" type="generic" vid="00004321" pid="000010c3" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Z axis EL8 Servo Drive -->
    <slave idx="1" type="generic" vid="00004321" pid="000010c2" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    

  </master>
</masters>

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chrisfischer
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2 years 2 months ago #309166 by chrisfischer

Replied by chrisfischer on topic Marco Reps video on youtube about EtherCAT

Evgeny wrote:

Hi. If you figure out how I can send you 10GB of data, I can send you an acronis image of my system, the drivers are already installed and the configuration runs.

Thank you very much for the offer. wouldnt this be full of configurations made exactly to your hardware? not sure this is the best method to fix...

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jimwhiting
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2 years 2 months ago #309168 by jimwhiting

Replied by jimwhiting on topic Marco Reps video on youtube about EtherCAT

You might want to check the ethercat_conf file name... You config uses ethercat-conf (hyphen) where the files is usually an ethercat_conf (underscore).

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COFHAL
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2 years 1 month ago #309184 by COFHAL

Replied by COFHAL on topic Marco Reps video on youtube about EtherCAT

www.nomachine.com/

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chrisfischer
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2 years 1 month ago - 2 years 1 month ago #309185 by chrisfischer

Replied by chrisfischer on topic Marco Reps video on youtube about EtherCAT

Thanks for the comments guys, running this fixed my issue.(not sure why)
sudo apt update
sudo apt install -y linux-headers-$(uname -r) ethercat-master linuxcnc-ethercat

Last edit: 2 years 1 month ago by chrisfischer.

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Marco Reps video on youtube about EtherCAT