Omron/Generic Ethercat Driver - Communications Synch Error

Hi everyone,

I am part of a research group here at Iowa State and we are using LinuxCNC to build a laser based directed energy deposition system. We have some Omron G5 R88D-KN01L-ECT drivers that a few other people have seemed to have gotten working on here and I was hoping you might be able to provide some input if this describes you.

Right now I'm just trying to get position exchange information in the HAL viewer for a single axis.

Thanks to the Ethercat installation from repositories - how to step by step , and EtherCAT: How to use the dedicated OmrG5 lcec driver? I think I have the XML setup correctly, as the driver is happy and displays "--" (preop, waiting, no error) until I launch LinuxCNC, which about 1-2s after the main UI loads the driver drops into the '90' error. This occurs regardless of if I have the drive configured as a "generic" device or if I use the OmrG5 driver. I've also tried changing the servo thread cycle time through all of the supported cycle times listed in the documentation (0.5, 1, 2, & 4ms) and no change in behavior.

I've also tried Beckhoff's Ethercat Configurator to make sure that the cycle time was set appropriately

I've attached a snippet of the documentation for the communications synchronization error. Any help/thoughts would be incredibly appreciated as I've been banging my head against this wall for a few days now. The XML, INI and HAL files have also been attached.

Thanks!
 

Change sync0Cycle="10000000" in the xml file to sync0Cycle="*1" and try it

Here is my config for OMRON R88D-KN04H-ECT. With this config I can change driver mode - velocity or position.
Change vid="0x00000083" pid="0x00000007" to you value.
Default driver in velocity mode <sdoDataRaw data="09"/>, in position mode mast be <sdoDataRaw data="08"/>

onceloved, I have tried that with no luck. For the sync0Cycle I've tried the following values with the following servo cycle times:

Servo: 1ms -> sync0Cycle: *1, *2, 1000000, 500000
Servo: 500us-> sync0Cycle: *1, *2

tpa58, thank you a bunch! I'll start with your XML file and see how far I get today then report back.

I was able to get the drive to go into OP mode thanks to your XML file after I changed the PID to my driver.

Thanks again!