AMSAMOTION IO module

... MASTER0_DEVICE="78:45:c4:23:9f:86" ... DEVICE_MODULES="generic" ...

$ lsmod | grep ^ec_ ec_generic             12288  0 ec_master             479232  1 ec_generic

ethercat slaves 0 0:0 PREOP + EC3A-IO1632

ethercat xml <?xml version="1.0" ?> <EtherCATInfo>   <!-- Slave 0 -->   <Vendor>     <Id>2965</Id>   </Vendor>   <Descriptions>     <Devices>       <Device>         <Type ProductCode="#x00001101" RevisionNo="#x01020109">EC3A-IO1632</Type>         <Name><![CDATA[EC3A-IO1632]]></Name>         <Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />         <Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="128" />         <Sm Enable="1" StartAddress="#x1100" ControlByte="#x64" DefaultSize="2" />         <Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" DefaultSize="2" />         <RxPdo Sm="2" Fixed="1" Mandatory="1">           <Index>#x1600</Index>           <Name>DOOutputs process data mapping</Name>           <Entry>             <Index>#x7000</Index>             <SubIndex>1</SubIndex>             <BitLen>16</BitLen>             <Name>OUT_GEN_DO</Name>             <DataType>UINT16</DataType>           </Entry>         </RxPdo>         <TxPdo Sm="3" Fixed="1" Mandatory="1">           <Index>#x1a00</Index>           <Name>DIInputs process data mapping</Name>           <Entry>             <Index>#x6000</Index>             <SubIndex>1</SubIndex>             <BitLen>16</BitLen>             <Name>IN_GEN_DI</Name>             <DataType>UINT16</DataType>           </Entry>         </TxPdo>       </Device>     </Devices>   </Descriptions> </EtherCATInfo> cnc@cnc:~$ ethercat pdos SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1100, DefaultSize    2, ControlRegister 0x64, Enable 1   RxPDO 0x1600 "DOOutputs process data mapping"     PDO entry 0x7000:01, 16 bit, "OUT_GEN_DO" SM3: PhysAddr 0x1400, DefaultSize    2, ControlRegister 0x20, Enable 1   TxPDO 0x1a00 "DIInputs process data mapping"     PDO entry 0x6000:01, 16 bit, "IN_GEN_DI"

$ lcec_configgen

<masters>   <master idx="0">     <slave idx="0" type="generic" vid="0x00000b95" pid="0x00001101" name="D1">       <!--EC3A-IO1632-->       <syncManager idx="0" dir="in"/>       <syncManager idx="1" dir="out"/>       <syncManager idx="2" dir="out">         <pdo idx="1600">           <!--DOOutputs process data mapping-->           <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="EC3A-do" halType="bit"/>         </pdo>       </syncManager>       <syncManager idx="3" dir="in">         <pdo idx="1a00">           <!--DIInputs process data mapping-->           <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="EC3A-di" halType="bit"/>         </pdo>       </syncManager>     </slave>   </master> </masters>

cat ec3a.hal ec3a.ini # Load real-time components loadrt threads name1=servo-thread period1=1000000  # 1ms servo thread (matches XML appTimePeriod) # Load EtherCAT driver with config XML loadusr -W lcec_conf ec3a_io_hal.xml loadrt lcec # Load ClassicLadder (nogui mode, loading your project file) #loadusr -W classicladder --nogui ec3a_ladder.clp loadrt classicladder_rt addf classicladder.0.refresh servo-thread # Connect example I/O pins to ClassicLadder (map %I0-%I3 to inputs, %Q0-%Q3 to outputs) # Expand to all 16 as needed #net input-0 classicladder.0.in-00 <= lcec.0.0.EC3A-di.0 #net input-1 classicladder.0.in-01 <= lcec.0.0.EC3A-di.1 #net input-2 classicladder.0.in-02 <= lcec.0.0.EC3A-di.2 #net input-3 classicladder.0.in-03 <= lcec.0.0.EC3A-di.3 #net output-0 classicladder.0.out-00 => lcec.0.0.EC3A-do.0 #net output-1 classicladder.0.out-01 => lcec.0.0.EC3A-do.1 #net output-2 classicladder.0.out-02 => lcec.0.0.EC3A-do.2 #net output-3 classicladder.0.out-03 => lcec.0.0.EC3A-do.3[EMC] # The version string for this INI file. VERSION = 1.1 MACHINE = EtherCAT Machine DEBUG = 1 [DISPLAY] DISPLAY = axis EDITOR = gedit #PYVCP = pyvcp_panel.xml # places the pyvcp panel at the bottom of the Axis window PYVCP_POSITION = RIGHT # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME =            0.100 # Path to help file HELP_FILE =             doc/help.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.2 # Prefix to be used PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 0 INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python nc = /usr/bin/axis [RS274NGC] PARAMETER_FILE = linuxcnc.var #[EMCMOT] #EMCMOT = motmod #COMM_TIMEOUT = 1.0 #BASE_PERIOD =  0 #SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.005 [HAL] HALFILE = ec3a.hal #SHUTDOWN = shutdown.hal #HALFILE = custom.hal #POSTGUI_HALFILE = pyvcp_panel.hal HALUI = halui #[HALUI] [KINS] KINEMATICS = trivkins coordinates= JOINTS = 0 [TRAJ] COORDINATES = LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 1.0 MAX_LINEAR_VELOCITY = 1.0

linuxcnc ec3a.ini LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/Завантажене' Machine configuration file is 'ec3a.ini' Starting LinuxCNC... [EMCIO] CYCLE_TIME not found in /home/cnc/Завантажене/ec3a.ini; using default 0.100000 halui: no [TRAJ]COORDINATES specified, enabling all axes linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod Note: Using POSIX realtime Found file(REL): ./ec3a.hal creating ladder-state emcTrajSetJoints failing: joints=0 emcMotionInit: emcTrajInit failed Missing [TRAJ]COORDINATES Shutting down and cleaning up LinuxCNC... USRMOT: ERROR: command timeout HAL: ERROR: exit called before init <commandline>:0: waitpid failed milltask inihal <commandline>:0: milltask exited without becoming ready Note: Using POSIX realtime LinuxCNC terminated with an error.  You can find more information in the log:     /home/cnc/linuxcnc_debug.txt and     /home/cnc/linuxcnc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal cat /home/cnc/linuxcnc_debug.txt Can not find -sec TRAJ -var COORDINATES -num 1 3767 3797 Stopping realtime threads Unloading hal components cnc@cnc:~/Завантажене$ cat /home/cnc/linuxcnc_print.txt RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 INIFILE=/home/cnc/Завантажене/ec3a.ini VERSION=1.1 PARAMETER_FILE=linuxcnc.var TPMOD= HOMEMOD= TASK=milltask HALUI=halui DISPLAY=axis COORDINATES= KINEMATICS=trivkins coordinates= Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io Starting HAL User Interface program: halui Starting TASK program: milltask Starting DISPLAY program: axis Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments