refClockSyncCycles="-1", I got Messages.
- tar_san
- Offline
- Junior Member
-
Less
More
- Posts: 31
- Thank you received: 1
24 Dec 2025 01:09 - 24 Dec 2025 02:54 #340446
by tar_san
Replied by tar_san on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
I attached dmesg file which is
refClockSyncCycles="-1" version.
(PS)
I have to add this info.
I tested multiple times this refClockSyncCycles="-1" version.
sometimes (33%?) , No alarm , and I could Power on (servo on) and jog moving.
But sometimes ( 66%?) I can't control servo motor at all from the begining after execute LinuxCNC.
In this case, CiA402 status=0000. if I pull off and push in (reconnect physically) EtherCAT cable several times, sometimes get correct status,
and after that I can control servo. ( not all the times )
refClockSyncCycles="-1" version.
(PS)
I have to add this info.
I tested multiple times this refClockSyncCycles="-1" version.
sometimes (33%?) , No alarm , and I could Power on (servo on) and jog moving.
But sometimes ( 66%?) I can't control servo motor at all from the begining after execute LinuxCNC.
In this case, CiA402 status=0000. if I pull off and push in (reconnect physically) EtherCAT cable several times, sometimes get correct status,
and after that I can control servo. ( not all the times )
Last edit: 24 Dec 2025 02:54 by tar_san.
Please Log in or Create an account to join the conversation.
- Hakan
- Offline
- Platinum Member
-
Less
More
- Posts: 1126
- Thank you received: 396
24 Dec 2025 07:49 #340457
by Hakan
Replied by Hakan on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
It looks like you are still running the old version of ethercat master.
I look at this message in syslogThis means the EoE code is still active in the ethercat master.
When EoE is removed from the master, all messaged with EoE will disappear.
Make sure to remove the debian/apt installed version of the ethercat masterThen re-compile and re-install the new version of ethercat master.
Also, the configure statement I told you was wrong (sorry about that), it should beand continue to install according to INSTALL.md.
When you have the ethercat master up and running again, check the syslog. There should be no EOE mentioned.
This must work, it is all dependent on that EoE is removed.
I look at this message in syslog
[ 8170.607102] EtherCAT 0: Stopping EoE thread.
[ 8170.607113] EtherCAT 0: EoE thread exited.
[ 8170.607114] EtherCAT 0: Starting EoE thread.When EoE is removed from the master, all messaged with EoE will disappear.
Make sure to remove the debian/apt installed version of the ethercat master
apt purge ethercat-master ethercat-dkmsAlso, the configure statement I told you was wrong (sorry about that), it should be
make clean
./bootstrap
./configure --sysconfdir=/etc --disable-eoeWhen you have the ethercat master up and running again, check the syslog. There should be no EOE mentioned.
This must work, it is all dependent on that EoE is removed.
Please Log in or Create an account to join the conversation.
- tar_san
- Offline
- Junior Member
-
Less
More
- Posts: 31
- Thank you received: 1
25 Dec 2025 09:09 #340489
by tar_san
Replied by tar_san on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
Thank you so much.
I tried multiple times, but I get the same result.
I installed ethercat-master using "linuxcnc-ethercat" package (that include some packages ) . and that may caused some issue for replacing ethercat master.
Do I need to install some packages separately, step by step ?
Unfortunatelly, I'm not familier to do this and I could not find proper procedures so far.
Do you know some web links or somethings to instruct this procedures to do this?
I tried multiple times, but I get the same result.
I installed ethercat-master using "linuxcnc-ethercat" package (that include some packages ) . and that may caused some issue for replacing ethercat master.
Do I need to install some packages separately, step by step ?
Unfortunatelly, I'm not familier to do this and I could not find proper procedures so far.
Do you know some web links or somethings to instruct this procedures to do this?
Please Log in or Create an account to join the conversation.
- Hakan
- Offline
- Platinum Member
-
Less
More
- Posts: 1126
- Thank you received: 396
25 Dec 2025 09:44 #340490
by Hakan
Replied by Hakan on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
It can be that linuxcnc-ethercat disturbs the process. It must be removed too.
I think this way is the best after all. The other way with changing a bit in the eeprom is even more complicated with ned tools.
I went through the disabling of EoE on a development system I have. Here is the list of commandsAt this point you should be able to start linuxcnc.
Check syslog for EoE appearances.
Take it step by step.
I think this way is the best after all. The other way with changing a bit in the eeprom is even more complicated with ned tools.
I went through the disabling of EoE on a development system I have. Here is the list of commands
sudo apt purge ethercat-master ethercat-dkms linuxcnc-ethercat
cd ~/src
cd ethercat/
make clean
./bootstrap
./configure --sysconfdir=/etc --disable-eoe
make all modules
sudo make modules_install install
ip a # for mac address in next step
sudo vi /etc/ethercat.conf # insert mac and "generic" driver
sudo systemctl start ethercat
ethercat slaves
sudo dmesg | tail -20
sudo apt install linuxcnc-uspace linuxcnc-uspace-dev # probably already installed
cd ~/src
git clone https://github.com/linuxcnc-ethercat/linuxcnc-ethercat # if it isn't installed already
cd linuxcnc-ethercat/
make
sudo make installCheck syslog for EoE appearances.
Take it step by step.
Please Log in or Create an account to join the conversation.
- automata
- Offline
- Premium Member
-
Less
More
- Posts: 91
- Thank you received: 65
25 Dec 2025 10:21 #340492
by automata
Replied by automata on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
For Yaskawa Sigma7 the issue with lcec (linuxcnc-ethercat) software component is not only EOE being enabled in the drive.
It also has something to do with modes LRD/LWR and LRW. In the sigma7, the PDOs in the syncMasters are not read-write, i.e., LRW mode is not supported by sigma7. To work with sigma7, you need to enable 2 domains in the lcec program. I am not sure how to do that yet.
This issue is documented in these forum threads:
forum.linuxcnc.org/ethercat/50245-yasikawa-sigma7-lcec-driver
forum.linuxcnc.org/ethercat/48110-etherc...-responding?start=40
I have tried using this program from github.com/nylon7 and fdarling (on the yaskawa thread in the linuxcnc forum) and have seen some success in enabling the sigma7 motor and moving it and reading the absolute position register over ethercat.
github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c
For doing this, I am using the IGH Ethercat master 1.6-stable with EOE disabled as documented by Hakan.
I think we need to make some changes in lcec to enable the use of two domains.
-automata
It also has something to do with modes LRD/LWR and LRW. In the sigma7, the PDOs in the syncMasters are not read-write, i.e., LRW mode is not supported by sigma7. To work with sigma7, you need to enable 2 domains in the lcec program. I am not sure how to do that yet.
This issue is documented in these forum threads:
forum.linuxcnc.org/ethercat/50245-yasikawa-sigma7-lcec-driver
forum.linuxcnc.org/ethercat/48110-etherc...-responding?start=40
I have tried using this program from github.com/nylon7 and fdarling (on the yaskawa thread in the linuxcnc forum) and have seen some success in enabling the sigma7 motor and moving it and reading the absolute position register over ethercat.
github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c
For doing this, I am using the IGH Ethercat master 1.6-stable with EOE disabled as documented by Hakan.
I think we need to make some changes in lcec to enable the use of two domains.
-automata
Please Log in or Create an account to join the conversation.
- Hakan
- Offline
- Platinum Member
-
Less
More
- Posts: 1126
- Thank you received: 396
25 Dec 2025 11:05 #340493
by Hakan
Replied by Hakan on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
So, there is a much bigger issue with lcec supporting LWR and Yaskawa drives requiring LRD/LRW.
I followed some of your links and while there is some success, there are also very pessimistic opinions
on rewriting of lcec_main. Maybe it is possible to take some of the success and shoehorn it into something?
I followed some of your links and while there is some success, there are also very pessimistic opinions
on rewriting of lcec_main. Maybe it is possible to take some of the success and shoehorn it into something?
Please Log in or Create an account to join the conversation.
- automata
- Offline
- Premium Member
-
Less
More
- Posts: 91
- Thank you received: 65
26 Dec 2025 09:18 #340518
by automata
Replied by automata on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
It seems user fdarling has got yaskawa drives working with ethercat and lcec based on this response on the original sittner/linuxcnc-ethercat repo.
github.com/sittner/linuxcnc-ethercat/issues/121
Based on the original suggestions in github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c, I also have gotten yaskawa drives to work with linuxcnc without using lcec.
I have attached the program to this mail.
The next step is to make a separate yaskawa driver in lcec like delta ASDA or omron drives to service yaskawa sigma7 drives.
-automata
github.com/sittner/linuxcnc-ethercat/issues/121
Based on the original suggestions in github.com/nylon7/Igh-Ethercat-master/bl...ples/user/main_yas.c, I also have gotten yaskawa drives to work with linuxcnc without using lcec.
I have attached the program to this mail.
The next step is to make a separate yaskawa driver in lcec like delta ASDA or omron drives to service yaskawa sigma7 drives.
-automata
Attachments:
Please Log in or Create an account to join the conversation.
- tar_san
- Offline
- Junior Member
-
Less
More
- Posts: 31
- Thank you received: 1
26 Dec 2025 14:19 - 26 Dec 2025 15:06 #340523
by tar_san
Replied by tar_san on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
Thank you so much, Mr.Hakan.
I installed "go" package and then everything seems to be successful.
I appreciate your kindness.
I will try to connec YASKAWA Servo tomorrow.
I installed "go" package and then everything seems to be successful.
I appreciate your kindness.
I will try to connec YASKAWA Servo tomorrow.
Last edit: 26 Dec 2025 15:06 by tar_san.
Please Log in or Create an account to join the conversation.
- Hakan
- Offline
- Platinum Member
-
Less
More
- Posts: 1126
- Thank you received: 396
26 Dec 2025 18:13 #340533
by Hakan
Replied by Hakan on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
Good. EoE has to go.
But you see automata's posts here? Do not be surprised if it still does not work.
Thankfully, automata has kindly posted the solution here.
Please report back how it goes and if there are problems with lcec
I hope automata will guide you to use his solution.
But you see automata's posts here? Do not be surprised if it still does not work.
Thankfully, automata has kindly posted the solution here.
Please report back how it goes and if there are problems with lcec
I hope automata will guide you to use his solution.
Please Log in or Create an account to join the conversation.
- tar_san
- Offline
- Junior Member
-
Less
More
- Posts: 31
- Thank you received: 1
27 Dec 2025 02:44 - 27 Dec 2025 02:56 #340564
by tar_san
Replied by tar_san on topic EtherCAT master xml file for Yaskawa Sigma Servo motor?
Thank you so much.
Result:
A12 Servo driver alarm has vanished.
I could "ServoOn", "Jog move". without any error in Servo Driver LED.
Buf I got this message "Failed to get reference clock time: Input / Output error" many times. (screenshot)
I attached dmesg log.
But I'm not familier about EtherCAT master, I'm not sure what to do next, so please guide me, everyone
And I'd like to summerize procedures what I have done with your great help to get Yaskawa worked with LinuxCNC for those who are not so familier with EtherCAT master in detail like me.
Result:
A12 Servo driver alarm has vanished.
I could "ServoOn", "Jog move". without any error in Servo Driver LED.
Buf I got this message "Failed to get reference clock time: Input / Output error" many times. (screenshot)
I attached dmesg log.
Thanks, I will report back as much as I can for a while. ( I'm borrowing Yaskawa-Sigma-X motors for just a few weeks)But you see automata's posts here? Do not be surprised if it still does not work.
Thankfully, automata has kindly posted the solution here.
Please report back how it goes and if there are problems with lcec
I hope automata will guide you to use his solution.
But I'm not familier about EtherCAT master, I'm not sure what to do next, so please guide me, everyone
And I'd like to summerize procedures what I have done with your great help to get Yaskawa worked with LinuxCNC for those who are not so familier with EtherCAT master in detail like me.
Last edit: 27 Dec 2025 02:56 by tar_san.
Please Log in or Create an account to join the conversation.
Time to create page: 0.104 seconds