Ethercat Motion Problem

Hi all,I'm experiencing an issue with my EtherCAT drive. When I try to move any axis through LinuxCNC, the motion is noticeably slower compared to using the drive's own software.I've attached two videos for comparison:

• LinuxCNC control
• AutomationSuite control
  
  The motors also seem quite loud in LinuxCNC.Any suggestions or insights would be greatly appreciated.
  
  Many thanks,
  Lorenzo
   

  File Attachment:

  File Name: 3dcp.hal
  File Size:6 KB
   

  File Attachment:

  File Name: 3dcp.ini
  File Size:3 KB
   

  File Attachment:

  File Name: ethercat-c...2-20.xml
  File Size:9 KB

Just standard linuxcnc settings. You have Velocity and Accelerations settings for every axis in the ini file. Adjust them to your liking.

Unfortunately, I never reach the speed set in the .ini file.
The motors move much slower than the set speed and make a lot of noise. If I set the same speed in the drive program, the command executes smoothly and without making any noise.
I'm probably doing something wrong in the configuration.

Hi,
try changing the value in the .hal file

Hi jjdege, by changing the pos-scale value, all the movements don't correspond to reality.
I solved most of the problems by changing the SERVO_PERIOD from 2000000 to 1000000.
I've also a problem in display section: MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 50.00

Many thanks to all of you

Your jog settings are really slow. That's why it moves so slowly.
These are settings in the ini file. I don't use axis so can't advice further on that,
but many users do use axis and should be able to tell you what and where to change.
 

Test the following in the MDI "G1 X200 F20000"
that should give quite a bit better speed. Adjust velocity and acceleration settings in the ini file to your liking.
The drives should work fine. When you ask to much of them they will give you following errors. But you are not near that.

There are some optimizations you can do.

The 2 ms servo period is in itself not a problem. But if you use 2 ms servo period because your computer
can't keep up with 1 ms then you should work on the performance of the computer. It should run flawlessly
without any (well a single one would be ok) "UNMATCHED DATAGRAMS" in the syslog. Check that.

You should also set up DC synchronization of the drives, see here github.com/linuxcnc-ethercat/linuxcnc-et...istributed-clocks.md
syncToRefClock in the master line. dcConf statement for every slave.

When this works fine, check syslog again, there should be no (or maybe one) UNMATCHED DATAGRAMS or other messages
indicating performance problems. In which case you should work on the network performance especially use dkms drivers for
Realtek network adapters.

Then it is standard linuxcnc again. Tune the drives, adjust velocity and acceleration settings.

jjdege wrote:

Hi,
try changing the value in the .hal file

setp cia402.0.pos-scale 1000

 
[code]Hi. Pardon for offtop. Please could you try to explain what will do linunxCNC when you using this scale, and reach the calculating maximum of +2^31, and momentary jump to -2^31. On my case system stops and there an error of following..

[/code]

Hi all,
thanks to Hakan, I’m now able to control all the motors without any issues.
However, could someone help me with this error shown by the code dmesg command:  dmesg.txt
Could this error cause problems during machine operation?

Many thanks, Lorenzo

Which error are you referring to?
seems to be caused by PCI-express link power management
Which version of the ethercat library are you using? 1.6 by default has ethernet over ethercat active, and it doesn't seem to be compatible with linuxCNC. With 1.6, one must compile the library from source to disable EoE.

Thanks nanowhat, I checked my version and it’s actually 1.6Could you help me understand how to disable EoE in this version?

Thanks a lot, Lorenzo.