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Hallo Leute,
ich wollte am Wochenende mal meinen Rechner der Maschine updaten.
alter Stand war Debian 11 denke ich mit LinuxCNC 2.9.0 pre0 Ethercat.
Ich habe nun Debian 12 installiert inkl. Ethercat Master, linuxcnc-ethercat von Herrn Ittner.

Leider habe ich ein Problem mit meiner EL6751 Klemme, die will nicht in OP Modus. 
Starte ich das alte System läuft alles wie gewohnt.

Bei mir ist auf der EL6751 alles gespeichert was die Servotreiber benötigen. SDO habe ich deshalb nicht.
Anbei mal meine xml und ein paar Analyseversuche:
die Klemme habe ich auch mal unter Linux ausgelesen. (XML im Anhang)
steffen@mikron:~$ ethercat slave -p 7 -v
=== Master 0, Slave 7 ===
Device: Main
State: PREOP
Flag: E
Identity:
  Vendor Id:       0x00000002
  Product code:    0x1a5f3052
  Revision number: 0x00110000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1019 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             6    729502240           0         155
   1  EBUS  down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/532, TX: 0x1800/532
  Standard  RX: 0x1800/558, TX: 0x1a2e/558
  Supported protocols: AoE, CoE, FoE
General:
  Group: Communication
  Image name: 
  Order number: EL6751
  Device name: EL6751 CANopen Master
  CoE details:
    Enable SDO: yes
    Enable SDO Info: yes
    Enable PDO Assign: no
    Enable PDO Configuration: no
    Enable Upload at startup: no
    Enable SDO complete access: yes
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 300 mA
steffen@mikron:~$ ethercat slave
 0  0:0   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
 1  0:1   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
 2  0:2   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
 3  0:3   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 4  0:4   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 5  0:5   OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
 6  0:6   OP     +  EL2622 2K. Relais Ausgang, Schlie�er (230V AC / 30V DC)
 7  0:7   PREOP  E  EL6751 CANopen Master
 8  0:8   OP     +  EK1100 EtherCAT-Koppler (2A E-Bus)
 9  0:9   OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
10  0:10  OP     +  EL2008 8K. Dig. Ausgang 24V, 0.5A
11  0:11  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
12  0:12  OP     +  EL1008 8K. Dig. Eingang 24V, 3ms
13  0:13  OP     +  EL5151 1K. Inc. Encoder
14  0:14  OP     +  EP2318-0001 4 K. Dig. Ein, 10�s, 4 K. Dig. Aus 24V, 0,5A, M8

 

Yes, drift is a testing value, you need set pll-step to 0 and then set drift, and you can go into the grinding window, it's just for testing, and finding where the grinding window is. You don't need to use, system should be working now, no more grinding.

@grandixximo Good news. The patch you did worked. DC-phased is now active and I can see changing values for drift, err, final, out and reset-count. Nothing on the drift and jitter signals though, not sure if that is how it should be. 

Also, regarding the pll-step value with the older version of the patch, it was at 1000. 

I never discussed with Rob, maybe on next meeting 

I know what you are saying.

What have the tormach guys said about it? The 1500mx doesn't seem to have any issues. is there something to take from their new source code?

Ventoy really shines on PCs
I use it like this, and I still have room for other distros when I need them, but it is mainly my Swiss Army knife USB for tools.

/ISO/Rescue/SystemRescue.iso
/ISO/Rescue/Clonezilla.iso
/ISO/Rescue/GParted.iso
/ISO/Rescue/Rescuezilla.iso
/ISO/Boot/SuperGrub2Disk.iso
/ISO/Windows/Win11.iso
/ISO/Linux/Ubuntu-Live.iso
/ISO/Hardware/Memtest86+.iso

It's based on the execution time between two processes which is not guaranteed to align well in all systems, it may be ok on some hardware, very little difference, and completely random on others.

Yup. there's files an info.. somewhere.. in there. haha.
I have not looked at the 229 stuff in 7 years sadly, so its all erased from my brain.

latency is not fine tuned or incredibly stable.

It's actually a realtek interface. I don't think this is luck. I've cycled the machine probably 1000 times and never seen anything of this nature. Literally never even hear of the issue before and I know a number of people on ethercat/linuxcnc (tormach 1500 people included). And this was all news to them.

I've forwarded some info to the people that make the stepperonlione servos to see If they have any thoughts - and one of my customers is setting up their kit at the moment.

I find this all... peculiar to be simply random.

ihavenofish wrote:

What network interface are you using? Beckhoff only really supports a few intel select chips for ethercat. They flat out block realtek in twincat for real time motion.

So I want to know if there is a strong indication people with these issues are on unsupported network interfaces, or it's happening across all of them including the intel 210/211

Thanks.

The real explanation why Beckhoff block Realtek NIC's is they use about 30% more system memory than Intel NIC's which can't be good for real time performance. However, I have never had issues with Realtek NIC's when properly configured regardless if they are driving Ethercat or mesa devices.

Its not enough today to just install linuxcnc and Ethercat and expect things to work. The kernel and NIC has to be tuned for optimum real time performance and that is something of a black art that is not well documented anywhere.

I offer kernel tuning services to manufacturers and have an installer that fully configures ethercat and tunes the kernel. You just need to add your config and plug in your slaves. If interested, reach out here mrrodw.au/ or via the email on my Youtube channel. www.youtube.com/@mrrodw 

Right now the only way to get 2.10 is to build it from source. But later Operating System versions like Trixie need careful tuning to get the kernel running smoothly in a real time environment. This is not easy because there is no single source of information about how to do this.

People definitely need help with this and I have a solution.Today I just completed custom Debian Trixie ISO's for v 2.10 and 2.98 that do something which I never thought was possible. That is to tune and configure the kernel for best real time performance after its up and running on your PC. In other words, install my ISO and you are ready to go with no further effort.

This is a spinoff from my MrRodW Youtube channel which is now a Youtube Partner.. There is a cost for this and it also requires a monthly subscription (which also includes membership to my Discord channel). The subscription is there because I know people will need support. I have some commercial clients who have paid me hundreds of dollars for the same service.

If joining the MrRodW Shop Crew appeals to you, head over to mrrodw.au/ or to my Youtube channel www.youtube.com/@mrrodw, grap some merchandise and a ISO.

I have several projects using LinuxCNC 2.10 on Debian Buster. However, the buildbot.linuxcnc.org site is no longer active. How do I update from LinuxCNC 2.8.4 to 2.10?

The initial resonance could be something with the drivers internal PID unless you are running in torque mode?

If you run in position mode, probably something with the gain of the servos.

If you have not experienced any grinding noise, it maybe that you have incredibly stable latency, or your hardware is incredibly fine tuned, and you have it well dedicated and setup to run only linuxcnc. But there is no question that the original linuxcnc-ethercat, including the last stable release by Scott, has issues, this is confirmed by all core developers, the original code previous my PR to master has random phasing, if your hardware was somehow able to keep the phasing, it was just luck, not because it was setup to be in sync.

I use intel 210

Never experienced looping OP, not sure if it's related, did you give a test to my version?

Did a bit of digging. not related to my issue, but a trend did seem to crop up and Id like to see if it holds as it might start to narrow down the search for a solution.

What network interface are you using? Beckhoff only really supports a few intel select chips for ethercat. They flat out block realtek in twincat for real time motion.

So I want to know if there is a strong indication people with these issues are on unsupported network interfaces, or it's happening across all of them including the intel 210/211

Thanks.

I've never experienced any form of gravelly sound in my servos.

I do get the servos resonating under linuxcnc, when they are stable in the omron software. Is this the same core problem, or is it unrelated (a different bug)? The resonance goes away when moving above a few inches a minute.

My only other issue is sometimes there is a timing issue on start up where the drives will repeatedly cycle op states. happens on in 10 starts maybe.