Advanced Search

I have 3 iX7NH servo drives connected via ethercat. I have installed ethercat (IgH EtherCAT master 1.6.8) to the linuxcnc 2.9.4 ISO from repositories as described in this thread .

Using ethercat -p0 upload -t int16 0x2003 0 I can request that word from any drive, but it frequently fails with Failed to upload SDO: Input/output error.

dmesg reports:
[316.525911]EtherCAT WARNING 0-0: Other mailbox protocol response from eoe0s0.
[316.537792]EtherCAT ERROR 0-0: Reception of CoE upload response failed: No response.
[316.537797]EtherCAT ERROR 0-0: Failed to process SDO request.

I can run linuxcnc, and it will throw for one or two drives that same error I received with ethercat, but for different drives each time. I was once lucky enough to have it throw no such errors, but within a few minutes, one of the drives refused to communicate. When the drives do communicate, the DRO fields will update as I turn the motor shafts by hand.

I have seen drives flap betweep PREOP and OP status, while linuxcnc was running.

I also have some mesa daughterboards served by a 7i94. Occasionally, they will stop responding, showing all comms error lights, and linuxcnc will say "error finishing read".

I have installed r8168-dkms, and the realtek interface is using that driver. The other interface is supposedly an Intel card, using the igb driver, but it came from China, so there's no guarantee. Naturally the r8169 driver gave the same problems. I have tried other ethernet cards, but they all have realtek silicon.

The latency histogram does not exceed 10uS. Ping to the 7i94 is 112uS average, 203uS max.

What can I try next?

Hello
thanks for your reply, andypugh!
Another one question. If i have reel (not bar). My material reel will became short and i will have to change material by new reel. I needed to change new reel and put in a couple meters. But if i will manually push material in, my x axis became to count. And axis measurement mismatch. How correctly to do material change and  put off old material, and replace by new material in, until push roll will engage to roll-in my new material? And how to simultaneously jump back to previous gcode block (previous produced part)?

I've only connected two slaves this time, and I've confirmed that neither of them has EOE functionality.
I've recorded the dmesg output after the rescan.
Why is the connection process relatively slow?
In which direction should I focus my troubleshooting efforts?
Thank you in advance for your guidance!

[ 5140.632281] EtherCAT 0: Re-scanning now.
[ 5140.640312] EtherCAT 0: Scanning bus.
[ 5141.334336] EtherCAT WARNING 0: 5 datagrams TIMED OUT!
[ 5141.334343] EtherCAT WARNING 0: 5 datagrams UNMATCHED!
[ 5142.333525] EtherCAT WARNING 0: 13 datagrams TIMED OUT!
[ 5142.333531] EtherCAT WARNING 0: 13 datagrams UNMATCHED!
[ 5143.332840] EtherCAT WARNING 0: 7 datagrams TIMED OUT!
[ 5143.332847] EtherCAT WARNING 0: 7 datagrams UNMATCHED!
[ 5144.331944] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 5144.331950] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[ 5145.335015] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 5145.335022] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 5146.333852] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 5146.333858] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[ 5147.332551] EtherCAT WARNING 0: 3 datagrams TIMED OUT!
[ 5147.332558] EtherCAT WARNING 0: 3 datagrams UNMATCHED!
[ 5149.333802] EtherCAT WARNING 0: 4 datagrams TIMED OUT!
[ 5149.333808] EtherCAT WARNING 0: 4 datagrams UNMATCHED!
[ 5150.256544] EtherCAT 0: Bus scanning completed in 9624 ms.
[ 5150.256552] EtherCAT 0: Using slave 0 as DC reference clock.
[ 5150.276608] EtherCAT 0: Slave states on main device: PREOP.
[ 5150.332789] EtherCAT WARNING 0: 2 datagrams TIMED OUT!
[ 5150.332794] EtherCAT WARNING 0: 2 datagrams UNMATCHED!
[ 5150.625634] EtherCAT ERROR 0-0: Reception of CoE download response failed: No response.
[ 5150.625642] EtherCAT WARNING 0-0: Failed to set number of entries.
[ 5150.625643] EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x2600:01/16 0x2600:03/16 0x2600:04/16 0x2601:02/16. Entries to map: 0x2600:01/16 0x2600:03/16 0x2600:04/16 0x2601:02/16
[ 5150.625657] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1602.
[ 5151.331810] EtherCAT WARNING 0: 7 datagrams TIMED OUT!
[ 5151.331816] EtherCAT WARNING 0: 7 datagrams UNMATCHED!
[ 5155.334342] EtherCAT WARNING 0: 7 datagrams TIMED OUT!
[ 5155.334348] EtherCAT WARNING 0: 7 datagrams UNMATCHED!
[ 5156.316919] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 5156.327444] EtherCAT 0: Domain 0: Working counter changed to 3/6.
[ 5156.332974] EtherCAT WARNING 0: 5 datagrams TIMED OUT!
[ 5156.332979] EtherCAT WARNING 0: 5 datagrams UNMATCHED!
[ 5157.667444] EtherCAT 0: Domain 0: Working counter changed to 6/6.
[ 5158.334745] EtherCAT WARNING 0: 5 datagrams TIMED OUT!
[ 5158.334751] EtherCAT WARNING 0: 5 datagrams UNMATCHED!
[ 5158.671444] EtherCAT 0: Domain 0: 4 working counter changes - now 6/6.
[ 5160.132443] EtherCAT 0: Domain 0: Working counter changed to 0/6.
[ 5160.140193] EtherCAT ERROR 0-0: Reception of CoE SDO description response failed: No response.
[ 5160.144210] EtherCAT 0: Slave states on main device: OP.

I've carefully reviewed the configurations of my two previous systems. For the first system, I didn't intentionally disable EOE, so it should have been enabled by default.

For the second system, I'm somewhat uncertain whether EOE was actually disabled when checking dmesg, because I've seen similar posts suggesting that disabling EOE might be beneficial.

Another finding: I tried compiling EtherCAT version 1.5.2 on the second system (replacing version 1.6.1), and it did successfully connect quickly and enter OP state.

However, during operation, when I used watch -n 1 ethercat slaves to monitor, I noticed that it would occasionally flash "0x0000:0x0000" for all slaves. At these moments, it seemed like all my IO modules disconnected, but they recovered quickly.

This instability makes me hesitant to use this setup.

I would greatly appreciate any help or suggestions from the community. Thank you very much!

Hi everyone, I'm back. I've carefully reviewed your replies and compared the dmesg information from my two systems.

I noticed that the second system has started the EOE thread again, and afterward, it logged many EOE-related errors/warnings.

I'm thinking about trying to completely disable the EOE function. I remember that I manually compiled the EtherCAT driver on the second system. According to the documentation, I configured it with something like --enable-eoe=no.

Is there a way for me to verify whether the EtherCAT I compiled actually has the EOE function disabled?

Of course, I can also recompile it, but I'm not entirely sure how to completely disable the EOE function.

Thank you for your help!

Did anyone notice there is a question at the end?
-
Some random info running through my noggin :
-the rotational axis should do a full 360 degree to finish this
-the tool should remain always roughly normal to the teeth/cut plane
-i do not think this needs switchable kinematics
-pretty sure this needs TCP as the cut line is always 1mm under the material (also 1mm thick roughly)
-having a look through the included TRT configs right now ... well after i get back from the shop (nicotine level low), went to bed at 1AM got up at 2:10AM, way to much stuff going on last 3-4 days compounded by family health issues, but getting better so far.
Attached files in pts and gcode formats, compressed, the gcode has Y and Z axis values changed to reflect table orientation.

Do you get a blinking green light on the 7I84?
 

MusicCityMfg wrote:

Were you able to replace the resolvers with encoders?

Yes.

MusicCityMfg wrote:

Are they part of the motors?

No they were/are mounted on the screw shaft, not on the motors.
-
For resolvers, you should really try to find as much info as possible, preferably full spec sheet, and preferably push as much as humanly possible to use them, Mesa has resolver cards.

I have just now added another wire going to 7i84 field power so now A and B has power. I added the line you suggested having both serial 0 and sserial 1 called out. I still am currently getting the same error that the pins on 7i84 don't exist.

forum.linuxcnc.org/9-installing-linuxcnc...-64?start=110#290282
Second part of that post ONLY!

The red light is on yes, I don't have power to a and b just one. I was thinking the jumper position tied the 2 together but I could be wrong

After running sudo apt-get install -f I've got this:

dpkg: error processing package linux-image-rt-amd64 (--configure):
dependency problems - leaving unconfigured
Processing triggers for initramfs-tools (0.142+deb12u3) ...
update-initramfs: Generating /boot/initrd.img-6.1.0-40-rt-amd64
raspi-firmware: missing /boot/firmware, did you forget to mount it?
run-parts: /etc/initramfs/post-update.d//z50-raspi-firmware exited with return code 1
dpkg: error processing package initramfs-tools (--configure):
installed initramfs-tools package post-installation script subprocess returned error exit status 1
Errors were encountered while processing:
linux-image-6.1.0-40-rt-amd64
linux-image-rt-amd64
initramfs-tools
E: Sub-process /usr/bin/dpkg returned an error code (1)

Then went with

sudo apt-get check
apt-cache depends

I got this:

milos@cnc:~$ apt-cache depends linux-image-rt-amd64
linux-image-rt-amd64
Depends: linux-image-6.1.0-40-rt-amd64
milos@cnc:~$ apt-cache depends linux-image-6.1.0-40-rt-amd64
linux-image-6.1.0-40-rt-amd64
Depends: kmod
Depends: linux-base
|Depends: initramfs-tools
Depends: <linux-initramfs-tool>
dracut
initramfs-tools
tiny-initramfs
Conflicts: linux-image-6.1.0-40-rt-amd64-unsigned
Breaks: fwupdate
Breaks: initramfs-tools
Breaks: wireless-regdb
Recommends: firmware-linux-free
Recommends: apparmor
Suggests: linux-doc-6.1
Suggests: debian-kernel-handbook
|Suggests: grub-pc
|Suggests: grub-efi-amd64
Suggests: extlinux
Replaces: linux-image-6.1.0-40-rt-amd64-unsigned

what should I do next? I don't understand this.

Some versions of LinuxCNC require the sserial_port_n stanza or the port is not enabled  (for ports 1,2,3)

Is the 7I84 red LED illuminated?

Do you have field power supplied to both A and B 7I84 field power sections?
 

I added port 1 and it did t change anything, I also tried getting rid of the port call-out as I read in another forum post that if you don't specify then all ports are available. Neither changed the results

Because P1 pins are all assigned  to sserial_port_1, I would not expect
them to be enabled unless sserial_port_1 is enabled in the hal file,

something like:

loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=6 sserial_port_0=000 sserial_port_1=00000000"