Category: EtherCAT
Thanks for the help! I've adjusted the file and get the attached error. Not sure what inputs I'd trim out.
Print file information:
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
LINUXCNC - 2.9.4
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis.gantry'
Machine configuration file is 'gantry.ini'
INIFILE=/home/cnc/linuxcnc/configs/sim.axis.gantry/gantry.ini
VERSION=1.1
PARAMETER_FILE=sim.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=XYZY
KINEMATICS=trivkins coordinates=XYZY kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./ethercat.hal
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Debug file information:
Note: Using POSIX realtime
LCEC: slave 0.D1: FAILURE: FAILURE: more input PDO entries configured than your hardware supports.
Axis 1 has 13 PDO entries, vs a configured limit of 8. You will need to edit your XML
configuration and either remove some <modParam name="enable*"> entries or increase
<modParam name="ciaTxPDOEntryLimit">. Check your CiA 402 slave's hardware manual to determine the
correct limit.
Enabled features that impact this limit are:
- <modParam name="enableActualCurrent" value="true">
- <modParam name="enableActualFollowingError" value="true">
- <modParam name="enableActualTorque" value="true">
- <modParam name="enableErrorCode" value="true">
- <modParam name="enablePositionDemand" value="true">
- <modParam name="enableProbeStatus" value="true">
- <modParam name="enableTorqueDemand" value="true">
- <modParam name="enableVelocityDemand" value="true">
In addition, disabling unneeded CiA 402 modes may help, as some implicitly add additional PDO entries:
- <modParam name="enablePP" value="true">
- <modParam name="enablePV" value="true">
- <modParam name="enableCSP" value="true">
- <modParam name="enableCSV" value="true">
- <modParam name="enableCST" value="true">
- <modParam name="enableHM" value="true">
- <modParam name="enableTQ" value="true">
HAL: ERROR: thread 'servo-thread' not found
./ethercat.hal:3: addf failed
17208
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
