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Hi, i have a similar problem with my RPi5 and GPIO but I think I/(the AI that helped me) screwed up with the .hal-File. Do you (or anyone) mind to put your working .hal here so I can see how it is done?

All available hal components work with s/u32 pins
There is no point in having 16bit numbers from ethercat, because to connect to subsequent components they will have to be converted to 32bit anyway by loading additional components to convert 16->32.
The LCEC component does this automatically in the XML configuration.  pdoentry

In practice, there will probably never be any memory problems, as the number of pdos and sm is quite limited.

There have also been suggestions in the forum to make all HAL pins 64bit for standardisation, as encoders have a problem with overflowing 32bit numbers.

Search for the ec_generic.so files like  I did.

Hallo nochmal
Fotos sind zu groß habe sie daher kleiner gemacht.

cakeslob wrote:

Warning: Spoiler!

that is because this is wrongMAX_ACCELERATION = 2000000
and this does nothing no matter what valueDIR_HOLD = 50000

did your setup work before with mach3?

if it is stepper timing related you need to load the DMA stepgen config and adjust your step timing accordingly

 

Of course, I also put the photo of the parameters on mach3, but on mach3 I have another control board and it has 4 wires with ENABLE, I wrote it in the first post. Here Enable is disconnected but I also tried to connect it to +5V (+com)

Hallo
Nachtrag: Ein Foto wurde nich Übermittelt.
Gruß Hans und Danke

Hi Hakan,

I did some extra coding and found a problem.
It turned out i used pdos info so far and not sdos info.
I see sdos can give more detailled info of the device. This is exactly what i need to get the used datatypes to set up the 1:1 hal pins and
their names.

halType is limited to the data type that are in hal: bit, float, s32, u32.
Whatever comes from ethercat will be shoe-horned into one of those.
This is stupid, this i really don't get.
We have a 4x40mm screw and we put it in a 20ft sea container, because we don't have other storage available.

I hope to get to test this this week as well as the s-curve modification.
The scurve runs fine in a simulation. But on real hardware most testers have problems with acceleration.
So i have to review that soon.

Als erstes mal die Tippfehler in den Signalnamen in der HAL korrigieren:

Ist:
Soll:
Probieren und berichten (und bitte die korrigierte hal Datei wieder anhängen damit wir sehen was du geändert hast)

net spindle-enabe => hm2_7i96s.0.pwmgen.00.enable
net spindle-vel-cmd-rpm => hm2_7i96s.0.pwmgen.00.value
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on

Typo in hal file?

I performed the installation according to the instructions from rodw

forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step