Advanced Search

I launched linuxcnc, "ethercat slaves" are in OP state, everything seems correct in the XML configuration, what could be the problem?

0  0:0  OP  +  2DM880-EC
1  0:1  OP  +  2DM880-EC
2  0:2  OP  +  2DM880-EC
3  0:3  OP  +  2DM556-EC
4  0:4  OP  +  2DM556-EC
5  0:5  OP  +  DIEWU EtherCAT-IO (Digital 16-Input/16-Output)

When running the configuration, such errors occur:

Debug file information:
Note: Using POSIX realtime

HAL: ERROR: duplicate thread name servo-thread
THREADS: ERROR: could not create thread 'servo-thread'
threads: rtapi_app_main: Operation not permitted (-1)
./Sodick.hal:20: waitpid failed /usr/bin/rtapi_app threads
./Sodick.hal:20: /usr/bin/rtapi_app exited without becoming ready
./Sodick.hal:20: insmod for threads failed, returned -1
shutdown.hal:4: parameter or pin 'lcec.0.0.enable' not found
3184
Stopping realtime threads
Unloading hal componentsNote: Using POSIX realtime

I tried to fix the access error:

groups
sodick lp dialout cdrom sudo audio video plugdev users ethercat linuxcnc ecusers realtime

And all lcec files installed from linuxcnc:

/usr/bin/lcec_configgen
/usr/bin/lcec_conf
/usr/lib/linuxcnc/modules/lcec.so
/etc/linuxcnc/lcec.conf
/usr/lib/linuxcnc/modules/lcec.so

Hal file:

# Загрузка EtherCAT компонента
loadusr -W lcec_conf /home/sodick/linuxcnc/configs/Sodick/ethercat-conf.xml
loadrt lcec

# Загрузка дополнительных HAL компонентов
loadrt siggen
loadrt or2
loadrt and2
loadrt not

# Создание thread с уникальным именем
loadrt threads name1=servo-thread period1=1000000 fp1=0

# Добавление функций в поток (правильный порядок)
addf motion-command-handler servo-thread  
addf motion-controller servo-thread
addf lcec.0.read servo-thread
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread
addf lcec.0.write servo-thread

Hello again everyone,First, I apologize for the late reply — I’ve been working on revising my plan and wiring, and it took longer than expected.I’ve updated my wiring/architecture plan (see attached diagram), and here’s where I’m at:

• Mesa 7i92 over Ethernet
• Two 5-axis breakout boards (5ABOB ×2)
• DM556 drivers for NEMA34 motors (3.5 Nm, 3 A/phase)
• THC Proma 150 for torche height control (Arc OK, Up, Down signals)
• Relays for torch, laser, pump, etc.
• E-stop, limits, probe via optoisolators
• Power supplies: 5 V/8 A, 24 V/3 A, 36 V/12 A

On one BOB (P1) I plan to handle signals like Arc OK, Up, Down, E-stop, relays; on the other BOB (P2) I plan to handle limits, probe, and driver step/dir lines.Questions

1. With that setup (7i92 + 2 × 5ABOB), is the wiring architecture I’m proposing feasible?
2. I was thinking of starting with the G540 HAL/INI config in pncconf as a base, then editing it . Is that a sensible approach, or is there a better workflow to generate a clean HAL/INI for this sort of layout?

Thanks again to PCW, tommylight,  Your help is very valuable. Any further feedback or corrections before I begin wiring would be hugely appreciated.

Vielen Dank für Eure Antworten, 

1. Parameterwert in einen Analog Hal pin schreiben (zB M68 E0 Q#31)

2. Parameterwert mit Gcode logging in eine Datei schreiben

1.) Parameterwert in Hal Pin werde ich testen. 
2.) Gcode logging: das praktiziere ich bereits, ist aber nicht so ganz "bequem" 

Über Debug kann man sich das im Fenster vorne ausgeben lassen. Z. B. #1234 = 12 + 32 ( debug, #1234 )
es gibt auch noch msg, und print, jenachdem ob es im terminal stehen soll oder vorne erscheinen soll

 
Der Befehl ist mit schon sehr wohl bekannt. Habe ich im Eröffnungsthread ja geschrieben.....
Nur wenn ich ein CNC Programm ablaufen lasse, Dann verschwindet das untere Fenster (F) und anstelle dem wird das CNC Programm angezeigt.
Wie bleibt dieses Ausgabefenster erhalten (für Statusreports und Fehlermeldungen) während das NC Programm ausgeführt wird?
(siehe Anhang!)


 

 

"Invalid output mapping" is what it says. infosys.beckhoff.com/english.php?content...stem/1058704779.html
What I think you should do is minimize the config to one slave, slave 0, and make that go OP.
Comment out all references to the other slaves lcec.0.1 and lcec.0.2 in the hal files.
Comment out/remove all sdoconfigs from ethercat-conf.xml and only leave slave 0 in there.
Comment out pdos, leave 6040, 6060, 607a, 6041,6061,6064 only.
With that, the slave should go to OP mode, check with "ethercat slaves".
Then gradually bring back the mods you took out, and fix what doesn't work.