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In case anyone was wondering I think I found the thread where i havenofish pulled the xml file from
forum.linuxcnc.org/ethercat/54975-omron-...s-synch-error#329216 by tpa58
It uses a generic type.
If anyone understands that xml and could explain it that would be great. I do not know how he maps to a fixed SM with different addresses, but it does seem to work. I still get some "unrelated errors" but that's probably more of my particular hardware setup.

Any luck on the "how to" and files you used to make it work?

I struggled with the linuxcnc-ethercat Omron slave type in the XML configuration, it seems highly dependent on the linuxcnc-ethercat version, so that is why I am really curious of your xml setup. Did you goto a generic type maybe for that reason? Even the example in the repo is incorrect or not up-to-date, I don't know what version type="R88D-KN04H-ECT" will work in. It should be type="OmrG5_KN04H".

Also for anyone reading if you want to enable DC sync its worth noting the difference in versions
refClockSyncCycles = "-1" for older versions of linuxcnc_ethercat ( i.e. lcec ) syncToRefClock="true" works for newer versions.

I mention this because if you scour ( like most of us ) the posts you will see many different flavors of xml files.

I used the linuxcnc ISO image version 2.9.3 and that has an older version of linuxcnc-ethercat.

Also the OmrG5_KNxx does not expose all of the PDO's available on that syncManager. So doing a generic and manually building it might be a better option. Supposedly the drive has variable PDO SM but I have no clue how to set that up.

Other lessons learned, DO NOT use the ethercat pdos info to setup your XML. For some reason some of those value can be incorrect. If you have access to the ESI files use that as the golden standard, that is available from omrons website if you goto the specific product page.

I tried it like 2 weeks ago for the first time, it was on 2.9.6
I upgraded to 2.9.7 this week.
Both version had the same problem.

I am glad you got this working.
What version of linuxcnc are you using?
I feel we had this or a similar problem a while back.

Use AXIS at first; there's a reason it's the default.

It is easy for inexperienced users.

What version are you using?
 

Please quit giving this advice.
If there are bugs in other screens we want to know so we can fix them.

Tonight I asked chatGPT (not my first reflex).

It proposed to try running "LIBGL_ALWAYS_SOFTWARE=1 linuxcnc" to disable the GPU rendering (use software rendering) from what I understand.

And you know what... it worked!

To make the change permanent, I added "export LIBGL_ALWAYS_SOFTWARE=1" to the usr/bin/linuxcnc

Unless somebody has an idea of the real root cause. Now it is working. Probably not exploiting my GPU, but don't seems to cause problem.

Thanks!

glxgears works perfectly. That was part of the validation I made for the latency.

Coming from Mach3, QtDragon felt more natural.

After, if it is not working... I might have to try another one.

Have you set backlash in you ini file ?

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With ethercat master installed it should be to just plug in the network cable, power on and the drive will show up in the "ethercat slaves" list, at least after "ethercat rescan".
If not, make sure the ethercat master is functioning "ethercat master -v" should show a lot of non-zero numbers.

Tune means to set the parameters in the servo drive so it follows the commanded position as closely as possible.
Usually involves PID parameters P, I and D in the drive, often some inertia setting.
I think there is a general guide in here to tune a servo. It is basically the same for all servos.
But your drive seems to have auto-tune. Check the manual and possibly download software.
And execute the auto-tune.
If your drive provides a following-error PDO use that to see how well it follows the commanded position.

The FERRORs are set as joint.?.f-error-lim from the ini file values outside of your hal file.
Set FERRORs to 1 inch and after you tuned the servos you can reduce them.

ddt takes the derivative of a pin value. ddt of the position feedback at constant velocity should be a constant value.
Very easy to spot if the feedback position isn't smooth. But you don't need to do that. Don't go there.

Summary: auto-tune.

 

Hi all is there a friendly soul out there, that have a parameter file ..? I can´t seem to get the RJ45 ports "online" like i have not made the right setup. i can connect to the drive via usb without any problems.

Best regards

Here is the full gcode. This runs fine in my simulator, and also ran fine in vs 2.8.

I see people use the word tune a lot, but I guess I don't exactly know what it means. Generally, I would think it just means working a certain value towards the best value. How would I tune the servo in this case? I know in the ClearPath Manual it says to auto-tune the servo using their software.

As for FERROR and MIN_FERROR, do those only apply when using PID calcs? Cause I think I have them set to 0 or maybe not included yet.

Lastly, what is ddt?

I might have to ship you a cake after all you've helped me with xD