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  • peterpan
  • peterpan
25 Sep 2025 18:23
Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

After adding the rest of the pdo entries on pg 9 and 10 the drive still stays in PREOP
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
    <slave idx="0" type="EK1100" />
    <slave idx="1" type="EL1008" />
    <slave idx="2" type="EL2008" />
    <slave idx="3" type="generic" vid="0x00000c96" pid="0x00000001" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="700000" />
      <syncManager idx="2" dir="out">
            <pdo idx="1600">
               <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
               <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32" />
               <pdoEntry idx="6071" subIdx="00" bitLen="16" halPin="target-torque" halType="s32" />
               <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
               <pdoEntry idx="60FE" subIdx="00" bitLen="32" halPin="digital-outputs" halType="u32" />
               <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
            </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
  <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32" />
               <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
               <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
               <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
               <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32" />
               <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32" />
               <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32" />
               <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
            </pdo>
         </syncManager>
      </slave>
  </master>
</masters>

The dmesg:
[100592.236726] EtherCAT DEBUG 0-3: 9936 ns difference after 400 ms.
[100592.236728] EtherCAT DEBUG 0-3:    ref_time=812139542737448000
[100592.236729] EtherCAT DEBUG 0-3:    app_time=812139546509016167
[100592.236730] EtherCAT DEBUG 0-3:  start_time=812139546609016167
[100592.236731] EtherCAT DEBUG 0-3:       cycle=1000000
[100592.236732] EtherCAT DEBUG 0-3:  shift_time=700000
[100592.236733] EtherCAT DEBUG 0-3:   remainder=568167
[100592.236734] EtherCAT DEBUG 0-3:        start=812139546610148000
[100592.236735] EtherCAT DEBUG 0-3: Setting DC cyclic operation start time to 812139546610148000.
[100592.238726] EtherCAT DEBUG 0-3: Setting DC AssignActivate to 0x0300.
[100592.241726] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[100592.242726] EtherCAT ERROR 0-3: AL status message 0x001E: "Invalid input configuration".
[100592.244725] EtherCAT 0-3: Acknowledged state PREOP.
[100592.465795] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[100592.489802] EtherCAT WARNING: Datagram 0000000070b69bf8 (master-fsm) was SKIPPED 1 time.
  • kb58
  • kb58
25 Sep 2025 18:22 - 25 Sep 2025 19:27
(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60 was created by kb58

(Solved) Initialization code for a rintelligent ECT60 fails when run on an ECR60

Category: Driver Boards

First post, so be gentle - also, if this is in the wrong sub-forum, feel free to move it.

Back story: I'm building a wire EDM machine based upon Mike Bax's BX18 arc generator. He supplies modified LinuxCNC code, including initialization code for the stepper drivers. It's nearly done but I've run up against a problem with the drivers.

The problem: Mike wrote code for the ECT60 (closed loop driver) version, configuring it to run open-loop steppers. Silly me thought that since they're open loop steppers, there was no reason to spend the extra money on the ECT model, so I bought the ECR (open loop) model. Unfortunately, they're apparently different enough that the ECR gets stuck in the "Pre-Operation" phase during initialization, and neither Mike nor I can figure out why.

We both looked through the XML .ini code and we can't find anything that would cause it to fail. What's a bit concerning however, is that the online manuals are missing at least two sections regarding registers 0x60FE, and 0x6077. It makes me wonder if perhaps more information is missing that could explain why this isn't working.

Obviously the "easy button" is to replace the ECR units with ECT units. I would gladly do so if I had a use for the ECRs, but I do not. Throwing another $200 at this project is a bitter pill - plus I'm stubborn - and I would like to figure this out instead.

Anyone have any ideas?

Note: This is my first interaction with both LinuxCNC (or any form of Linux) and XML, making it much more challenging.

Thanks!
  • jcbryant
  • jcbryant
25 Sep 2025 17:27
Replied by jcbryant on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

For what I want to do, the script boils down to

echo 2 > /proc/irq/29/smp-affinity

I've tried this and it doesn't work. I get "permission denied" (whether or not I use sudo), presumably because folder irq don't exist. And even if I were to create folder irq, and create a folder 29 within it, I can't see how just creating a file is going to change anything. Something has to use the file, and in this case I think that that something is irqbalance, which as I've mentioned doesn't exist and can't be made to exist.
  • PCW
  • PCW's Avatar
25 Sep 2025 17:07
Replied by PCW on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

You might try this script to pin the Ethernet interrupt to the last CPU

 

File Attachment:

File Name: pinirq_202...25-2.txt
File Size:1 KB


chmod +x pinirq.txt

sudo ./pinirq.txt enp1s0

(might also be enp1)
 
  • jcbryant
  • jcbryant
25 Sep 2025 16:39
Replied by jcbryant on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

Yes, isolcpus is set to 1.

I think that the ping test is a smoking gun.  If the results can be explained and a solution found I suspect (hope?) that everything else will fall into place.  The attached is typical:

File Attachment:

File Name: ping2.txt
File Size:1 KB


It's beyond belief that a round trip that typically takes about 0.1 ms can sometimes take 26ms.  And note that the round trip clearly took more than 1ms quite a few times (the total test took more than the 60027ms it would have taken had there just been one bad ping).  What could possibly be causing this to happen?  It's not as if anything else was going on - apart from the test the computer was essentially idling.

I've paid my $2 Australian and have had a crack at IRQ affinity.  But the solution proposed in the forum piece is of absolutely no use to me.  irqbalance was not even active on my machine, and when I tried to install it it would not activate because the condition "CPUs=>1" was not met.  Which does make sense - if you've only got two CPU's and you're not going to allow interrupts on one of them there isn't much scope for balancing. In practice interrupts are distributed between the two CPU's (note: they are evidently NOT excluded from the isolated CPU).  See the attached file.

 

File Attachment:

File Name: interrupts.txt
File Size:1 KB


Presumably my goal  should be to tie interrupt 29 with CPU 1 and all other interrupts with CPU 0.  But how can this be achieved?  I don't even have a /proc/irq folder, and even if I did I suspect that in the absence of irqbalance creating appropriate files wouldn't do me any good.  And presumably I should also be running the ping test on the isolated CPU.  Does the 99 priority force this to happen, or is something else required?

 
  • PCW
  • PCW's Avatar
25 Sep 2025 15:24
Replied by PCW on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

It's more of a kernel/driver issue than hardware/Linux Distribution issue.

Are you using isolcpus?

 
  • Hakan
  • Hakan
25 Sep 2025 15:20
Replied by Hakan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT

The ones on page 9 and 10 only.

The cia402 module will do the right thing with controlword and statusword, you should not need to do anything yourself.
The drive needs to be in OP first.

You can try with 2 ms, I guess. Should work too.
 
  • peterpan
  • peterpan
25 Sep 2025 14:29
Replied by peterpan on topic Trouble with Cia402 drive configuration

Trouble with Cia402 drive configuration

Category: EtherCAT 

Include all pdo entries even the ones you don't use.

Do I need to configure all pdo entries for all 7 modes? (1600 1A00, 1601 1A01, 1602 etc)

It also says the bits are unique for each operating mode; do I also need to configure the individual bits of Controlword to achieve:
"The servo must be Enabled before it can follow any command. Enable
the servo by turning on bits 1 and 2 of the Controlword (Ready to
Switch On) then turning on bits 0-3 of the Controlword (Operation
Enabled)." 
This is stated multiple times, including page 12, 13, 15 and 26

Setting "sync0Shift=700000" didn't seem to change anything that I can see

Could I just change the configuration to 2ms?


 
  • jcbryant
  • jcbryant
25 Sep 2025 13:52
Replied by jcbryant on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

"As I said 2 cores may not be enough anymore"

Why does Microsoft come to mind here? Doubtless the folks at Debian would say that Bookworm is an improvement on Buster, but I'd question how a system that may require more advanced hardware to do exactly the same job can be called an "improvement". I'm quite happy with my little industrial PC. It's a perfect fit for my workshop environment (small, fanless) and experience has proved that it is quite capable of running Linux CNC. So to my mind the problem is not my PC but Bookworm, and if all else fails I'm going to simply revert to the Linux 2.8.2 Buster distribution and accept that my system will have to stand pat as the Debian world moves on. End of rant.
  • tommylight
  • tommylight's Avatar
25 Sep 2025 12:57
Replied by tommylight on topic 5-Axis CNC Setup with LinuxCNC + Mesa Boards

5-Axis CNC Setup with LinuxCNC + Mesa Boards

Category: General LinuxCNC Questions

1. yes
2. no
3. wire the power to Mesa, wire step and dir pins from Mesa to drives.
That part is very simple, so start with that and we will help with whatever comes next.
  • rodw
  • rodw's Avatar
25 Sep 2025 11:41
Replied by rodw on topic MetalHeadCAM: dxf2gcode and Inkscape gcode plugin replacement

MetalHeadCAM: dxf2gcode and Inkscape gcode plugin replacement

Category: Plasmac

Looks pretty cool Alan!
  • rodw
  • rodw's Avatar
25 Sep 2025 11:36
Replied by rodw on topic Recommendations for a dual NIC SBC or mini-pc

Recommendations for a dual NIC SBC or mini-pc

Category: EtherCAT

there are a few Intel N100 PC's put there with multi Intel NIC included. Some also have rs485 with terminal input. I would go with that in preference to the Odroid to get away from the realtek card.
  • Hakan
  • Hakan
25 Sep 2025 11:35
Replied by Hakan on topic Going from Devian 10 to 12 has created problems

Going from Devian 10 to 12 has created problems

Category: General LinuxCNC Questions

Surely you can have that document as an attachment?
  • Ahmed.emara
  • Ahmed.emara
25 Sep 2025 11:08
Inquiry: Leadshine R3EC EtherCAT coupler + R3-0808-N digital I/O – XML was created by Ahmed.emara

Inquiry: Leadshine R3EC EtherCAT coupler + R3-0808-N digital I/O – XML

Category: EtherCAT

Hello everyone,I’m working on a LinuxCNC + EtherCAT setup and I’d like to ask if anyone has experience using the Leadshine R3EC EtherCAT coupler together with the R3-0808-N expansion module (8 digital inputs + 8 digital outputs).if so can please anyone share the XML configuration file with me ?
  • csreades
  • csreades
25 Sep 2025 11:00 - 25 Sep 2025 11:02
Replied by csreades on topic Recommendations for a dual NIC SBC or mini-pc

Recommendations for a dual NIC SBC or mini-pc

Category: EtherCAT

I have been testing LCNC on the pi with the nvme hat and PoE, until I realised that the integral RJ45 will be for the ethercat network and wont have PoE!! A bit of a misstep there. In a raspi environment the waveshare addon does complain about limited current availability and the shutdown of peripherals.

Less keen on the Rpi5 now because I realised it has integral wifi, my intention is for a product and adding wifi means I have to satify requirements of RED, so I even more so am interested in alternatives. The Odroid is looking more promising!
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