Ethercat HAL driver

db1981 wrote: you've said before that all control stuff is done in the drive, that meens that in linuxcnc there is no pid controller, joint-x-pos-cmd is directly connected to position command pdo.... So the drives behaviour should be as before.

Is there any difference if you control the drive with the indradrive setup functions to the drives behaviour with twincat? (may the twincat control loop makes the movement smooth)

I think that after switching the communcation to coe in indraworks another set of parameters gets active, so this parameters have to get tuned again.

can you please post the terminal output of "ethercat eoe" before and after linuxcnc start.

I dont know which OperationMode is selected from LinuxCNC.

In TwinCAT it is Position Control lagless Encoder 1

The ethercat eoe command in terminal gives an error message. I tried it earlier today, as i read the IGH Etherlab master manual. seems it isn´t activated.

this is full control loop in the drive, trajectory output from twincat direct to pos-command.

Twincat control is done after switching to CoE, that meens that this are the same Parameters as for LCNC. Strange...

What is Twincat Base Cycle Time, NC SAF Cyle Time and NC SVB Cycle Time ?

What is the output of "ethercat version" ?

db1981 wrote: this is full control loop in the drive, trajectory output from twincat direct to pos-command. Twincat control is done after switching to CoE, that meens that this are the same Parameters as for LCNC. Strange... What is Twincat Base Cycle Time, NC SAF Cyle Time and NC SVB Cycle Time ? What is the output of "ethercat version" ?

EtherCAT Version replies this: The other things i must boot in Windows and look after it.Hope this is what you meant.

maybe an comm/cycle time issue.

please do an manual ethercat upload after starting lcnc, to check the values of sdo's
-0x1006 Index 0
-0x60C2 Index 1
-0x60C2 Index 2

@db1981 .... yes I means "show axis configuration HAL pin" .... not see my error ...sorry.... dmesg seems normal ...

bkt

@bkt

-does the slave 6 goes to op state, after starting linuxcnc? (ethercat slaves)

@db1981

Just control .... slaves 6 stay in preop when all other slaves is on op state. Why these? It need a specific sdoConfig? generic drive is not enought?

@bkt
please post the output of "ethercat pdos -p6" .

Is this an brand new or used EL5151? May it has been switched to counter mode or an custom process image.

db1981 wrote: maybe an comm/cycle time issue.

please do an manual ethercat upload after starting lcnc, to check the values of sdo's
-0x1006 Index 0
-0x60C2 Index 1
-0x60C2 Index 2

which type of value are them?

lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type int32 0x1006 0 = 0x000001f4 500

lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type bool 0x60C2 1 = 0x32 50
lcnc@Linuxcnc-EtherCAT:~$ ethercat upload -p0 --type bool 0x60C2 2 = 0xfffffffb -5

hope i got the types right.

hello,

0x1006 is the com cycle time = 500µs this is equal to your ethercat app cycle time
0x60C2 is the interpolation time, it's also 50ms * 10^ -5 = 500µs.

is your servo_period in the ini (thread which executes lcec_read/write) also set to 500000ns (2khz) ?