Ethercat HAL driver

db1981
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5 years 5 months ago #210661 by db1981

Replied by db1981 on topic Ethercat HAL driver

hi,

-the drive is working with the control software and behaves normal? only linuxcnc/ethercat don't works?

please post the output of "ethercat pdos" :
-after booting the pc and powering up the drive
-while linuxcnc is running

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besriworld
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5 years 5 months ago #210668 by besriworld

Replied by besriworld on topic Ethercat HAL driver

Hello ,
I found the problem. This line was missing in my xml file.
<dcConf sync0Shift="0" sync0Cycle="*1" assignActivate="300"/>

The device now shows feedback. The problem with the control word remains. I can't get the device to harden the motor shaft.
I tried through the terminal and commands but no success.

Code:

moriseiki@debian:~$ sudo -s
[sudo] password for moriseiki: 
root@debian:/home/moriseiki# dmesg --clear
root@debian:/home/moriseiki# dmesg
root@debian:/home/moriseiki# ethercat debug 1
root@debian:/home/moriseiki# ethercat download -t int16 0x6040 0 15
root@debian:/home/moriseiki# dmesg
[ 2176.175743] EtherCAT DEBUG 0: ecrt_master_sdo_download(master = 0x00000000512fad93, slave_position = 0, index = 0x6040, subindex = 0x00, data = 0x0000000089271200, data_size = 2, abort_code = 0x00000000c76f196f)
[ 2176.175747] EtherCAT DEBUG 0-main-0: Scheduling SDO download request.
[ 2176.179414] EtherCAT DEBUG 0-main-0: Processing SDO request...
[ 2176.179419] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6040:00.
[ 2176.179420] EtherCAT DEBUG: 0F 00 
[ 2176.179424] EtherCAT DEBUG 0-main-0: Expedited download request:
[ 2176.179424] EtherCAT DEBUG: 00 20 2B 40 60 00 0F 00 00 00 
[ 2176.191541] EtherCAT DEBUG 0-main-0: Download response:
[ 2176.191545] EtherCAT DEBUG: 00 30 6B 40 60 00 0F 00 00 00 
[ 2176.191552] EtherCAT DEBUG 0-main-0: Finished SDO request.
root@debian:/home/moriseiki# ethercat upload -t int16 0x6041 0
0x0050 80
root@debian:/home/moriseiki# dmesg
[ 2176.175743] EtherCAT DEBUG 0: ecrt_master_sdo_download(master = 0x00000000512fad93, slave_position = 0, index = 0x6040, subindex = 0x00, data = 0x0000000089271200, data_size = 2, abort_code = 0x00000000c76f196f)
[ 2176.175747] EtherCAT DEBUG 0-main-0: Scheduling SDO download request.
[ 2176.179414] EtherCAT DEBUG 0-main-0: Processing SDO request...
[ 2176.179419] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6040:00.
[ 2176.179420] EtherCAT DEBUG: 0F 00 
[ 2176.179424] EtherCAT DEBUG 0-main-0: Expedited download request:
[ 2176.179424] EtherCAT DEBUG: 00 20 2B 40 60 00 0F 00 00 00 
[ 2176.191541] EtherCAT DEBUG 0-main-0: Download response:
[ 2176.191545] EtherCAT DEBUG: 00 30 6B 40 60 00 0F 00 00 00 
[ 2176.191552] EtherCAT DEBUG 0-main-0: Finished SDO request.
[ 2197.402119] EtherCAT DEBUG 0: ecrt_master_sdo_upload(master = 0x00000000512fad93, slave_position = 0, index = 0x6041, subindex = 0x00, target = 0x000000006ec3cf86, target_size = 2, result_size = 0x000000008b654c67, abort_code = 0x00000000c76f196f)
[ 2197.402124] EtherCAT DEBUG 0-main-0: Scheduling SDO upload request.
[ 2197.402785] EtherCAT DEBUG 0-main-0: Processing SDO request...
[ 2197.402789] EtherCAT DEBUG 0-main-0: Uploading SDO 0x6041:00.
[ 2197.402791] EtherCAT DEBUG 0-main-0: Upload request:
[ 2197.402793] EtherCAT DEBUG: 00 20 40 41 60 00 00 00 00 00 
[ 2197.414889] EtherCAT DEBUG 0-main-0: Upload response:
[ 2197.414892] EtherCAT DEBUG: 00 30 4B 41 60 00 50 00 00 00 
[ 2197.414898] EtherCAT DEBUG 0-main-0: Uploaded data:
[ 2197.414899] EtherCAT DEBUG: 50 00 
[ 2197.414902] EtherCAT DEBUG 0-main-0: Finished SDO request.
root@debian:/home/moriseiki# ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x36, Enable 1
SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x32, Enable 1
SM2: PhysAddr 0x1100, DefaultSize  200, ControlRegister 0x74, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
SM3: PhysAddr 0x1d00, DefaultSize  200, ControlRegister 0x30, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
root@debian:/home/moriseiki#

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db1981
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5 years 5 months ago #210673 by db1981

Replied by db1981 on topic Ethercat HAL driver

you can't write to the controlword through terminal, 6040 is assigned to an pdo and there is only sdo access through terminal. your value will not be recognized.

please do an upload of 0x6080 (modes of operation display) after lcnc has started, to check if it is realy set to 8.

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besriworld
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5 years 5 months ago #210785 by besriworld

Replied by besriworld on topic Ethercat HAL driver

Yes, after checking the address x6061, I saw that the operation mode is not recorded correctly.After changing this value refClockSyncCycles="1" to 1000. operation mode (valve) save correctly .
but I still can't activate the servo.
In Twincat with control word 15 the servo holds the shaft. .

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db1981
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5 years 5 months ago #210795 by db1981

Replied by db1981 on topic Ethercat HAL driver

ahh, you have an working twincat config.
please post the twincat file, and i will check the differences.

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besriworld
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5 years 4 months ago #210817 by besriworld

Replied by besriworld on topic Ethercat HAL driver

I fixed the problem. I used another example(mux4) to send the control command. Thank you very much to everybody . I will publish the configuration files after I make everything work fine.

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Masa
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5 years 4 months ago #211403 by Masa

Replied by Masa on topic Ethercat HAL driver

Hello

I am writing this from Japan using Google Translate.

I would like to use LinuxCNC + EtherCAT.
Currently, the Beckhoff EM7004 can drive the servo motor. However, since the Z phase of the encoder cannot be used for Homing, I am thinking of changing the EM7004 to EL4132 + EL5102. Can the EL5102 be used with the EtherCAT HAL Driver for encoder input?

Since it is a machine translation, I apologize if it does not convey well.

Thank you .

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db1981
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5 years 4 months ago #211405 by db1981

Replied by db1981 on topic Ethercat HAL driver

Hello,

EL5102 is not yet implemented.

I am using EM7004 for Encoder Z Homing on two machines. I used an Signal Converter to convert the Z Signal from the glass scales to the 24V Latch input of the EM7004.

www.leg-gmbh.de/en/html/signal_converter.html

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Masa
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5 years 4 months ago #211409 by Masa

Replied by Masa on topic Ethercat HAL driver

Thank you for your great advice.
I will try to find something similar in Japan.

Thanks

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jc2ktr
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5 years 4 months ago #212138 by jc2ktr

Replied by jc2ktr on topic Ethercat HAL driver

Hi it´s been a while since i was last online,
but i have not found the time to work on my CNC lately.

I have now changed all my motors and drives at my CNC to EtherCAT Drives from Rexroth.
I had in january/february a functional setup on my Testbench.

After the changes to 3 Drives and reconfig of my Hal.

I am able to Enable all of the drives, but they don´t react on jog comands or MDI comands.
When i try to move the axis by hand the driver´s immediatly corrects the positions.

i upload my config and hal.

maybe someone could take a look at it, if there are some errors maybe.

Thanks a lot.

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