Ethercat HAL driver

db1981 wrote: EL5102 is not yet implemented.

I'm having the "same" issue with EL5112, it's missing from the library... is it possible to "bribe" someone to make it? I'm not clever enough myself

hello,

EL5102 and EL5112 are lieing next to me on the desk....
I need them for one of the next projects, i estimat i will do the drivers in the last week of june.

I connect the encoder Z phase signal from the servo driver to the lacth input using a signal conversion circuit, but the HAL Pin connection fails.
net home-index-enable joint.0.index-enable lcec.0.1.enc-0-latch-ext-valid
error:
Signal'home-index-enable' can not add OUT pin'lcec.0.1.enc-0-latch-ext-valid', it already has I / O pin'joint.0.index-enable'

No change in the signal is felt when observing with the Halscope. When I connected it to the gate instead of the latch, I was able to see the change in the signal on the Hal Watch. However, I am having trouble connecting the Hal Pin with the same error.

Am I doing something wrong?

hello,

for homing you have to connect the joint.X.index-enable pin to enc-0-index-ext-pos-enable or neg-enable pin (homing at pos/neg edge of the latch input).

The latch-ext-valid pin is only the return for an real latch mesaurement function.

hello,

theres an bug in your hal file.

Move the line "addf lcec.write-all servo-thread" at the last position of the addf's, after your line "addf conv-float-s32.7 servo-thread ".
at the moment your are constantly writing zero to the drives, because you are sending the output (write-all) before you are doing scaling and calculations.

And you have to move all convertions that are related to inputs (feedback) between
lcec-read and motion, otherwise motion reads zero or old values to.


-addf lcec.read-all
-addf input conversions....
-addf motion, pids, classic ladder...
-addf output conversions....
-addf lcec.write-all (the last)

all modules are called in every cycle in the order you have placed addf in the hal.

read this answer again: forum.linuxcnc.org/24-hal-components/223...er?start=1140#199443

Hi
I seem to have misunderstood. Homing seems to be successful. Since the operation is different from what you want, we will set it while trying the difference in parameters.
Thank you.

if it not works like expected, you have to set the parameter 8060:02 (Enable enc reset at latch) to true in the em7004 modul.

I cant remeber about that at the moment, it has been to long ago.

Hi
The difference from the expected behavior is the behavior pattern of homing, not the behavior of em7004. Homing is working with the description of hal you pointed out. I want to reproduce the FANUC homing that is often done on Japanese machines, so I will devise the settings of linuxcnc.
Thanks for any further advice.

db1981 wrote: hello,

theres an bug in your hal file.

Move the line "addf lcec.write-all servo-thread" at the last position of the addf's, after your line "addf conv-float-s32.7 servo-thread ".
at the moment your are constantly writing zero to the drives, because you are sending the output (write-all) before you are doing scaling and calculations.

And you have to move all convertions that are related to inputs (feedback) between
lcec-read and motion, otherwise motion reads zero or old values to.

-addf lcec.read-all
-addf input conversions....
-addf motion, pids, classic ladder...
-addf output conversions....
-addf lcec.write-all (the last)

all modules are called in every cycle in the order you have placed addf in the hal.

read this answer again: forum.linuxcnc.org/24-hal-components/223...er?start=1140#199443

Thanks, i wasn´t aware that this is also neccesary for conversion and scaling

My biggest issue was that my "S-0-0001 TNcyc" cycle time in my Rexroth drives were still 2000us
After setting it to 1000us i was able to jog the axis around

I´ve edited my hal would you please take a look again if it is ok so?

hi,

hal looks good now....

you can get rid of your convert and scale modules like so:

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="s32"/>

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="0.0001"/>


<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="s32"/>

<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="10000"/>