Ethercat HAL driver

sdfzz wrote: HOME_LATCH_BEL = 3.0

HOME_FINAL_VEL = 0.0

sdfzz wrote: And line 380 of linuxcnc/src/emc/motion/homing.c is commented out,

roschi wrote: - absolut / multi turn encoder --> HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 6.6; axis is homed at actual position feedback value; no movement
- drive driven homing sequence and switches connected directly to drives --> HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 9.9

euerka wrote: Dear all,
Now I follow this post and Andreas's manual to connect Yaskawa servopack with linuxcnc, everthing goes well until :

Code:

~/linuxcnc-ethercat/linuxcnc$ halrun rtapi:0 stopped msgd:0 stopped halcmd: loadrt threads name1=master period1=1000000 halcmd: loadusr -W lcec_conf ethercat_config_my.xml halcmd: loadrt lcec halcmd: addf lcec.read-all master halcmd: addf lcec.write-all master halcmd: start

dmesg message shows:

Code:

[705599.272444] EtherCAT 0: Link state of ecm0 changed to UP. [705599.280070] EtherCAT WARNING 0: 1 datagram TIMED OUT! [705599.292077] EtherCAT 0: 1 slave(s) responding on main device. [705599.292087] EtherCAT 0: Slave states on main device: INIT. [705599.292581] EtherCAT 0: Scanning bus. [705599.316499] EtherCAT 0: Bus scanning completed in 24 ms. [705599.316509] EtherCAT 0: Using slave 0 as DC reference clock. [705599.320410] EtherCAT 0: Slave states on main device: PREOP.[color=#ff0000] [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received![/color] [705602.382945] EtherCAT DEBUG: 7E 00 01 00 00 63 00 80 04 00 00 00 01 10 05 00 [705602.382965] EtherCAT DEBUG: 00 07 45 72 72 6F 72 20 52 65 67 69 73 74 65 72 [705602.382983] EtherCAT DEBUG: 65 60 9A 60 B1 60 B2 60 B8 60 B9 60 BA 60 BC 60 [705602.383001] EtherCAT DEBUG: C1 60 C2 60 E0 60 E1 60 F4 60 FC 60 FD 60 FE 60 [705602.383019] EtherCAT DEBUG: FF 60 02 65 03 27 10 27 20 27 E0 27 3F 60 40 60 [705602.383037] EtherCAT DEBUG: 41 60 5A 60 5B 60 5C 60 5D 60 5E 60 60 60 61 60 [705602.383055] EtherCAT DEBUG: 62 60 63 60 64 60 65 60 66 60 67 60 68 60 6B 60 [705602.383073] EtherCAT DEBUG: 6C 60 6D 60 6E 60 71 60 72 60 74 60 76 60 77 60 [705670.466102] EtherCAT: Requesting master 0... [705670.466114] EtherCAT: Successfully requested master 0. [705670.466230] EtherCAT 0: Domain0: Logical address 0x00000000, 6 byte, expected working counter 1. [705670.466236] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 6 byte, type LWR. [705670.466290] EtherCAT 0: Master thread exited. [705670.466297] EtherCAT 0: Starting EtherCAT-OP thread. [705670.467927] EtherCAT WARNING 0: 1 datagram TIMED OUT! [705715.024606] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705715.464737] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705716.183720] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [705716.190654] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705716.312261] EtherCAT 0: Slave states on main device: OP. [705716.349656] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error". [705716.353660] EtherCAT 0-0: Acknowledged state SAFEOP. [705716.464063] EtherCAT WARNING 0: 6 datagrams UNMATCHED! [705717.032627] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 5 times. [705717.192606] EtherCAT 0: Domain 0: 3 working counter changes - now 0/1. [705717.464687] EtherCAT WARNING 0: 18 datagrams UNMATCHED! [705718.036643] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 3 times. [705719.040649] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705719.464082] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705721.492751] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [705721.499648] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705722.885394] EtherCAT 0: Domain 0: Working counter changed to 0/1. [705723.056714] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705723.464068] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705723.888711] EtherCAT 0: Domain 0: Working counter changed to 1/1. [705726.893333] EtherCAT 0: Domain 0: Working counter changed to 0/1. [705726.901697] EtherCAT ERROR 0-0: AL status message 0x001A: "Synchronization error". [705726.904702] EtherCAT 0-0: Acknowledged state SAFEOP. [705727.072708] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705727.464031] EtherCAT WARNING 0: 3 datagrams UNMATCHED! [705727.896710] EtherCAT 0: Domain 0: 2 working counter changes - now 0/1. [705731.088737] EtherCAT WARNING: Datagram f1fadf0c (domain0-0-main) was SKIPPED 1 time. [705731.464045] EtherCAT WARNING 0: 3 datagrams UNMATCHED !

There are two error as I analyzed, first of all [705602.382934] EtherCAT ERROR 0-0: Corrupt mailbox response received, Is it means there is something wrong with slave?

Second, there is sychronization error, what does it mean? I have to set slave as reference DC clock? DC cycle time is how much? please refer to ethercat_config_my.xml. I am trying to figure it out refer to William post and Ivan 's post ,since
Enable notLRW:yes shows by ethercat slave -v

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I am appreciated anyone can give any solution I also will post it to etherlab mailing list.
Thanks!

sdfzz wrote: Sorry...one more question..

when I tried roschi's sameple hal and ini files to load linuxcnc, i got errors:

my-mill.hal:4: execv(lcec_conf): No such file or directory
my-mill.hal:4: lcec_conf exited without becoming ready

This line gives the error: loadusr -W lcec_conf /root/linuxcnc/configs/my-mill/ethercat_config_n.xml

I did place the correct xml file inside my config folder.

I saw from one of the video that you run

/etc/init.d/ethercat start

before you run linuxcnc. However, for my case, there is no ethercat file in /etc/init.d. Is there any mistakes in my installation?

Regards,

Steve