Ethercat HAL driver

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11 years 7 months ago #57326 by sdfzz
Replied by sdfzz on topic Ethercat HAL driver
Hi, kyoshiro1108,

Would you please try typing "sudo ethercat start" on your terminal before running LinuxCNC?

Regards,

Steve

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11 years 6 months ago #57341 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver

sdfzz wrote: Hi, kyoshiro1108,

Would you please try typing "sudo ethercat start" on your terminal before running LinuxCNC?

Regards,

Steve


The ethercat run on background when I boot up the computer.
so that I can execute ethercat slaves and ethercat master command.

but the problem still exist....

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11 years 6 months ago #57363 by kyoshiro1108
Replied by kyoshiro1108 on topic Ethercat HAL driver
I used the other command

$./configure --enable-simulator

to build linuxcnc and the error is .....

$ cd linuxcnc-add-hal-ethercat/
$ . scripts/rip-environment
$ halrun

halcmd: loadrt threads name1=master period1=1000000
halcmd: loadusr -W lcec_conf /home/oslab/Desktop/ethercat_config_my.xml
halcmd: loadrt lcec
lcec: dlopen: /home/oslab/linuxcnc-add-hal-ethercat/rtlib/lcec.so: cannot open shared object file: No such file or directory
<stdin>:3: /home/oslab/linuxcnc-add-hal-ethercat/bin/rtapi_app exited without becoming ready
<stdin>:3: insmod failed, returned -1

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11 years 5 months ago #58343 by euerka
Replied by euerka on topic Ethercat HAL driver
I start to try Sittner new repository < github.com/sittner/linuxcnc-ethercat > , and make, make install.
Everything goes well until I try to load my configure xml, there are errors as follow:
Code:
halcmd: loadusr -W lcec_conf ethercat_config_my.xml lcec_conf: ERROR: unexpected node master found lcec_conf: ERROR: Parse error at line 1: parsing aborted <stdin>:4: lcec_conf exited without becoming ready

My configure file as below:
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1"> <slave idx="0" type="generic" vid="00000539" pid="02200001" configPdos="true"> <syncManager idx="0" dir="out"/> <syncManager idx="1" dir="in"/> <syncManager idx="2" dir="out"> <pdo idx="1602"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/> <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="velocity" halType="s32"/> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1A02"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="S32"/> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> <sdoConfig idx="6060" subIdx="0"> <sdoDataRaw data="08"/> </sdoConfig ><sdoConfig idx="60C2" subIdx="1"> <sdoDataRaw data="01"/> </sdoConfig> <sdoConfig idx="60C2" subIdx="2"> <sdoDataRaw data="FD"/> </sdoConfig> </slave> </master>

I think my configure file format should be OK, because I use it before. May I know how to test this new respository works ?

I already start ethercat,
Code:
ethercat master
or
Code:
ethercat slave -v
show normal.


By the way

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

I also meet this problem when I install hal on another computer.
Can u tell me how to solve it ?
Thank U.


After you install etherlab, the default directory will be /opt/etherlab
you can use soft link
Code:
sudo ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/ethercat
Then you can start ethercat by
Code:
/etc/init.d/ethercat start
Hope it helps.
-Chengxi

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11 years 5 months ago #58345 by euerka
Replied by euerka on topic Ethercat HAL driver
I got the answer after I read the source code.
add
Code:
<masters> ...... </master>
in configure file to support multi-master.

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11 years 5 months ago #58833 by pavel7890
Replied by pavel7890 on topic Ethercat HAL driver
Hi,

I finally started to work out my indradrive ethercat project. I acquired Wasino gang lathe and want to use 2 axis servo and main spindle, all controlled by ethercat.

I started with main spindle. So far so good :) Just a bit playing with correct soft start/stop spindle procedure.

I guess I found a bug in sittners lcec_conf.c for scale and offset. Since I do not have any experience with git contribution i put it here:

// parse scale
if (strcmp(name, "scale") == 0) {
floatReq = 1;
p->floatScale = atof(val);
continue;
}

// parse offset
if (strcmp(name, "offset") == 0) {
floatReq = 1;
p->floatOffset = atof(val);
continue;
 }

There was not continue; so it just parsed scale parameter with error.
Hope it helps.

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11 years 5 months ago #58889 by sascha
Replied by sascha on topic Ethercat HAL driver
You are right, thank you.

I've took it into master: github.com/sittner/linuxcnc-ethercat/com...7da79e3406d6d881dc8b

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11 years 5 months ago #59059 by bkt
Replied by bkt on topic Ethercat HAL driver
sorry at all .... I have not experience with ethercat ..... and i read some specification on linuxcnc doc ethercat, I have a doubt: How many drives can be connected to LinuxCNC with EtherCAT with safe/robust operation ?

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11 years 4 months ago #59516 by a60081
Replied by a60081 on topic Ethercat HAL driver
I want to create two domain for pdos because the motor i used is required one domain(1600) for transfer, and another one for receive(1A00).
If only one domain, it will be synchronize error.

How could i edit it in lcec.c?

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11 years 4 months ago #59628 by narogon
Replied by narogon on topic Ethercat HAL driver

a60081 wrote: I want to create two domain for pdos because the motor i used is required one domain(1600) for transfer, and another one for receive(1A00).
If only one domain, it will be synchronize error.

How could i edit it in lcec.c?


Check tutorial

step 9 parameter 4.

I think you mean sync managers when you say domains.

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