Ethercat HAL driver

cgc
Offline
Senior Member

11 years 1 month ago #62936 by cgc

Replied by cgc on topic Ethercat HAL driver

This servo controller has a Ethercat interface. Why do you not use this?

Please Log in to join the conversation.

CNCDestroyer
Offline
New Member

11 years 1 month ago #62945 by CNCDestroyer

Replied by CNCDestroyer on topic Ethercat HAL driver

Hey guys,

the slaves are shown in terminal.

Code:

ethercat@Ethercat:~$ ethercat slaves
0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL1018 8K. Dig. Eingang 24V, 10�s
2  0:2  PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
ethercat@Ethercat:~$ 

i cant start the example.

I searched for a solution but i found nothing in the web.

i want to test the i/o for a new solution for my milling machine. don't now how without example.

Warning: Spoiler!

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.7.0
Machine configuration directory is '/home/ethercat/linuxcnc/configs/examples/swm-fm45a'
Machine configuration file is 'swm-fm45a.ini'
INIFILE=/home/ethercat/linuxcnc/configs/examples/swm-fm45a/swm-fm45a.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Found file(REL): ./swm-fm45a.hal
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=7148
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
.
Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/lcec.ko: Invalid parameters
./swm-fm45a.hal:22: exit value: 1
./swm-fm45a.hal:22: insmod for lcec failed, returned -1
See the output of 'dmesg' for more information.
7148
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 0.000000] Initializing cgroup subsys cpuset
[ 0.000000] Initializing cgroup subsys cpu
[ 0.000000] Linux version 3.4-9-rtai-686-pae (Debian 3.4.55-4linuxcnc) () (gcc version 4.6.3 (Debian 4.6.3-14) ) #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
[ 0.000000] BIOS-provided physical RAM map:
[ 0.000000] BIOS-e820: 0000000000000000 - 000000000009fc00 (usable)
[ 0.000000] BIOS-e820: 000000000009fc00 - 00000000000a0000 (reserved)
[ 0.000000] BIOS-e820: 00000000000e8000 - 0000000000100000 (reserved)
[ 0.000000] BIOS-e820: 0000000000100000 - 000000003f7e4000 (usable)
[ 0.000000] BIOS-e820: 000000003f7e4000 - 0000000040000000 (reserved)
[ 0.000000] BIOS-e820: 00000000d0000000 - 00000000e0000000 (reserved)
[ 0.000000] BIOS-e820: 00000000fec00000 - 0000000100000000 (reserved)
[ 0.000000] Notice: NX (Execute Disable) protection missing in CPU!
[ 0.000000] SMBIOS 2.3 present.
[ 0.000000] DMI: Hewlett-Packard HP Compaq dc5100 MT(PW099ET)/09E0h, BIOS 786C2 v01.07 08/25/2005
[ 0.000000] e820 update range: 0000000000000000 - 0000000000010000 (usable) ==> (reserved)
[ 0.000000] e820 remove range: 00000000000a0000 - 0000000000100000 (usable)
[ 0.000000] last_pfn = 0x3f7e4 max_arch_pfn = 0x100000
[ 0.000000] MTRR default type: uncachable
[ 0.000000] MTRR fixed ranges enabled:
[ 0.000000] 00000-9FFFF write-back
[ 0.000000] A0000-BFFFF uncachable
[ 0.000000] C0000-E7FFF write-protect
[ 0.000000] E8000-EFFFF write-back
[ 0.000000] F0000-FFFFF write-protect
[ 0.000000] MTRR variable ranges enabled:
[ 0.000000] 0 base 000000000 mask FC0000000 write-back
[ 0.000000] 1 base 03F800000 mask FFF800000 uncachable
[ 0.000000] 2 disabled
[ 0.000000] 3 disabled
[ 0.000000] 4 disabled
[ 0.000000] 5 disabled
[ 0.000000] 6 disabled
[ 0.000000] 7 disabled
[ 0.000000] x86 PAT enabled: cpu 0, old 0x7040600070406, new 0x7010600070106
[ 0.000000] found SMP MP-table at [c00fe700] fe700
[ 0.000000] initial memory mapped : 0 - 01800000
[ 0.000000] Base memory trampoline at [c009b000] 9b000 size 16384
[ 0.000000] init_memory_mapping: 0000000000000000-00000000377fe000
[ 0.000000] 0000000000 - 0000400000 page 4k
[ 0.000000] 0000400000 - 0037400000 page 2M
[ 0.000000] 0037400000 - 00377fe000 page 4k
[ 0.000000] kernel direct mapping tables up to 0x377fdfff @ [mem 0x017f8000-0x017fffff]
[ 0.000000] RAMDISK: 36530000 - 37290000
[ 0.000000] ACPI: RSDP 000e9c10 00014 (v00 COMPAQ)
[ 0.000000] ACPI: RSDT 3f7f4040 00038 (v01 COMPAQ CPQ0968 20050825 00000000)
[ 0.000000] ACPI: FACP 3f7f40ec 00074 (v01 COMPAQ GRANTSD 00000001 00000000)
[ 0.000000] ACPI: DSDT 3f7f4267 013F3 (v01 COMPAQ DSDT 00000001 MSFT 0100000E)
[ 0.000000] ACPI: FACS 3f7f4000 00040
[ 0.000000] ACPI: SSDT 3f7f565a 0303F (v01 COMPAQ PROJECT 00000001 MSFT 0100000E)
[ 0.000000] ACPI: APIC 3f7f4160 00068 (v01 COMPAQ GRANTSD 00000001 00000000)
[ 0.000000] ACPI: ASF! 3f7f41c8 00063 (v32 COMPAQ GRANTSD 00000001 00000000)
[ 0.000000] ACPI: MCFG 3f7f422b 0003C (v01 COMPAQ GRANTSD 00000001 00000000)
[ 0.000000] ACPI: Local APIC address 0xfee00000
[ 0.000000] 127MB HIGHMEM available.
[ 0.000000] 887MB LOWMEM available.
[ 0.000000] mapped low ram: 0 - 377fe000
[ 0.000000] low ram: 0 - 377fe000
[ 0.000000] Zone PFN ranges:
[ 0.000000] DMA 0x00000010 -> 0x00001000
[ 0.000000] Normal 0x00001000 -> 0x000377fe
[ 0.000000] HighMem 0x000377fe -> 0x0003f7e4
[ 0.000000] Movable zone start PFN for each node
[ 0.000000] Early memory PFN ranges
[ 0.000000] 0: 0x00000010 -> 0x0000009f
[ 0.000000] 0: 0x00000100 -> 0x0003f7e4
[ 0.000000] On node 0 totalpages: 259955
[ 0.000000] free_area_init_node: node 0, pgdat c1498a00, node_mem_map f5d40200
[ 0.000000] DMA zone: 32 pages used for memmap
[ 0.000000] DMA zone: 0 pages reserved
[ 0.000000] DMA zone: 3951 pages, LIFO batch:0
[ 0.000000] Normal zone: 1744 pages used for memmap
[ 0.000000] Normal zone: 221486 pages, LIFO batch:31
[ 0.000000] HighMem zone: 256 pages used for memmap
[ 0.000000] HighMem zone: 32486 pages, LIFO batch:7
[ 0.000000] Using APIC driver default
[ 0.000000] ACPI: PM-Timer IO Port: 0xf808
[ 0.000000] ACPI: Local APIC address 0xfee00000
[ 0.000000] ACPI: LAPIC (acpi_id[0x01] lapic_id[0x00] enabled)
[ 0.000000] ACPI: LAPIC (acpi_id[0x02] lapic_id[0x01] enabled)
[ 0.000000] ACPI: LAPIC_NMI (acpi_id[0x01] high edge lint[0x1])
[ 0.000000] ACPI: LAPIC_NMI (acpi_id[0x02] high edge lint[0x1])
[ 0.000000] ACPI: IOAPIC (id[0x01] address[0xfec00000] gsi_base[0])
[ 0.000000] IOAPIC[0]: apic_id 1, version 32, address 0xfec00000, GSI 0-23
[ 0.000000] ACPI: INT_SRC_OVR (bus 0 bus_irq 0 global_irq 2 dfl dfl)
[ 0.000000] ACPI: INT_SRC_OVR (bus 0 bus_irq 9 global_irq 9 high level)
[ 0.000000] ACPI: IRQ0 used by override.
[ 0.000000] ACPI: IRQ2 used by override.
[ 0.000000] ACPI: IRQ9 used by override.
[ 0.000000] Using ACPI (MADT) for SMP configuration information
[ 0.000000] SMP: Allowing 2 CPUs, 0 hotplug CPUs
[ 0.000000] nr_irqs_gsi: 40
[ 0.000000] PM: Registered nosave memory: 000000000009f000 - 00000000000a0000
[ 0.000000] PM: Registered nosave memory: 00000000000a0000 - 00000000000e8000
[ 0.000000] PM: Registered nosave memory: 00000000000e8000 - 0000000000100000
[ 0.000000] Allocating PCI resources starting at 40000000 (gap: 40000000:90000000)
[ 0.000000] setup_percpu: NR_CPUS:8 nr_cpumask_bits:8 nr_cpu_ids:2 nr_node_ids:1
[ 0.000000] PERCPU: Embedded 17 pages/cpu @f77d5000 s48384 r0 d21248 u69632
[ 0.000000] pcpu-alloc: s48384 r0 d21248 u69632 alloc=17*4096
[ 0.000000] pcpu-alloc: [0] 0 [0] 1
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 257923
[ 0.000000] Kernel command line: BOOT_IMAGE=/boot/vmlinuz-3.4-9-rtai-686-pae root=UUID=d791916b-7e0e-4b0c-b54a-c726988ef12e ro

Thanks for helping

Please Log in to join the conversation.

boyzo
Offline
Senior Member

11 years 1 month ago #63021 by boyzo

Replied by boyzo on topic Ethercat HAL driver

Problem: lcec: disagrees about version of symbol hal_param_float_newf

Hello,

I installed LinuxCNC fresh from LiveCD 2.7. Then I installed ethercat as from wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver

I connect Beckhoff devices and issue comand:
ethercat slaves
0 7:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 7:1 PREOP + EL2008 8K. Dig. Ausgang 24V, 0.5A
2 7:2 PREOP + EL1008 8Ch. Dig. Input 24V, 3ms

I created test-conf.xml:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="EK1100" />
<slave idx="1" type="EL2008" />
<slave idx="2" type="EL1008" />
</master>
</masters>

and created test.hal:
loadrt trivkins
loadrt motmod servo_period_nsec=1000000 num_joints=3
loadusr -W lcec_conf test-conf.xml
loadrt lcec

then I issue: halrun test.hal:
Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/lcec.ko: Invalid parameters
test.hal:20: exit value: 1
test.hal:20: insmod for lcec failed, returned -1
See the output of 'dmesg' for more information.

relevant dmseg output (before all is OK):
[15258.829139] RTAI[math]: loaded.
[15258.987667] lcec: disagrees about version of symbol hal_param_float_newf
[15258.987678] lcec: Unknown symbol hal_param_float_newf (err -22)
[15258.987689] lcec: disagrees about version of symbol hal_pin_u32_newf
[15258.987694] lcec: Unknown symbol hal_pin_u32_newf (err -22)
[15258.987769] lcec: disagrees about version of symbol hal_param_bit_newf
[15258.987775] lcec: Unknown symbol hal_param_bit_newf (err -22)
[15258.987809] lcec: disagrees about version of symbol hal_param_s32_newf
[15258.987815] lcec: Unknown symbol hal_param_s32_newf (err -22)
[15258.987854] lcec: disagrees about version of symbol hal_pin_s32_newf
[15258.987860] lcec: Unknown symbol hal_pin_s32_newf (err -22)
[15258.987917] lcec: disagrees about version of symbol hal_pin_bit_newf
[15258.987923] lcec: Unknown symbol hal_pin_bit_newf (err -22)
[15258.988121] lcec: disagrees about version of symbol hal_param_u32_newf
[15258.988127] lcec: Unknown symbol hal_param_u32_newf (err -22)
[15259.125902] RTAI[math]: unloaded.

Anybody any suggestion?

Thanks for help

Please Log in to join the conversation.

cgc
Offline
Senior Member

11 years 1 month ago #63073 by cgc

Replied by cgc on topic Ethercat HAL driver

Please post your ini, hal and xml complete

regards Frank

Please Log in to join the conversation.

boyzo
Offline
Senior Member

11 years 1 month ago #63080 by boyzo

Replied by boyzo on topic Ethercat HAL driver

I do not have .ini, xml and hal is complete in my original post. I minimize this for the first test, before I go complex.

What I think is that I should work with linuxcnc 2.6, not 2.7. I did fresh install 2.6, but now I can not install ethercat as it seems package repository is down. I get 502 Bad Gateway error.

Regards Bojan

Please Log in to join the conversation.

cgc
Offline
Senior Member

11 years 1 month ago #63117 by cgc

Replied by cgc on topic Ethercat HAL driver

Hi,
it is running with 2.7,
you need this in your hal-file: (with complete path to the xml !!)

loadusr -W lcec_conf /home/fb/linuxcnc/configs/ethercat/ethercat-conf.xml
loadrt lcec
loadrt trivkins
loadrt motmode base_period_nsec=0 servo_period_nsec=1000000 num_joints=3
#

addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread
#

I think, the xml is ok

Please Log in to join the conversation.

boyzo
Offline
Senior Member

11 years 1 month ago #63122 by boyzo

Replied by boyzo on topic Ethercat HAL driver

cgc wrote: you need this in your hal-file: (with complete path to the xml !!)

loadusr -W lcec_conf /home/fb/linuxcnc/configs/ethercat/ethercat-conf.xml

I have my test-conf.xml in my current directory so I do not need path to xml.

I can not test as I do not have 2.7 anymore, and I can not install in 2.6 as I get 502 Bad Gateway error on package repository. Do you think addf would make the difference?

Please Log in to join the conversation.

boyzo
Offline
Senior Member

11 years 1 month ago #63132 by boyzo

Replied by boyzo on topic Ethercat HAL driver

Solved.

Package repository is back. I install ethercat on 2.6 and I do not get any errors. It seems the driver is not compatible with 2.7.

Please Log in to join the conversation.

andypugh
Offline
Administrator

11 years 1 month ago #63134 by andypugh

Replied by andypugh on topic Ethercat HAL driver

boyzo wrote: Package repository is back. I install ethercat on 2.6 and I do not get any errors. It seems the driver is not compatible with 2.7.

That seems strange. I can't off-hand think of anything which would have changed to affect that.

Please Log in to join the conversation.

cgc
Offline
Senior Member

11 years 1 month ago #63138 by cgc

Replied by cgc on topic Ethercat HAL driver

boyzo wrote: It seems the driver is not compatible with 2.7.

You're right, I have the same errors with 2.7 :-(

[15258.987667] lcec: disagrees about version of symbol hal_param_float_newf
[15258.987678] lcec: Unknown symbol hal_param_float_newf (err -22)
[15258.987689] lcec: disagrees about version of symbol hal_pin_u32_newf
[15258.987694] lcec: Unknown symbol hal_pin_u32_newf (err -22)
[15258.987769] lcec: disagrees about version of symbol hal_param_bit_newf
[15258.987775] lcec: Unknown symbol hal_param_bit_newf (err -22)
[15258.987809] lcec: disagrees about version of symbol hal_param_s32_newf
[15258.987815] lcec: Unknown symbol hal_param_s32_newf (err -22)
[15258.987854] lcec: disagrees about version of symbol hal_pin_s32_newf
[15258.987860] lcec: Unknown symbol hal_pin_s32_newf (err -22)
[15258.987917] lcec: disagrees about version of symbol hal_pin_bit_newf
[15258.987923] lcec: Unknown symbol hal_pin_bit_newf (err -22)
[15258.988121] lcec: disagrees about version of symbol hal_param_u32_newf
[15258.988127] lcec: Unknown symbol hal_param_u32_newf (err -22)

regards Frank

Please Log in to join the conversation.

Time to create page: 0.210 seconds