Ethercat HAL driver

sirop
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10 years 2 months ago #78748 by sirop

Replied by sirop on topic Ethercat HAL driver

Try
ethercat slaves -v
or
ethercat master -v

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REEEN
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10 years 2 months ago #78750 by REEEN

Replied by REEEN on topic Ethercat HAL driver

Just tried it out and got a command not found error

I think some linking is missing probably

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narogon
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10 years 2 months ago #78843 by narogon

Replied by narogon on topic Ethercat HAL driver

Hi everyone,

I'm trying to configure a machine with 37 servos HIWIN. I created my own lcec_hiwin and everything is fine for many machines with 3, 4 or 5 servos.

I get some kind of problem when I connect more than 13 slaves. The 13th and 14th get stuck on PRE-OP with error and the following not even try to get OP.

the output of ethercat slaves for 15 servos:

Code:

0:0   OP     +  D2 CoE Drive
0:1   OP     +  D2 CoE Drive
0:2   OP     +  D2 CoE Drive
0:3   OP     +  D2 CoE Drive
0:4   OP     +  D2 CoE Drive
0:5   OP     +  D2 CoE Drive
0:6   OP     +  D2 CoE Drive
0:7   OP     +  D2 CoE Drive
0:8   OP     +  D2 CoE Drive
0:9   OP     +  D2 CoE Drive
0:10  OP     +  D2 CoE Drive
0:11  OP     +  D2 CoE Drive
0:12  OP     +  D2 CoE Drive
0:13  PREOP  E  D2 CoE Drive
0:14  PREOP  E  D2 CoE Drive

The dmesg output:

Code:

6342.759097] EtherCAT: Requesting master 0...
[ 6342.759100] EtherCAT: Successfully requested master 0.
[ 6342.761933] EtherCAT 0: Domain0: Logical address 0x00000000, 405 byte, expected working counter 45.
[ 6342.761935] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 405 byte, type LRW.
[ 6342.761944] EtherCAT 0: Master thread exited.
[ 6342.761946] EtherCAT 0: Starting EtherCAT-OP thread.
[ 6342.761973] EtherCAT WARNING 0: 124 datagrams TIMED OUT!
[ 6342.772916] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ 6343.443818] EtherCAT 0: Domain 0: Working counter changed to 2/45.
[ 6344.446208] EtherCAT 0: Domain 0: Working counter changed to 4/45.
[ 6345.448598] EtherCAT 0: Domain 0: Working counter changed to 6/45.
[ 6346.450989] EtherCAT 0: Domain 0: 2 working counter changes - now 10/45.
[ 6347.453380] EtherCAT 0: Domain 0: Working counter changed to 12/45.
[ 6348.455770] EtherCAT 0: Domain 0: 2 working counter changes - now 16/45.
[ 6349.456163] EtherCAT 0: Domain 0: Working counter changed to 18/45.
[ 6350.460551] EtherCAT 0: Domain 0: 2 working counter changes - now 22/45.
[ 6351.462941] EtherCAT 0: Domain 0: Working counter changed to 24/45.
[ 6352.219727] EtherCAT ERROR 0-13: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 6352.223721] EtherCAT ERROR 0-13: Unknown AL status code 0x002E.
[ 6352.231707] EtherCAT 0-13: Acknowledged state PREOP.
[ 6352.463336] EtherCAT 0: Domain 0: Working counter changed to 26/45.
[ 6352.575153] EtherCAT ERROR 0-14: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 6352.579146] EtherCAT ERROR 0-14: Unknown AL status code 0x002E.
[ 6352.585136] EtherCAT 0-14: Acknowledged state PREOP.
[ 6352.591149] EtherCAT 0: Slave states on main device: PREOP, OP.

Hal configuration:

Code:

loadusr -W lcec_conf ./hiwinD2.xml
loadrt lcec
loadrt trivkins
loadrt motmod base_period_nsec=0 servo_period_nsec=2000000 num_joints=1
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread
start

And the xml:

Code:

<masters>
<master idx="0" appTimePeriod="2000000" refClockSyncCycles="100">
	<slave idx="0" type="HiwinD2">
		<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
	</slave>
...
...

I've tried to change all the xml parameters, refClockSyncCycles, Dc values... with no result. Has anybody any idea of how to solve this?

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sirop
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10 years 2 months ago #78853 by sirop

Replied by sirop on topic Ethercat HAL driver

Do you get this

Code:

[ 6342.761973] EtherCAT WARNING 0: 124 datagrams TIMED OUT!
...
[ 6352.575153] EtherCAT ERROR 0-14: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 6352.579146] EtherCAT ERROR 0-14: Unknown AL status code 0x002E.

before starting the threads of the HAL script?

Do you see

Code:

EtherCAT WARNING 0: 124 datagrams TIMED OUT!

also if you use less slaves?

AL status code 0x002E is indeed unknown.

Besides all that:

0055-fsm_slave_config_scan-to-fsm_slave.patch
...
The motivating case was a network of about 100 slave devices; while scanning
is fast (under a second, after prior SII patches), the configuration process
to bring the slaves from PREOP to OP took about 80 seconds (and you could
see the lights coming on each slave in sequence). After the patch it takes
about 20 seconds.

lists.etherlab.org/pipermail/etherlab-dev/2016/000553.html

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mfalcon
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10 years 2 months ago #78854 by mfalcon

Replied by mfalcon on topic Ethercat HAL driver

sirop wrote:

Code:

[ 133.613219] EtherCAT ERROR 0 0:1: PDO entry 0x6000:01 is not mapped. [ 133.613226] LCEC: master 0 PDO entry registration failed

That's the point to research.

thanks for help.
but I searched over here and in internet and still and I could not figure out what is the cause or remedy of this problem. I used the example xml file by sascha, so where is the mistake?

one more question too: Am I supposed to be connected online to all devices that are defined in xml file during start up of linuxcnc with hal driver?? may be this what causes error ?

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sirop
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10 years 2 months ago #78855 by sirop

Replied by sirop on topic Ethercat HAL driver

mfalcon wrote:
sirop wrote:

Code:

[ 133.613219] EtherCAT ERROR 0 0:1: PDO entry 0x6000:01 is not mapped. [ 133.613226] LCEC: master 0 PDO entry registration failed

That's the point to research.

thanks for help.
but I searched over here and in internet and still and I could not figure out what is the cause or remedy of this problem. I used the example xml file by sascha, so where is the mistake?

one more question too: Am I supposed to be connected online to all devices that are defined in xml file during start up of linuxcnc with hal driver?? may be this what causes error ?

Which xml file by sascha is that?

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mfalcon
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10 years 2 months ago #78856 by mfalcon

Replied by mfalcon on topic Ethercat HAL driver

sirop wrote:
mfalcon wrote:
sirop wrote:

Code:

[ 133.613219] EtherCAT ERROR 0 0:1: PDO entry 0x6000:01 is not mapped. [ 133.613226] LCEC: master 0 PDO entry registration failed

That's the point to research.

thanks for help.
but I searched over here and in internet and still and I could not figure out what is the cause or remedy of this problem. I used the example xml file by sascha, so where is the mistake?

one more question too: Am I supposed to be connected online to all devices that are defined in xml file during start up of linuxcnc with hal driver?? may be this what causes error ?

Which xml file by sascha is that?

this one:
github.com/sittner/linuxcnc-ethercat/blo.../ethercat-conf_X.xml

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sirop
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10 years 2 months ago #78857 by sirop

Replied by sirop on topic Ethercat HAL driver

And what slaves do you really have on the EtherCAT network?

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narogon
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10 years 2 months ago #78859 by narogon

Replied by narogon on topic Ethercat HAL driver

sirop wrote: Do you get this

Code:

[ 6342.761973] EtherCAT WARNING 0: 124 datagrams TIMED OUT! ... [ 6352.575153] EtherCAT ERROR 0-14: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 6352.579146] EtherCAT ERROR 0-14: Unknown AL status code 0x002E.

before starting the threads of the HAL script?

No, I get that after start HAL script.

sirop wrote:
Do you see

Code:

EtherCAT WARNING 0: 124 datagrams TIMED OUT!

also if you use less slaves?

That doesn't appears always. Here is other test:

Code:

[   45.523043] EtherCAT: Requesting master 0...
[   45.523046] EtherCAT: Successfully requested master 0.
[   45.525861] EtherCAT 0: Domain0: Logical address 0x00000000, 405 byte, expected working counter 45.
[   45.525863] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 405 byte, type LRW.
[   45.525870] EtherCAT 0: Master thread exited.
[   45.525872] EtherCAT 0: Starting EtherCAT-OP thread.
[   45.539360] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[   50.882757] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[   50.892744] EtherCAT 0: Domain 0: Working counter changed to 2/45.
[   51.895136] EtherCAT 0: Domain 0: 2 working counter changes - now 6/45.
[   52.897526] EtherCAT 0: Domain 0: 3 working counter changes - now 12/45.
[   53.899916] EtherCAT 0: Domain 0: 3 working counter changes - now 18/45.
[   54.902308] EtherCAT 0: Domain 0: 3 working counter changes - now 24/45.
[   55.449424] EtherCAT ERROR 0-13: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[   55.453418] EtherCAT ERROR 0-13: Unknown AL status code 0x002E.
[   55.459407] EtherCAT 0-13: Acknowledged state PREOP.
[   55.906692] EtherCAT 0: Domain 0: Working counter changed to 26/45.
[   56.136324] EtherCAT ERROR 0-14: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[   56.140319] EtherCAT ERROR 0-14: Unknown AL status code 0x002E.
[   56.148304] EtherCAT 0-14: Acknowledged state PREOP.
[   56.152327] EtherCAT 0: Slave states on main device: PREOP, OP.

sirop wrote:
AL status code 0x002E is indeed unknown.

Besides all that:
0055-fsm_slave_config_scan-to-fsm_slave.patch
...
The motivating case was a network of about 100 slave devices; while scanning
is fast (under a second, after prior SII patches), the configuration process
to bring the slaves from PREOP to OP took about 80 seconds (and you could
see the lights coming on each slave in sequence). After the patch it takes
about 20 seconds.
lists.etherlab.org/pipermail/etherlab-dev/2016/000553.html

I'm going to read the last link, test it and comment the results.

BR

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mfalcon
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10 years 2 months ago #78861 by mfalcon

Replied by mfalcon on topic Ethercat HAL driver

@sirop
currently EK1100 coupler, but I did not connect it during starting of linuxcnc , because i was thinking that xml file will be used to check the slaves when I press "run" button in linuxcnc gui.

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