Ethercat HAL driver

sirop
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9 years 4 months ago #94093 by sirop

Replied by sirop on topic Ethercat HAL driver

Christian.Barth wrote: Hello,

i am new to ethercat and linux.
But up to now i have installed IgH EtherCAT Master 1.5.2.
I have started ethercat master in the terminal with the gineric linux driver.
The networkleds are blinking and the statemachine is in the state: PREOP
But wehn i try to change to SAFEOP or to OP then the Slave gets the an Fieldbuserror with the wrong length.
Christian

In terms of linuxcnc-ethercat your slave is a generic slave, so you need an XML description file similar to github.com/sittner/linuxcnc-ethercat/blo...at-conf.xml#L18-L143 .
If you have already such a file, please share it.

As for SDO download/upload: S300 xml is a slave description according to EtherCAT standard and you do not have to download it anyware.
SDO download however can be used to configure your slave, for instance, its mode of operation. For this you work with single values/numbers and - in less frequent cases - with array of numbers.

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ChrisB
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9 years 4 months ago #94096 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

Hi sirop. Thank you for your fast response. I habe no XML description file. How can i create one? Do you have a documentation?

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sirop
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9 years 4 months ago #94098 by sirop

Replied by sirop on topic Ethercat HAL driver

Christian.Barth wrote: Hi sirop. Thank you for your fast response. I habe no XML description file. How can i create one? Do you have a documentation?

Try

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
    <!--  S300_S400_S600_S700 CANopen slave -->
    <slave idx="0" type="generic" vid="0000006a" pid="03000600" configPdos="false">
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>
      <syncManager idx="2" dir="out">
        <pdo idx="1702">
          <!-- Rx PDOs>
          <pdoEntry idx="606b" subIdx="0" bitLen="32" halPin="YourPinName1" halType="u32"/>
          <pdoEntry idx="6040" subIdx="0" bitLen="16" halPin="YourPinName2" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1b01">
          <!-- Tx PDOs -->
          <pdoEntry idx="6064" subIdx="0" bitLen="32" halPin="YourPinName3" halType="u32"/>
          <pdoEntry idx="6041" subIdx="0" bitLen="16" halPin="YourPinName4" halType="u32"/>
      </syncManager>
    </slave>
  </master>
</masters>

This is a very basic config which I reconstructed from your ethercat xml output. Do not know if I'd had to enumerate all 8 Sync Managers, but you'l see pretty quickly if it works or not.

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ChrisB
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9 years 4 months ago #94102 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

Sorry, but i don´t know where to place the xml or how to activate it......

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sirop
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9 years 4 months ago #94103 by sirop

Replied by sirop on topic Ethercat HAL driver

It is smth. like:

Code:

loadusr -W lcec_conf  ethercat-conf.xml
loadrt lcec

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ChrisB
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9 years 4 months ago #94105 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

loadusr and loadrt are linuxCNC cmmands.
Up to now i have just tried to send commands thru the commandline tool.
My intention is at least to use the drives with linuxcnc but from this i am 100 years away.
I don´t know how to configure the .hal and the .ini and and so on
I found some infos from roschi but at the moment i just try to get one motor spinning.
So is there a way to do this with the commandlinetool or do i have to integrate it in linuxcnc.
By the way, it is not possible to use the generic Linux driver for RTAI realtime, right?
I have installed from the LinuxCNC LiveCD, do i have to compile new for the use of Ethercat?

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sirop
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9 years 4 months ago #94108 by sirop

Replied by sirop on topic Ethercat HAL driver

ChrisB wrote: loadusr and loadrt are linuxCNC cmmands.
Up to now i have just tried to send commands thru the commandline tool.
My intention is at least to use the drives with linuxcnc but from this i am 100 years away.
I don´t know how to configure the .hal and the .ini and and so on
I found some infos from roschi but at the moment i just try to get one motor spinning.
So is there a way to do this with the commandlinetool or do i have to integrate it in linuxcnc.
By the way, it is not possible to use the generic Linux driver for RTAI realtime, right?
I have installed from the LinuxCNC LiveCD, do i have to compile new for the use of Ethercat?

Command line tools can only help you with SDO upload/download. So they are of limited use in operational phase.
As soon as you deal with PDOs, you need some real time scheduling.

linuxcnc-ethercat is not a part of the official linuxcnc release, so you have to compile and install it.

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ChrisB
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9 years 4 months ago #94189 by ChrisB

Replied by ChrisB on topic Ethercat HAL driver

I tryed now for hours to compile install config linuxcnc.
Is there a complete step by step tutorial for linux idiots?
Up to now i feels i have compiled the world, but nothing works.
I found this : github.com/sittner/linuxcnc-ethercat
is this enough?
I have a Ethercat linuxcnc config attached and the debugoutput.
But for me there is no useful information inside.

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Allan
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9 years 4 months ago #94194 by Allan

Replied by Allan on topic Ethercat HAL driver

Attached are some notes I made during a recent installation.
Hope they help.

Allan

Attachment not found

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robh
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9 years 4 months ago #94195 by robh

Replied by robh on topic Ethercat HAL driver

sorry for a dumb question but..
i got some estun drives with ethercat im looking to get setup now

can someone explaine the math etc how to work out what the Position factor should be
6093 & 6094
the numerator & divisor
if there was an exsample things would be clearer

i have 17bit encoders, and 10mm screw pitch on X Y Z , direct drive onto the shaft

on the 4th & 5th the motors & Drives have a gear ratio 1/5 from the motor to gear then a 1/72 final worm drive

also whats the best/easy way to tune drives , i guess using the software with the drives to tune them and then start linking them into linuxcnc fully.

as in the past i have done analog drives with linuxcnc doing the loop

thanks, rob

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