EtherCAT driver for a 6 axis robot

ftree
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4 years 3 months ago #247830 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

I believe I may need to look at "immediate homing" for the Meca500 if the robot provides its own homing mechanisms. Thoughts?

Code:

SEARCH_VEL = 0
LATCH_VEL = 0
USE_INDEX = NO
HOME_SEQUENCE = 0

#homing
net a1-home-index <= joint.0.index-enable => lcec.0.Meca500.status.homed
net a2-home-index <= joint.1.index-enable => lcec.0.Meca500.status.homed
net a3-home-index <= joint.2.index-enable => lcec.0.Meca500.status.homed
net a4-home-index <= joint.3.index-enable => lcec.0.Meca500.status.homed
net a5-home-index <= joint.4.index-enable => lcec.0.Meca500.status.homed
net a6-home-index <= joint.5.index-enable => lcec.0.Meca500.status.homed

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ftree
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4 years 3 months ago #247837 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

db1981 Are you suggesting a comp "glue" layer similar to
github.com/dbraun1981/hal-cia402/blob/main/cia402.comp

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ftree
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4 years 3 months ago #247849 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

Current output of halshow
github.com/djsftree/linuxcnc-ethercat/bl...-meca500/halshow.txt

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db1981
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4 years 3 months ago #247867 by db1981

Replied by db1981 on topic EtherCAT driver for a 6 axis robot

yes, similar to this but only for the robots complete control pins and the axis enables...

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4 years 3 months ago #247922 by db1981

Replied by db1981 on topic EtherCAT driver for a 6 axis robot

oh, i have not noticed a few of the last posts.

-initial values would be set with the inital data at variable initialization in c.

I don't know if this is practicable in the whole system but my way of implementation would be:

safty chain (estop btn, power_on btn implemented in Hardware)

estop case : ctrl.deactivate = 1; motion.set-point 0
safty chain on (estop disabled) :
-ctrl.deactivate = 0;ctrl.activate = 1
-wait for status.activated -> set ctrl.home
-wait for status.homed -> reset ctrl.home, at this moment in time first set emc-enable-in true (the power on btn in gui will gets accesable)
-now set this
setp lcec.0.Meca500.vel-command 21
setp lcec.0.Meca500.motion.set-point 1
setp lcec.0.Meca500.motion.move-id 0

for lcnc homing use absolute encoders...

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ftree
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4 years 3 months ago #247928 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

Initial comp
github.com/djsftree/linuxcnc-ethercat/bl...meca500/meca500.comp

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ftree
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4 years 3 months ago #247929 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

I don't know if this is practicable in the whole system but my way of implementation would be:

This is where my experience and knowlege of the workings of lcnc falls off a cliff. If you're available for contract work let me know. The resulting work would be open source.

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ftree
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4 years 3 months ago #247931 by ftree

Replied by ftree on topic EtherCAT driver for a 6 axis robot

Would you also check for the robot existence on the EtherCAT bus as part of the safety chain?

lcec.0.Meca500.slave-online
lcec.0.Meca500.slave-oper
lcec.0.Meca500.slave-state-op
lcec.0.Meca500.slave-state-preop
lcec.0.Meca500.slave-state-safeop

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db1981
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4 years 3 months ago #247938 by db1981

Replied by db1981 on topic EtherCAT driver for a 6 axis robot

yes, checking the whole ec-bus is an good thing.

this is a part from out standart safty/error handling comp, this comp works together with the safty-plc in the cabinet.

Code:

ec_slaves_responding_ok = (ec_slaves_responding == ec_slaves);
if (!ec_slaves_responding_ok) {
  emc_enable_out = 0;
  if (data.last_ec_slaves_responding_ok) {
    rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Not all %d slaves responding!\n",    ec_slaves);
}}
data.last_ec_slaves_responding_ok = ec_slaves_responding_ok; 
if (!ec_link_up) {
  emc_enable_out = 0;
  if (data.last_ec_link_up) {
    rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Link down!\n");
}}
data.last_ec_link_up = ec_link_up; 
if (!ec_all_op) {
  emc_enable_out = 0;
  if (data.last_ec_all_op)
  {rtapi_print_msg(RTAPI_MSG_ERR, "EtherCAT: Not all slaves in OP mode!\n");
}}
data.last_ec_all_op = ec_all_op;

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db1981
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4 years 3 months ago #247940 by db1981

Replied by db1981 on topic EtherCAT driver for a 6 axis robot

Code:

[quote]I don't know if this is practicable in the whole system but my way of implementation would be:[/quote]
This is where my experience and knowlege of the workings of lcnc falls off a cliff.  If you're available for contract work let me know.  The resulting work would be open source.

with whole system, i am thinking about the safty regulations, hardware design of the complete machine.

If you're available for contract work let me know

this is my daily business, which country you are living?

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