Parallel port stepper control and etherCAT I/O

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4 years 1 week ago #254714 by O.R
Replied by O.R on topic Parallel port stepper control and etherCAT I/O
I went back to latest LinuxCNC and Buster 10. Base thread latency is about 50k if i only move the test window and don't do anything else. I made quick settings for X and Z motors without any other I/O. When  LinuxCNC starts, it shows that "Unexpected realtime delay on task 0 with period 78125", but if i run example codes several times it does not popup any realtime error messages. Is this kind of test good enough to prove that latency is not problem or is there better ways to test it? 

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4 years 1 week ago #254722 by tommylight
Replied by tommylight on topic Parallel port stepper control and etherCAT I/O

"Unexpected realtime delay on task 0 with period 78125", 
Immediately under it, it says "this message will be shown only once".
It will continue running but missed steps will not be reported anymore.
Usually for a hobby machine might not be such a big deal, but for production it is not good.
Raise the base period in the ini file to 100000 and check if it reports the error again.

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4 years 1 week ago #254751 by O.R
Replied by O.R on topic Parallel port stepper control and etherCAT I/O
If base period is 131000 then i don't get delay error. Will this high period time cause problem if can get enough velocity and don't get any other error messages?

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4 years 1 week ago #254774 by tommylight
Replied by tommylight on topic Parallel port stepper control and etherCAT I/O
If you do not get errors, everything will work properly.
I use some laptops with 300000 base period, does not matter as long as there are no errors reported and you get enough speed to work.

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4 years 1 week ago #254779 by CORBETT
Replied by CORBETT on topic Parallel port stepper control and etherCAT I/O
O.R

I saw you had the base thread at 131000, unless something has changed you will need to multiply that number to get your servo thread.  I tinkered with theads many years ago and I had that problem with odd numbers.  In other words if your base thread was 30000, you couldn't run a 40000 or 50000 for the servo thread, it had to be 60000 to be a multiple of the base thread.  

I just wanted to put that out there so that if you started having problems it could be that the threads were off.

Tom, correct me if I am wrong about this.

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4 years 1 week ago #254784 by tommylight
Replied by tommylight on topic Parallel port stepper control and etherCAT I/O
Yes, for sure it mentions it has to be a multiple, but i am fairly certain the new versions will round those numbers.
And i never noticed any issues with strange base period numbers, it just works whatever you put in.
Also, servo period is usually 1000000, and not to be changed as it changes a lot of other parameters, even the pid loop needs changed values if the servo period changes.

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4 years 1 week ago #254793 by CORBETT
Replied by CORBETT on topic Parallel port stepper control and etherCAT I/O
Ahh, ok got you about the servo thread... will keep that in mind.  Yeah, I knew it would change the PID loop, but did not think about other parameters.
I get stuck on how things were for a previous LCNC version and miss some of the changes for next version.   It's a non-stop learning process.

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4 years 1 week ago #254851 by O.R
Replied by O.R on topic Parallel port stepper control and etherCAT I/O
Back to etherCAT installation. I get "Failed to enable unit: Unit file ethercat.service does not exist." what could be wrong?
 ethercat.conf file was empty, is that ok?
Code:
sorvi@debian:~$ sudo apt install geany curl We trust you have received the usual lecture from the local System Administrator. It usually boils down to these three things:     #1) Respect the privacy of others.     #2) Think before you type.     #3) With great power comes great responsibility. [sudo] password for sorvi: Reading package lists... Done Building dependency tree        Reading state information... Done geany is already the newest version (1.33-1). curl is already the newest version (7.64.0-4+deb10u3). curl set to manually installed. 0 upgraded, 0 newly installed, 0 to remove and 42 not upgraded. sorvi@debian:~$ sudo geany /etc/apt/sources.list sorvi@debian:~$ sudo apt update Get:1 http://security.debian.org/debian-security buster/updates InRelease [34.8 kB] Hit:2 http://deb.debian.org/debian buster InRelease        Hit:3 http://deb.debian.org/debian buster-updates InRelease Get:4 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ InRelease [1,339 B] Hit:5 http://www.linuxcnc.org buster InRelease                                  Ign:4 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ InRelease Get:6 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ Packages [34.7 kB] Fetched 70.8 kB in 4s (20.0 kB/s) Reading package lists... Done Building dependency tree        Reading state information... Done 42 packages can be upgraded. Run 'apt list --upgradable' to see them. W: GPG error: https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY A08216C4FF0D8EF7 W: The repository 'https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ InRelease' is not signed. N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use. N: See apt-secure(8) manpage for repository creation and user configuration details. sorvi@debian:~$ KEYRING=/usr/share/keyrings/ethercat.gpg sorvi@debian:~$ curl -fsSL https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10/Release.key | gpg --dearmor | sudo tee "$KEYRING" >/dev/null sorvi@debian:~$ sudo apt install -y linux-headers-rt-amd64 Reading package lists... Done Building dependency tree        Reading state information... Done The following additional packages will be installed:   linux-compiler-gcc-8-x86 linux-headers-4.19.0-22-common-rt linux-headers-4.19.0-22-rt-amd64 linux-kbuild-4.19 The following NEW packages will be installed:   linux-compiler-gcc-8-x86 linux-headers-4.19.0-22-common-rt linux-headers-4.19.0-22-rt-amd64 linux-headers-rt-amd64   linux-kbuild-4.19 0 upgraded, 5 newly installed, 0 to remove and 42 not upgraded. Need to get 9,389 kB of archives. After this operation, 45.8 MB of additional disk space will be used. Get:1 http://security.debian.org/debian-security buster/updates/main amd64 linux-compiler-gcc-8-x86 amd64 4.19.260-1 [623 kB] Get:2 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-4.19.0-22-common-rt all 4.19.260-1 [6,796 kB] Get:3 http://security.debian.org/debian-security buster/updates/main amd64 linux-kbuild-4.19 amd64 4.19.260-1 [857 kB] Get:4 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-4.19.0-22-rt-amd64 amd64 4.19.260-1 [1,106 kB] Get:5 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-rt-amd64 amd64 4.19+105+deb10u17 [7,020 B] Fetched 9,389 kB in 3s (2,788 kB/s)                 Selecting previously unselected package linux-compiler-gcc-8-x86. (Reading database ... 121668 files and directories currently installed.) Preparing to unpack .../linux-compiler-gcc-8-x86_4.19.260-1_amd64.deb ... Unpacking linux-compiler-gcc-8-x86 (4.19.260-1) ... Selecting previously unselected package linux-headers-4.19.0-22-common-rt. Preparing to unpack .../linux-headers-4.19.0-22-common-rt_4.19.260-1_all.deb ... Unpacking linux-headers-4.19.0-22-common-rt (4.19.260-1) ... Selecting previously unselected package linux-kbuild-4.19. Preparing to unpack .../linux-kbuild-4.19_4.19.260-1_amd64.deb ... Unpacking linux-kbuild-4.19 (4.19.260-1) ... Selecting previously unselected package linux-headers-4.19.0-22-rt-amd64. Preparing to unpack .../linux-headers-4.19.0-22-rt-amd64_4.19.260-1_amd64.deb ... Unpacking linux-headers-4.19.0-22-rt-amd64 (4.19.260-1) ... Selecting previously unselected package linux-headers-rt-amd64. Preparing to unpack .../linux-headers-rt-amd64_4.19+105+deb10u17_amd64.deb ... Unpacking linux-headers-rt-amd64 (4.19+105+deb10u17) ... Setting up linux-compiler-gcc-8-x86 (4.19.260-1) ... Setting up linux-kbuild-4.19 (4.19.260-1) ... Setting up linux-headers-4.19.0-22-common-rt (4.19.260-1) ... Setting up linux-headers-4.19.0-22-rt-amd64 (4.19.260-1) ... Setting up linux-headers-rt-amd64 (4.19+105+deb10u17) ... sorvi@debian:~$ sudo apt-get install ethercat-dkms libethercat libethercat-dev ethercat-master Reading package lists... Done Building dependency tree        Reading state information... Done The following additional packages will be installed:   dkms linux-headers-4.19.0-22-amd64 linux-headers-4.19.0-22-common linux-headers-amd64 Suggested packages:   python3-apport menu The following NEW packages will be installed:   dkms ethercat-dkms ethercat-master libethercat libethercat-dev linux-headers-4.19.0-22-amd64   linux-headers-4.19.0-22-common linux-headers-amd64 0 upgraded, 8 newly installed, 0 to remove and 42 not upgraded. Need to get 11.0 MB of archives. After this operation, 127 MB of additional disk space will be used. Do you want to continue? [Y/n] y Abort. sorvi@debian:~$ sudo geany /etc/ethercat.conf sorvi@debian:~$ sudo systemctl enable ethercat.service Failed to enable unit: Unit file ethercat.service does not exist. sorvi@debian:~$

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4 years 6 days ago #254984 by CORBETT
Replied by CORBETT on topic Parallel port stepper control and etherCAT I/O
Yes, it doesn't look like it fully installed.  When you did the "sudo geany /etc/ethercat.conf" was it blank?

At this point it looks like it did not install from the archives
Do you want to continue? [Y/n] y
Abort.
I would think something is wrong in the sources.list or possibly the keyring but not sure.  I was going to do a fresh install yesterday on my day off but did not have time to tinker with it.   When I get a chance, I will do an install to see what is going wrong for you.

I haven't installed it this way enough to know all the problems yet, but I did not have any issue when I did try it for the first time.  It was seamless back when I did it at first of September, only took a few minutes to have it running and seeing terminals.  I always went the ec-debianize route as it had all the patches over compiling the IgH code, but since ec-debianize doesn;t work anymore I am starting to try out this way a little more simply to save time over doing it the manual way of compiling.  Plus, the guy who host the repository is part of the IgH team (Andreas Stewering-Bone), so I trust him.

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4 years 6 days ago #255002 by rodw
Replied by rodw on topic Parallel port stepper control and etherCAT I/O
Can you share your /etc/ethercat.conf file?
I don't see where you used ip a to determine your mac address before using geany to make edits.
Did you update your mac address as shown in the sticky how to?

We know this was still working earlier in October.
 

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