Hello,
I would like to replace my parallel port system with Ethercat. My existing system uses closed loop stepper drivers with parallel port.
My idea was to use a fast Beckhoff module for the stepper pulses. So I bought the EL2202 module.
To test the setup, I added the Ethercat commands for Y-axis to my previous configuration files.
At low speed everything works fine. But at higher speed the stepper loses steps.
The other axes with the parallel port work fine at these speeds.
So I think that the EL2202 is not generating the pulses fast enough.
In my opinion, with my config it is at least possible to generate the same speed as the parallel port axis.
Any suggestion what i can try? Think it is a configuration issue. So here my config files.
Thank you very much!
Here my .hal
Code:
# Generated by stepconf 1.1 at Sat Sep 3 11:45:09 2022
# Änderungen an dieser Datei werden beim nächsten
# Aufruf von stepconf überschrieben.
#loadrt trivkins
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 50 #5000
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1 #1
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread #servo
addf pwmgen.update servo-thread
addf lcec.read-all base-thread #servo
#addf lcec.write-all servo-thread
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf lcec.write-all base-thread #testservo
net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 8000.0
setp pwmgen.0.scale 24000
setp pwmgen.0.offset 0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed => spindle.0.at-speed
net dout-00 <= motion.digital-out-00
setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net zstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net zdir => parport.0.pin-03-out
#setp parport.0.pin-04-out-invert 1
#net ystep => parport.0.pin-04-out
net ystep => lcec.0.1.dout-1 #changed to ethercat
#setp parport.0.pin-04-out-reset 1
#setp lcec.0.1.dout-1-reset 1
setp parport.0.pin-05-out-invert 1
net ydir => parport.0.pin-05-out
setp parport.0.pin-06-out-invert 1
net xstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net xdir => parport.0.pin-07-out
setp parport.0.pin-08-out-invert 1
net x2step => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net x2dir => parport.0.pin-09-out
net xenable => parport.0.pin-14-out
net dout-00 => parport.0.pin-16-out
net spindle-on => parport.0.pin-17-out
net home-z <= parport.0.pin-10-in-not
net home-y <= parport.0.pin-11-in-not
net home-x <= parport.0.pin-13-in-not
net home-x2 <= parport.0.pin-12-in-not
net estop-ext <= parport.0.pin-15-in-not
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 44000
setp stepgen.0.dirsetup 44000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net home-x => joint.0.home-sw-in
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 27000
setp stepgen.1.dirsetup 27000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net x2pos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net x2pos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net x2step <= stepgen.1.step
net x2dir <= stepgen.1.dir
net x2enable joint.1.amp-enable-out => stepgen.1.enable
net home-x2 => joint.1.home-sw-in
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1 #1
setp stepgen.2.stepspace 0 #0
setp stepgen.2.dirhold 35000 #27000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net ypos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net ypos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net ystep <= stepgen.2.step
net ydir <= stepgen.2.dir
net yenable joint.2.amp-enable-out => stepgen.2.enable
net home-y => joint.2.home-sw-in
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 27000
setp stepgen.3.dirsetup 27000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net home-z => joint.3.home-sw-in
#setp stepgen.3.position-scale [AXIS_Z]SCALE
#setp stepgen.3.steplen 1
#setp stepgen.3.stepspace 0
#setp stepgen.3.dirhold 27000
#setp stepgen.3.dirsetup 27000
#setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
#net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
#net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
#net astep <= stepgen.3.step
#net adir <= stepgen.3.dir
#net aenable joint.3.amp-enable-out => stepgen.3.enable
#net home-a => joint.3.home-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
.ini:
Code:
# This config file was created 2022-09-09 17:56:09.071663 by the update_ini script
# The original config files may be found in the /home/jobo/linuxcnc/configs/Meine-Maschine/Meine-Maschine.old directory
# Generated by stepconf 1.1 at Sat Sep 3 11:45:09 2022
# Änderungen an dieser Datei werden beim nächsten
# Aufruf von stepconf überschrieben.
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Meine-Maschine
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 30.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 750.00
DEFAULT_ANGULAR_VELOCITY = 10
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 50.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PROGRAM_PREFIX = /home/jobo/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
#GEOMETRY = xyz
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZ
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 30000
SERVO_PERIOD = 1050000
#120000
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[HAL]
HALFILE = Meine-Maschine.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[HALUI]
#No Content
[TRAJ]
COORDINATES = X X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10
MAX_LINEAR_VELOCITY = 750.00
#NO_FORCE_HOMING = 0
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MIN_LIMIT = -0.001
MAX_LIMIT = 572.0
MAX_VELOCITY = 750
MAX_ACCELERATION = 750.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 572.0
MAX_VELOCITY = 750
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 320.0
FERROR = 1
MIN_FERROR = .25
#HOME_OFFSET = 0.000000
#HOME_SEARCH_VEL = -10.000000
#HOME_LATCH_VEL = -0.2
#HOME_SEQUENCE = 1
HOME_OFFSET = -0.800000
HOME_SEARCH_VEL = -12.000000
HOME_LATCH_VEL = -0.2
HOME_SEQUENCE = -1
HOME_FINAL_VEL = 5
HOME_USE_INDEX = NO
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 572.0
MAX_VELOCITY = 750
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 320.0
FERROR = 1
MIN_FERROR = .25
#HOME_OFFSET = 0.000000
#HOME_SEARCH_VEL = -10.000000
#HOME_LATCH_VEL = -0.2
#HOME_SEQUENCE = 1
HOME_OFFSET = -0.600000
HOME_SEARCH_VEL = -12.000000
HOME_LATCH_VEL = -0.2
HOME_SEQUENCE = -1
HOME_FINAL_VEL = 5
HOME_USE_INDEX = NO
[AXIS_Y]
MIN_LIMIT = 0.0
MAX_LIMIT = 480.001
MAX_VELOCITY = 75
MAX_ACCELERATION = 750.0
[JOINT_2]
TYPE = LINEAR
HOME = 480.0
MAX_VELOCITY = 75
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 320.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 480.001
HOME_OFFSET = 480.000000
HOME_SEARCH_VEL = 12.000000
HOME_LATCH_VEL = 0.2
HOME_SEQUENCE = 2
[AXIS_Z]
MIN_LIMIT = -250.00
MAX_LIMIT = 0.001
MAX_VELOCITY = 50
MAX_ACCELERATION = 750.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 320.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -250.00
MAX_LIMIT = 0.001
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 12.000000
HOME_LATCH_VEL = 0.2
HOME_SEQUENCE = 0
And my Ethercat config file:
Code:
<masters>
<master idx="0" appTimePeriod="30000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL2202"/>
<slave idx="2" type="EL1819"/>
</master>
</masters>
