hello gentelmen,
I have done some lastest upgrades of lcec and generic drivers of my previous working config stopped working... I can not find any infos around .. I am working at my office machine and configuration is virtual... I am configuring some new stuff
Code:
Linux debian 6.1.0-12-rt-amd64 #1 SMP PREEMPT_RT Debian 6.1.52-1 (2023-09-07) x86_64 GNU/Linux
error looks like
Code:
Debug file information:
Note: Using POSIX realtime
lcec_conf: ERROR: Cannot find slave type generic, verify type in XML file
lcec_conf: ERROR: Parse error at line 11: parsing aborted
/usr/share/linuxcnc/hallib/core_sim.hal:11: waitpid failed /usr/bin/lcec_conf lcec_conf
/usr/share/linuxcnc/hallib/core_sim.hal:11: /usr/bin/lcec_conf exited without becoming ready
3750
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
ethercat-conf.xml looks like
Code:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="100">
<slave idx="0" type="EK1100" name="koppler"/>
<slave idx="1" type="EL1008" name="DI8_0"/>
<slave idx="2" type="EL1018" name="DI8_1"/>
<slave idx="3" type="EL1018" name="DI8_2"/>
<slave idx="4" type="EL1018" name="DI8_3"/>
<slave idx="5" type="EL1018" name="DI8_4"/>
<slave idx="6" type="EL2008" name="DQ8_0"/>
<slave idx="7" type="EL2124" name="DQ4_5VDC"/>
<slave idx="8" type="generic" vid=" .............. etc etc
.hal file looks like
Code:
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadusr -W /usr/bin/lcec_conf /home/user/linuxcnc/configs/sim.axis/ethercat-conf.xml
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
loadrt lcec
addf lcec.read-all servo-thread
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
addf lcec.write-all servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
without that generic guy it works well....
thanks Slav
