Marco Reps video on youtube about EtherCAT

jjdege
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2 years 2 months ago #308889 by jjdege

Replied by jjdege on topic Marco Reps video on youtube about EtherCAT

HI
I think in the .xml file slave idx should start from 0

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Evgeny
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2 years 2 months ago #308909 by Evgeny

Replied by Evgeny on topic Marco Reps video on youtube about EtherCAT

When I configured my xml file I used the halrun to load lcec_conf from the command line without the GUI to check it was all okay.

I don't quite understand what I should do

Can you do "ethercat -v slaves" to grab the model numbers etc just to check they match your XML. After that you will need to catch a more specific error out of the lcec_conf output to narrow down what is wrong.

Code:

cnc@cnc:~$ ethercat -v slaves
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00004321
  Product code:    0x000010c2
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             -   3389267290           0           0
   1  MII   up    open    yes             1   3389271570        4280         640
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/124, TX: 0x1100/128
  Standard  RX: 0x1000/124, TX: 0x1100/124
  Supported protocols: CoE, FoE
General:
  Group: Servo Drive
  Image name: 
  Order number: EL8-EC400
  Device name: EL8-EC400(COE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: no
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA
=== Master 0, Slave 1 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00004321
  Product code:    0x000010c2
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 640 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             0   3385674850           0         640
   1  MII   up    open    yes             2   3385677850        3000         620
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/124, TX: 0x1100/128
  Standard  RX: 0x1000/124, TX: 0x1100/124
  Supported protocols: CoE, FoE
General:
  Group: Servo Drive
  Image name: 
  Order number: EL8-EC400
  Device name: EL8-EC400(COE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: no
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA
=== Master 0, Slave 2 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00004321
  Product code:    0x000010c2
  Revision number: 0x00000001
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1260 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             1   3414406970           0         620
   1  MII   up    open    yes             3   3414408730        1760         580
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1000/124, TX: 0x1100/128
  Standard  RX: 0x1000/124, TX: 0x1100/124
  Supported protocols: CoE, FoE
General:
  Group: Servo Drive
  Image name: 
  Order number: EL8-EC400
  Device name: EL8-EC400(COE)
  CoE details:
    Enable SDO: yes
    Enable SDO Info: no
    Enable PDO Assign: yes
    Enable PDO Configuration: yes
    Enable Upload at startup: no
    Enable SDO complete access: no
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 0 mA
=== Master 0, Slave 3 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x044c2c52
  Revision number: 0x00110000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1840 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   up    open    yes             2   3342102522           0         580
   1  EBUS  up    open    yes             4   3342103122         600         145
   2  MII   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
General:
  Group: SystemBk
  Image name: 
  Order number: EK1100
  Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: -2000 mA
=== Master 0, Slave 4 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x03f03052
  Revision number: 0x00100000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 1985 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             3   3343222302           0         145
   1  EBUS  up    open    yes             5   3343222612         310         155
   2  N/A   down  closed  no              -            -           -           -
   3  N/C   down  closed  no              -            -           -           -
General:
  Group: DigIn
  Image name: TERM_DI
  Order number: EL1008
  Device name: EL1008 8K. Dig. Eingang 24V, 3ms
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 90 mA
=== Master 0, Slave 5 ===
Device: Main
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x00000002
  Product code:    0x07d83052
  Revision number: 0x00100000
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 2140 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  EBUS  up    open    yes             4   3342558942           0         155
   1  EBUS  down  closed  no              -            -           -           -
   2  N/A   down  closed  no              -            -           -           -
   3  N/C   down  closed  no              -            -           -           -
General:
  Group: DigOut
  Image name: 
  Order number: EL2008
  Device name: EL2008 8K. Dig. Ausgang 24V, 0.5A
  Flags:
    Enable SafeOp: no
    Enable notLRW: no
  Current consumption: 110 mA
cnc@cnc:~$ 

Attachment not found

HI
I think in the .xml file slave idx should start from 0

Hello

Yes, it confused me too, I redid it, but it didn't change anything

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">


    <!-- Z axis EL8 Servo Drive -->
    <slave idx="0" type="generic" vid="00004321" pid="000010c2" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Y axis EL8 Servo Drive -->
    <slave idx="1" type="generic" vid="00004321" pid="000010c2" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- X axis EL8 Servo Drive -->
    <slave idx="2" type="generic" vid="00004321" pid="000010c2" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <slave idx="3" type="EK1100"/>
    <slave idx="4" type="EL1008"/>
    <slave idx="5" type="EL2008"/>

  </master>
</masters>

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jjdege
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2 years 2 months ago #308916 by jjdege

Replied by jjdege on topic Marco Reps video on youtube about EtherCAT

I think the device name that is displayed in HalShow is missing

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I looked at Rod's configuration here , and the device has no name.
maybe with cia.402 it is not needed

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onceloved
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2 years 2 months ago #308918 by onceloved

Replied by onceloved on topic Marco Reps video on youtube about EtherCAT

I think I can help you. You can add me on WeChat: 304394405. I will use AnyDesk to assist you remotely.

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rodw
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2 years 2 months ago #308922 by rodw

Replied by rodw on topic Marco Reps video on youtube about EtherCAT

its not finding your xml file, try

loadusr -W lcec_conf ./ethercat-conf.xml

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Evgeny
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2 years 2 months ago #308983 by Evgeny

Replied by Evgeny on topic Marco Reps video on youtube about EtherCAT

I think I can help you. You can add me on WeChat: 304394405. I will use AnyDesk to assist you remotely.

Hi, I can't register in WeChat, I can't verify my account in my country

Is it possible to use another method of communication? Telegram?

its not finding your xml file, try

loadusr -W lcec_conf ./ethercat-conf.xml

loadusr, command not found

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tommylight
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2 years 2 months ago #308994 by tommylight

Replied by tommylight on topic Marco Reps video on youtube about EtherCAT

Evgeny wrote:

loadusr, command not found

That line has to be in the ha; file, not in a terminal.

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onceloved
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2 years 2 months ago #308997 by onceloved

Replied by onceloved on topic Marco Reps video on youtube about EtherCAT

I'm currently playing Discord. You can add me as a friend. My username is: onceloved.cn

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Evgeny
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2 years 1 month ago #309114 by Evgeny

Replied by Evgeny on topic Marco Reps video on youtube about EtherCAT

Guys, tell me how to set up a search for a home position with a torque limitation on mechanical stops as in the video by Marco Reps, onceloved helped me a lot to get the configuration up and running, but I still have one problem
onceloved , Thank you very much for your help!

Please see my configuration, it starts and can control the motors! But I can't set up the home position detection with torque limitation

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Aciera
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2 years 1 month ago #309119 by Aciera

Replied by Aciera on topic Marco Reps video on youtube about EtherCAT

Seems you are not actually using the custom homing component 'el8_homecomp.comp'.

[edit]

see this earlier post:
forum.linuxcnc.org/ethercat/51830-marco-...rcat?start=20#302562

[edit 2]
Note that the commands in the above linked post look wrong to me:
'sudo homecomp --install el8_homecomp.comp'
should actually be:

Code:

sudo halcompile --install el8_homecomp.comp

for halcompile you need to install the 'linuxcnc-dev' package.

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