Marco Reps video on youtube about EtherCAT

onceloved
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2 years 1 month ago #309127 by onceloved

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

If I have time today, I will try to help you configure this return to origin method.

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onceloved
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2 years 1 month ago #309130 by onceloved

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

Can anyone recommend a low-latency remote assistance software?

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Evgeny
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2 years 1 month ago #309137 by Evgeny

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

Clone these 2 repos (or download az zip)
github.com/marcoreps/linuxcnc_leadshine_EL8
github.com/LinuxCNC

Clopy from the second these files in to a known directory (/home/cnc/linuxcnc-dev/emc/motion/) for example.
homing.c
homing.h
motion.h

from the first repo, edit the el8_homecomp file, and change the path to homing.c file, to where you saved your files.

compile the cia402.comp:
sudo homecomp --install cia402.comp

compile the el8_homecomp.comp:
sudo homecomp --install el8_homecomp.comp

edit your axis.ini (or whatever is your gui)
after the EMCMOT, paste this line:
HOMEMOD=el8_homecomp

I followed all the steps in this instruction.

Attachment not found

Code:

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
HOMEMOD=el8_homecomp

So thats it. The rest is setting up the servos, and the internal homing in the drives. Without it, you can not use this process, since the servos not responding to homing request.

I had problems with this point.
I can't figure out yet which parameter in the servo I should change

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rodw
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2 years 1 month ago #309139 by rodw

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

onceloved wrote:
Can anyone recommend a low-latency remote assistance software?

We usually use Teamviewer but you must be using an Xorg desktop not Wayland

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Evgeny
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2 years 1 month ago #309152 by Evgeny

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

The homing mode is described in the servo manual in section 5.5.4 on page 195. I have studied it but I still don't understand what settings I have to change to make it work.
www.leadshine.com/upfiles/downloads/80d2...d8_1687682456724.pdf

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chrisfischer
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2 years 1 month ago #309158 by chrisfischer

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

I too am having trouble with the ethercat install. Looks like the issue is very similar to Evgeny. I am able to see the ethercat slaves at this point but when I try to interact with lcec_conf it errors. I searched the computer and cannot find lcec_conf anywhere.

Code:

kira@Kira:~/dev/hal-cia402$ halcmd loadusr -W lcec_conf ethercat-conf.xml
<commandline>:0: execv(lcec_conf): No such file or directory
<commandline>:0: waitpid failed lcec_conf lcec_conf
<commandline>:0: lcec_conf exited without becoming ready

As a noob, I was happy to get this far with the help from chatgpt. But now I am stuck. Any ideas?

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Evgeny
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2 years 1 month ago #309159 by Evgeny

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

I too am having trouble with the ethercat install. Looks like the issue is very similar to Evgeny. I am able to see the ethercat slaves at this point but when I try to interact with lcec_conf it errors. I searched the computer and cannot find lcec_conf anywhere.

Hi. If you figure out how I can send you 10GB of data, I can send you an acronis image of my system, the drivers are already installed and the configuration runs. But I can't set up homing yet.

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jimwhiting
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2 years 1 month ago #309161 by jimwhiting

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

Is the ethercat-conf.xml file in the ~/dev/hal-cia402 directory?

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Evgeny
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2 years 1 month ago #309164 by Evgeny

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

I have this
/home/cnc/hal-cia402
o_O

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chrisfischer
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2 years 1 month ago #309165 by chrisfischer

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

jimwhiting wrote:
Is the ethercat-conf.xml file in the ~/dev/hal-cia402 directory?

Good question, should have mentioned. yes its in there. it wasnt clear from the instructions if anything else is needed like hal files etc.
So right now there is the ethercat-conf.xml the cia402.comp and the lincense and readme files. there is also an example folder with a less complete ethercat-conf.

i used the marcos ethercat-conf file and removed some info as i only have two drives under power right now.

Warning: Spoiler!

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">

    <!-- A axis EL8 Servo Drive -->
    <slave idx="0" type="generic" vid="00004321" pid="000010c3" 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>

    <!-- Z 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>

    

  </master>
</masters>

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