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Issue with LinuxCNC Pins showing zero
1 year 8 months ago #322048
by mc_cubus
Issue with LinuxCNC Pins showing zero was created by mc_cubus
Hello Everyone,
I'm have an IFC2411 confocal sensor (Micro-Epsilon) on my EtherCAT network. The sensor is recognized and appears in OP state:
I can do an SDO read of 0x6000:01 and get non-zero distance values—proving the sensor is physically measuring and returning data internally:
The ethercat pdos -p 4 says:
However, in LinuxCNC’s HAL pins (e.g.
), the value stays at 0.
The slave is defined in ethercat_conf.xml as follows:
The .hal file contains the following mappings:
I have the feeling that I am overseeing something trivial and would be thankful for any kind of help!
Cheers,
I'm have an IFC2411 confocal sensor (Micro-Epsilon) on my EtherCAT network. The sensor is recognized and appears in OP state:
Code:
0 0:0 OP + ECOMODUL
1 0:1 OP + PD4-Ex-E-65-1 EtherCAT Drive (CoE)
2 0:2 OP + ECAT-2513 4-Port EtherCAT Junction(IN/OUT1)
3 0:3 OP + ECAT-2513 4-Port EtherCAT Junction(OUT2/OUT3)
4 0:4 OP + IFC2411
Code:
ethercat upload -p 4 0x6000 0x01 --type uint32
0x001d6fe3 1929187
The ethercat pdos -p 4 says:
Code:
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize 24, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6000:01, 32 bit, ""
TxPDO 0x1a30 ""
PDO entry 0x6010:01, 32 bit, ""
TxPDO 0x1a80 ""
PDO entry 0x6030:01, 32 bit, ""
TxPDO 0x1ae0 ""
PDO entry 0x7000:01, 32 bit, ""
TxPDO 0x1ae8 ""
PDO entry 0x7001:01, 32 bit, ""
TxPDO 0x1af0 ""
PDO entry 0x7002:01, 32 bit, ""
However, in LinuxCNC’s HAL pins (e.g.
Code:
lcec.0.IFC2411Sensor.ifc2411-distance
Code:
halcmd show pin lcec.0.IFC2411Sensor
Component Pins:
Owner Type Dir Value Name
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-counter ==> ifc2411-counter
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-distance ==> ifc2411-distance
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-frequency ==> ifc2411-frequency
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-intensity ==> ifc2411-intensity
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-shutter ==> ifc2411-shutter
37 s32 OUT 0 lcec.0.IFC2411Sensor.ifc2411-timestamp ==> ifc2411-timestamp
37 bit OUT TRUE lcec.0.IFC2411Sensor.slave-online
37 bit OUT TRUE lcec.0.IFC2411Sensor.slave-oper
37 bit OUT FALSE lcec.0.IFC2411Sensor.slave-state-init
37 bit OUT TRUE lcec.0.IFC2411Sensor.slave-state-op
37 bit OUT FALSE lcec.0.IFC2411Sensor.slave-state-preop
37 bit OUT FALSE lcec.0.IFC2411Sensor.slave-state-safeop
The slave is defined in ethercat_conf.xml as follows:
Code:
<slave idx="4" name="IFC2411Sensor" type="generic" vid="0x00000607" pid="0x62ece209" configPdos="true">
<syncManager idx="3" dir="in">
<!-- Channel 1 distance 1 TxPDOMap OV1 -->
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="ifc2411-distance" halType="s32"/>
</pdo>
<!-- Channel 1 intensity 1 TxPDOMap OV1 -->
<pdo idx="1a30">
<pdoEntry idx="6010" subIdx="01" bitLen="32" halPin="ifc2411-intensity" halType="s32"/>
</pdo>
<!-- Channel 1 shutter TxPDOMap OV1 -->
<pdo idx="1a80">
<pdoEntry idx="6030" subIdx="01" bitLen="32" halPin="ifc2411-shutter" halType="s32"/>
</pdo>
<!-- Counter TxPDOMap OV1 -->
<pdo idx="1ae0">
<pdoEntry idx="7000" subIdx="01" bitLen="32" halPin="ifc2411-counter" halType="s32"/>
</pdo>
<!-- Time stamp TxPDOMap OV1 -->
<pdo idx="1ae8">
<pdoEntry idx="7001" subIdx="01" bitLen="32" halPin="ifc2411-timestamp" halType="s32"/>
</pdo>
<!-- Frequency TxPDOMap OV1 -->
<pdo idx="1af0">
<pdoEntry idx="7002" subIdx="01" bitLen="32" halPin="ifc2411-frequency" halType="s32"/>
</pdo>
</syncManager>
</slave>
The .hal file contains the following mappings:
Code:
#PDOs to HAL Pins mapping for IFC2411 Confocal Sensor
net ifc2411-distance <= lcec.0.IFC2411Sensor.ifc2411-distance
net ifc2411-intensity <= lcec.0.IFC2411Sensor.ifc2411-intensity
net ifc2411-shutter <= lcec.0.IFC2411Sensor.ifc2411-shutter
net ifc2411-counter <= lcec.0.IFC2411Sensor.ifc2411-counter
net ifc2411-timestamp <= lcec.0.IFC2411Sensor.ifc2411-timestamp
net ifc2411-frequency <= lcec.0.IFC2411Sensor.ifc2411-frequency
I have the feeling that I am overseeing something trivial and would be thankful for any kind of help!
Cheers,
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1 year 8 months ago #322058
by rodw
Replied by rodw on topic Issue with LinuxCNC Pins showing zero
I suspect some SDOs need to be set. Not sure if I am reading the right manual but on P 104 it says
In object 0x1C13, it is selected which PDOs are to be transferred. The PDO mapping objects are selected.
In object 0x1C13, it is selected which PDOs are to be transferred. The PDO mapping objects are selected.
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1 year 8 months ago #322066
by mc_cubus
Replied by mc_cubus on topic Issue with LinuxCNC Pins showing zero
ok I tried setting the SDOs as specified in the manual, i.e.:
Now, when running linuxcnc I get:
I suspect that the Sensor comes up with a default (locked) PDO assignment, since ethercat pdos -p 4 says:
And also with $ ethercat upload -p 4 0x1C13 0x00 --type uint8 one can see which PDOs are assigned to the 0x1C13 object and all are already assigned to it.
I am trying to figure out if the problem lies on the Sensor side or I did something wrong with LinuxCNC configuration.
Code:
<!-- Example initCmds to map 0x1A00 to SM3 (0x1C13) -->
<!-- 1) Clear existing SM3 assignments -->
<InitCmd>
<Transition>PS</Transition>
<Comment>clear sm pdos (0x1C13)</Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs> <!-- CoE command -->
<Index>0x1C13</Index>
<SubIndex>0</SubIndex>
<Data>00</Data> <!-- zero => no assigned PDOs -->
</InitCmd>
<!-- 2) Add 1A00 as the first PDO to SM3 -->
<InitCmd>
<Transition>PS</Transition>
<Comment>add pdo 0x1A00 to sm3</Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>0x1C13</Index>
<SubIndex>1</SubIndex>
<Data>1a00</Data> <!-- This is the hex index of the PDO (0x1A00) -->
</InitCmd>
<!-- 3) Set the new count of assigned PDOs to 1 -->
<InitCmd>
<Transition>PS</Transition>
<Comment>download pdo 0x1C13:00 index => 1</Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>0x1C13</Index>
<SubIndex>0</SubIndex>
<Data>01</Data> <!-- 1 assigned PDO in SM3 -->
</InitCmd>
Now, when running linuxcnc I get:
Code:
Waiting for component 'lcec' to become ready..........................Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=0, error -5, abort_code 06010002)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00
Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x01, size 2, byte0=26, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:01
.Failed to execute SDO download: Input/output error
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=1, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=0, error -5, abort_code 06010002)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x01, size 2, byte0=26, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:01
LCEC: slave 0.IFC2411Sensor: Failed to execute SDO download (0x1c13:0x00, size 1, byte0=1, error -5, abort_code 00000000)
LCEC: failed to configure slave 0.IFC2411Sensor sdo 1c13:00
I suspect that the Sensor comes up with a default (locked) PDO assignment, since ethercat pdos -p 4 says:
Code:
ethercat pdos -p 4
SM0: PhysAddr 0x1000, DefaultSize 1024, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize 1024, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize 0, ControlRegister 0x64, Enable 1
SM3: PhysAddr 0x1818, DefaultSize 24, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 ""
PDO entry 0x6000:01, 32 bit, ""
TxPDO 0x1a30 ""
PDO entry 0x6010:01, 32 bit, ""
TxPDO 0x1a80 ""
PDO entry 0x6030:01, 32 bit, ""
TxPDO 0x1ae0 ""
PDO entry 0x7000:01, 32 bit, ""
TxPDO 0x1ae8 ""
PDO entry 0x7001:01, 32 bit, ""
TxPDO 0x1af0 ""
PDO entry 0x7002:01, 32 bit, ""
And also with $ ethercat upload -p 4 0x1C13 0x00 --type uint8 one can see which PDOs are assigned to the 0x1C13 object and all are already assigned to it.
I am trying to figure out if the problem lies on the Sensor side or I did something wrong with LinuxCNC configuration.
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1 year 8 months ago #322678
by mc_cubus
Replied by mc_cubus on topic Issue with LinuxCNC Pins showing zero
Ok, apparently I just needed to restart the Sensor couple of times in a row and now I started to see the data. The topic may be closed.
Cheers,
Cheers,
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