Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml

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1 year 6 days ago #337050 by Hakan
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Error messages says pyvcp_panel.hal, line 8.
Only thing I can think of is the line PYVCP=pyvcp_panel.xml in the ini file
that leads to the line it doesn't like.
Code:
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm PYVCP = pyvcp_panel.xml [KINS] JOINTS = 1 KINEMATICS = trivkins coordinates=X
I suggest you comment out that line. It is for customization if I understand right. You can always come back later and look at that.

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1 year 6 days ago #337097 by SPH
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
That sorted it. Just #'d out the two PYVCP lines. Looking back over the build thread it was using probe basic so that's probably the issue.
I now have axis running with one encoder that's reading! Fantastic. Don't have any motor control though. I can move the motor shaft and get count and motion on the simulator display but with the machine enabled I can't jog. The sim shows movement but no shaft rotation.

I'm also getting a Linuxcnc notification "LCEC: Invalid appTimePeriod of 0 for master 0 (should be 1000000)."

A quick search on the forum suggests that relates to:
Code:
[EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 HOMEMOD=always_homed

in the ini file but it's set to 1000000 already.

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1 year 6 days ago #337116 by Hakan
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
That's what makes it so challenging with ethercat. Settings in several places and cross-dependencies.
Anyways, the second line in ethercat-conf.xml has the appTimePeriod setting.
There also :)


There are two more settings you can do now when things start to work.
Add this line right under the "<slave" line
Code:
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>

and go back up to the second line in the file and add a minus-sign to the refClockSyncCycles value
Code:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1000"

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1 year 6 days ago #337121 by SPH
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Righto I've added those lines in. No change on the x axis motor movement though.

In the interim I've connected up my second servo drive in order to start getting a full setup. I've essentially just copied and pasted the working x drive info but I'm getting
Code:
[code][code]./EL8_machine.hal:69: Pin 'joint.1.motor-pos-fb' does not exist
I've attached the files. No doubt it's some stupid simple thing.

*Is it easier if I just put the files straight into the post as code rather than attaching them? I want to make sure it's as easy as possible for everyone.[/code][/code]

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1 year 6 days ago #337123 by Hakan
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Ok, it's the second line in the hal file,  num_joints=2

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1 year 5 days ago #337124 by SPH
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Ah, yep, stupid simple. I'd been going back and forward for about an hour trying to figure that out.

One step forward, two steps back. Now throwing the error:
Code:
[code][code]Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl: Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 LINUXCNC - 2.9.4 Machine configuration directory is '/home/cnc/linuxcnc/configs/linuxcnc_leadshine_EL8' Machine configuration file is 'EL8_machine.ini' INIFILE=/home/cnc/linuxcnc/configs/linuxcnc_leadshine_EL8/EL8_machine.ini VERSION=1.1 check_config: INCONSISTENT coordinates specifications: trivkins coordinates=X [TRAJ]COORDINATES=XZ PARAMETER_FILE=linuxcnc.var TPMOD= HOMEMOD=always_homed TASK=milltask HALUI=halui DISPLAY=axis COORDINATES=XZ KINEMATICS=trivkins coordinates=X Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io emc/iotask/ioControl.cc 786: can't load tool table. Starting HAL User Interface program: halui linuxcnc TPMOD=tpmod HOMEMOD=always_homed EMCMOT=motmod Found file(REL): ./EL8_machine.hal Starting TASK program: milltask Starting DISPLAY program: axis Shutting down and cleaning up LinuxCNC... task: 103 cycles, min=0.000008, max=0.010081, avg=0.008640, 0 latency excursions (> 10x expected cycle time of 0.010000s) @@@always_homed.comp:extra_setup: home_parms=no_home_parms !!!always_homed.comp: Skeleton Homing Module Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: Note: Using POSIX realtime note: MAXV max: 50.000 units/sec 3000.000 units/min note: LJOG max: 50.000 units/sec 3000.000 units/min note: LJOG default: 2.500 units/sec 150.000 units/min Traceback (most recent call last): File "/usr/bin/axis", line 3655, in <module> ja_id = aletter_for_jnum(jnum) ^^^^^^^^^^^^^^^^^^^^^^ File "/usr/bin/axis", line 3642, in aletter_for_jnum return trivkinscoords.upper()[jnum] ~~~~~~~~~~~~~~~~~~~~~~^^^^^^ IndexError: string index out of range 6055 6087 Stopping realtime threads Unloading hal components Note: Using POSIX realtime

Files attached. [/code][/code]

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1 year 5 days ago #337125 by Hakan
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
This one
Code:
check_config: INCONSISTENT coordinates specifications: trivkins coordinates=X [TRAJ]COORDINATES=XZ

That is a line in the ini file
Code:
KINEMATICS = trivkins coordinates=X
should be XZ

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1 year 5 days ago #337127 by SPH
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Ah, so simple. I've been committing the cardinal sin of making multiple changes at once.
Up and running again and OH YEAH! Got motor motion! Although I must admit I'm a bit unsure what's changed to make it start working...

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1 year 5 days ago #337129 by SPH
Replied by SPH on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
Hakan, thanks so much for taking the time to help get this working. I can switch off for the night on a high now. Lots more to do but being able to jog a drive feels like a big step forward.

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1 year 5 days ago #337131 by Hakan
Replied by Hakan on topic Help with Delta E3 Ethercat drives - hal and ethercat-conf.xml
I guess you should use Probe Basic or QtDragon or some other cute hmi.
Now the ethercat part is sorted, just normal linuxcnc config left.

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