the choices of NIC for 6 DOF robot with linuxcnc

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10 years 5 months ago #74405 by chuchengbing
Thanks cgc. As you said, I start with a configuration and only with one slave.When I closed the distributed clocks in my xml file, there is not any PLL errors and when I add the distributed clocks, PLL error occured even with one slave. That just means the PLL error questions have the relationships with the DC configs and the configuration of DC I did before is not corrected. What is confused is how to correctly configure the DC?

cgc wrote: Hello,
please start with a simple configuration and only with one slave.
If this is running, you can take all slaves and more registers.
Maybe try a config like this:

Warning: Spoiler!


And try first without distributed clocks, disabe line <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>

Please tell us a litte bit about your hardware, manufacturer, type ....

If you start the PC, what say "ehercat slaves" ?

regards Frank

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10 years 5 months ago - 10 years 5 months ago #74407 by sirop
If your slave manual does not give you complete info on the DC mode of your slave (AssignActivate word),
you might need to consult:
download.beckhoff.com/download/document/...c2_registers_2i7.pdf
about registers 0x0980 and 0x0981 .
Last edit: 10 years 5 months ago by sirop. Reason: typo
The following user(s) said Thank You: chuchengbing

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10 years 5 months ago - 10 years 5 months ago #74447 by chuchengbing
Thanks for all.
Now it also has the errors:
EtherCAT 0: Released.
EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
EtherCAT 0-0: Acknowledged state SAFEOP.
EtherCAT ERROR 0-1: AL status message 0x0032: "PLL error".
EtherCAT 0-1: Acknowledged state SAFEOP.
EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
EtherCAT 0-2: Acknowledged state SAFEOP.
I think the reasion is DC configruation in xml file and the parameter(now,AssignActivate="300", Sync0Cycle="*1", Sync0shift="0") which I set are not correctly. And the parameter which is most likely to go wrong is "Syncshift". Can any one can tell me how to set this parameter correctly?
Thanks very much!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Last edit: 10 years 5 months ago by chuchengbing.

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10 years 5 months ago #74449 by sirop
Can you please paste the part of your slave XML file that describes the DC.
I mean the so called ESI XML that comes from the vendor.
The XML tag that part begins with is usually <DC> .

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10 years 5 months ago #74482 by chuchengbing
Hi sirop, thanks for the reply.
Of course, the below details is the DC contents contained in the XML file from the vendor:
I just plate the contents about the DC, thank you.
<Dc Unknown64Bit="1" UnknownFRMW="1">
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</Desc>
<AssignActivate>#x0300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
</OpMode>
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>

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10 years 5 months ago #74483 by chuchengbing
I also think about it, when I don't use the DC,it is OK. So, is there a possibility that there is something wrong in the EtherCAT master? The master I am using now comes from the system and is embedded into the Linux kernel, when the system is on, the master run automatically.
Does someone know the version of ethercat master which can configure the DC correctly?
Thanks again!!!!!!!!!!!!!!!!!!!

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