Ethercat HAL driver

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04 Mar 2020 07:49 #159159 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi @Sockheaven
I do not have the Kollmorgen AKD servo drive, but if this helps you a little with your project, you broken down the control word with the correct form, this would be the enablement pin I think
<complexEntry bitLen="3" halPin="enable-operation" halType="bit"/>
I may have something wrong but it may be the way to go.
Greeting
Chimeno
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04 Mar 2020 19:00 #159208 by Sockheaven
Replied by Sockheaven on topic Ethercat HAL driver
Hmm, I tried implementing your change, but get an error on startup now:
lcec_conf: ERROR: Invalid complexEntry bitLen 0

it doesn't seem to like a bitlength of 0 - is there a different attribute like bitNum?
I can see why bit length might be an error.

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04 Mar 2020 19:39 #159212 by Sockheaven
Replied by Sockheaven on topic Ethercat HAL driver
Ok i changed the bitLen to 1 for each of the signals and the error went away - unfortunately while mapping that new bit to xenable, the HalPin changes, but not the drive state.

I did some researching, and it looks like the Kollmorgen AKD has a State Machine to enable the drive that consists of the first four bits of that control word.

To enable the axis I need to set that control word to 6, and then 15 to enable the amp and tell the drive to follow the set points over the bus.

Anyone have an idea how I would implement that logic?
if I could write teh control word to 6 when the estop was cleared and 15 when the machine was enabled that might work (then back to 6 when the machine disable) but I'm not sure how to implement that logic.

Best Regards,
Paul

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05 Mar 2020 12:25 #159248 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi @Paul

Hmm, I tried implementing your change, but get an error on startup now:
lcec_conf: ERROR: Invalid complexEntry bitLen 0
it doesn't seem to like a bitlength of 0 - is there a different attribute like bitNum?
I can see why bit length might be an error.

sorry I was wrong, memory fails me, I attach a new file with the breakdown of the word status,

To enable the axis I need to set that control word to 6, and then 15 to enable the amp and tell the drive to follow the set points over the bus.

I think you have to look at what status pins you need, for example word 6 is (0110) and 15 (0001 0101)

Greeting
Chimeno
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05 Mar 2020 19:56 #159273 by Sockheaven
Replied by Sockheaven on topic Ethercat HAL driver
Thanks to everyone. I finally got this working. had to implement a few HAL components i havent used before, and theres still some clutter in my hal/ini from being converted from a step/dir implementation. But i was able to get the CAN state machine working over ethercat. I have attached my files in case anyone else has been struggling getting it working and wants an example using a Kollmorgen AKD servo drive.

File Attachment:

File Name: ecat_test_...05-2.hal
File Size:4 KB

File Attachment:

File Name: ecat_test_...3-05.ini
File Size:2 KB

File Attachment:

File Name: ethercat-c...05-2.xml
File Size:5 KB


Best Regards,
Paul
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20 Mar 2020 19:51 #160931 by papagno-source
Replied by papagno-source on topic Ethercat HAL driver
Hi.
Exist a complete procedure for installation ethercat on actual master 2.9-pre0 on debian Wheezy ?
Thanks

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22 Mar 2020 12:09 #161088 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi @papagno-source
Here in the forum there are several examples of installations, simply install
1 install "ec-debianize" https://github.com/sittner/ec-debianize
2 install "linuxcnc-ethercat" https://github.com/sittner/linuxcnc-ethercat
any questions you have here we are.
regards
Chimeno

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22 Mar 2020 17:41 #161124 by papagno-source
Replied by papagno-source on topic Ethercat HAL driver
Hi Chimeno.
Excuse, i don't understand.
I dowload with git actual linuxcnc-dev.
Complile it on debian whhezy rtai.
After copy manually point 1 and pint 2 up link file and remake ?

Excuse i want know first step.

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23 Mar 2020 05:04 #161182 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hi @papagno-source,

Complile it on debian whhezy rtai.

Currently the new version of ec-debianize does not work for systems with rtai kernel, it can work in rtai but my experience in ethercat is that you would have to change to rt-preempt kernel.

here I leave you the link of how it is installed
https://forum.linuxcnc.org/27-driver-boards/35591-beckhoff-ethercat-64-with-bit-linuxcnc-how-to-install?start=0
regards
Chimeno
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06 Apr 2020 23:09 - 06 Apr 2020 23:35 #162977 by CORBETT
Replied by CORBETT on topic Ethercat HAL driver
Hello ALL,

I am hoping someone here has dealt with Beckhoff EL5151 and EL5152 terminals, as I cannot get mine working.

Last year I finally got my Hurco mill running again using EtherCAT with Beckhoff terminals. I have all of the them working correctly except for the EL5151 and EL5152 encoder terminals. I have several of these and I cannot get them working with LinuxCNC. I have looked at the pins through HAL meter and cannot see any change, so I temporarily fixed my problem last year with adding a parallel port with the encoders fed back through to LCNC. Speed is the issue and I want to get the EL515x's working. I am sure that there is a parameter that needs to be set or something to get them working. Just baffling there is no change in HAL meter when rotating the encoder. Nothing under any other pin.

I have tried using Beckhoff TwinCAT in the past, but my trial has expired plus I never could link the PC to a EK1100 coupler so that I could change things in CONFIG mode.

So I have been trying to upload through C prompt to re-set the encoder modules back to factory settings so that I can hopefully get them working. I looked up some of the configuration data on Beckhoff's website and then tried different arguments with no avail. I am not verse in this so, I have been throwing darts hoping to get close. I know there have been some others here on the forum under a different thread that have done this approach to set a EL7041 stepper terminal with encoder input, and change the encoder from external to internal. So I assume I can do this same type of process to re-set the EL515x's or get them into the correct mode.


I tried:
ethercat -p 3 upload --type uint8 0x6C6F6164
and got a 'upload' takes 2 arguments
then this
ethercat -p 3 upload --type uint8 0x6C6F6164 0x11
then
ethercat -p 3 upload --type uint8 0x7000:0 0x11

then tried:
ethercat upload -p 3 -t uint8 1011:0 0x01
got this back:
SDO transfer aborted with code 0x0602000: This object does not exist
in the object directory

then tried:
ethercat upload -p 3 -t uint8 0x6C6F6164 1011:0
got this back:
Invalid SDO index '0x6C6F6164'


What I am trying to do is simply reset the terminals back to where they are in regular encoder mode. Any help will be greatly appreciated. This is practically my last problem to get working.

Here is some links to Beckhoff where I was getting the info:
infosys.beckhoff.com/english.php?content....html#1523863051&id=
infosys.beckhoff.com/english.php?content...=3718412388311428681
infosys.beckhoff.com/english.php?content...=4909407311023276355


Thanks,
Robert
Last edit: 06 Apr 2020 23:35 by CORBETT. Reason: To clarify my question

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