HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
24 Mar 2022 07:20 #238200
by rodw
Replied by rodw on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
Well, this is interesting. Homing is now able to be a user defined module thanks to Dewey Garrett
github.com/LinuxCNC/linuxcnc/commit/08ac...b0cd47dc0eedfbc36785
Docs: linuxcnc.org/docs/devel/html/man/man9/homecomp.9.html
This sounds like what is required.
github.com/LinuxCNC/linuxcnc/commit/08ac...b0cd47dc0eedfbc36785
Docs: linuxcnc.org/docs/devel/html/man/man9/homecomp.9.html
This sounds like what is required.
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- sqmathlete
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28 Mar 2022 23:03 - 28 Mar 2022 23:06 #238562
by sqmathlete
Replied by sqmathlete on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
Hi Rod,
Thanks for you're very detailed instructions on how to install ethercat and linuxcnc . Worked perfectly!
Also, I totally agree, this github.com/LinuxCNC/linuxcnc/commit/08ac...b0cd47dc0eedfbc36785
is very interesting. I think this would be way more elegant than forcing the code to ignore the homing error and would keep everything in one place rather than spread out over several files. Being able to eliminate having to create an ini variable and allow one to focus on dropping through the homing states is also nice. Thanks Garret Dewey!
I've posted my homing.c file, it's a bit of a mess but you can see how I dropped through the homing states.
Dan
Thanks for you're very detailed instructions on how to install ethercat and linuxcnc . Worked perfectly!
Also, I totally agree, this github.com/LinuxCNC/linuxcnc/commit/08ac...b0cd47dc0eedfbc36785
is very interesting. I think this would be way more elegant than forcing the code to ignore the homing error and would keep everything in one place rather than spread out over several files. Being able to eliminate having to create an ini variable and allow one to focus on dropping through the homing states is also nice. Thanks Garret Dewey!
I've posted my homing.c file, it's a bit of a mess but you can see how I dropped through the homing states.
Dan
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Last edit: 28 Mar 2022 23:06 by sqmathlete. Reason: Linked whole paragraph
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28 Mar 2022 23:08 #238563
by sqmathlete
Replied by sqmathlete on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
The previous homing.c file name looked weird. Try this one.
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05 Apr 2022 19:03 #239369
by bkt
Replied by bkt on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
sorry at all .... but can mix old style lcec xml with cia402 style like these?
or need to set all axis with new cia402_comp (in hal and in xml) ??
regards
bkt
<slave idx="0" type="generic" vid="000007DD" pid="01" configPdos="true">
<sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
<sdoConfig idx="60C2" subIdx="1"><sdoDataRaw data="01"/></sdoConfig>
<sdoConfig idx="60C2" subIdx="2"><sdoDataRaw data="FD"/></sdoConfig>
<sdoConfig idx="607E" subIdx="0"><sdoDataRaw data="E0"/></sdoConfig>
<syncManager idx="0" dir="out"></syncManager>
<syncManager idx="1" dir="in"></syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1601">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="driverControl" halType="bit"/>
<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="posCommand" halType="float" scale="71750"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1A01">
<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="errorStat" halType="bit"/>
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="driverStatus" halType="bit"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="posActual" halType="float" scale="0.000013937"/>
<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="velActual" halType="float" scale="0.000013937"/>
<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torkStat" halType="float" scale="0.1"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/>
<slave idx="1" type="generic" vid="000007DD" pid="01" configPdos="true">>
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<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"/>
<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" 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="32" halPin="actual-torque" halType="s32"/>
</pdo>
</syncManager>
</slave>
or need to set all axis with new cia402_comp (in hal and in xml) ??
regards
bkt
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05 Apr 2022 20:03 - 05 Apr 2022 20:05 #239375
by rodw
Replied by rodw on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
CiA402 is a standard that specifies a set of registers and what they do.
So yes, you still need to define them in the ethercat xml file in the first instance.
The cia402.comp of Dominic's brings that standard structure into hal.
sqmathelete (Dan) and I are working on a replacement homing module using the new homecomp.comp in master branch.
Don't hold your breath as its very early days.
If we are successful, the cia402.comp will be likely redundant. It still relies on standard homing.c and it makes a mess of what is needed to home internally so the ability to install our own version of homing.c in the ini file will be very exciting.
EDIT: But the amazing foundation work by Dominc in cia402.comp is a very important part of the proposed module.
So yes, you still need to define them in the ethercat xml file in the first instance.
The cia402.comp of Dominic's brings that standard structure into hal.
sqmathelete (Dan) and I are working on a replacement homing module using the new homecomp.comp in master branch.
Don't hold your breath as its very early days.
If we are successful, the cia402.comp will be likely redundant. It still relies on standard homing.c and it makes a mess of what is needed to home internally so the ability to install our own version of homing.c in the ini file will be very exciting.
EDIT: But the amazing foundation work by Dominc in cia402.comp is a very important part of the proposed module.
Last edit: 05 Apr 2022 20:05 by rodw.
The following user(s) said Thank You: bkt
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05 Apr 2022 22:06 #239395
by bkt
Replied by bkt on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
thanks rodw .... my xml is a mix of xml cia402 and old style xml for ethercat conf .... is possible use it or not? because i receive error and not understand if is related or not.
regards
regards
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05 Apr 2022 22:46 #239397
by rodw
Replied by rodw on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
Yes, I believe so. You just need to make sure the pins required by the component are defined by SDO's in your XML
Dominic has an example XML on his repo
Dominic has an example XML on his repo
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16 Jun 2022 07:24 - 21 Jun 2023 14:00 #245247
by udoS
Replied by udoS on topic HAL CiA402 Drive Interface for Can Bus,Ethercat etc...
Hi to all;
I think I mentioned it somewhere else in some linuxcnc forum but...
Now this is not an open source thing but it works and solves the problem with the CIA402;
www.axelsoftware.it/en/logiclab/
I can hook the plc to the LinuxCNC HAL and do the homing with the drives; then let LinuxCNC take the actual pos;
best regards
I think I mentioned it somewhere else in some linuxcnc forum but...
Now this is not an open source thing but it works and solves the problem with the CIA402;
www.axelsoftware.it/en/logiclab/
I can hook the plc to the LinuxCNC HAL and do the homing with the drives; then let LinuxCNC take the actual pos;
best regards
Last edit: 21 Jun 2023 14:00 by udoS.
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