Ethercat HAL driver

theshade wrote: Dear @Chimeno,

I am still a little lost I think. I received the drives this morning and loaded the ECT60 description file in TWINCAT and I have managed to move the motors using the NC so this is good.

And I have a working config and pdo in twincat. It curently uses CSP (cyclic dynamic position mode). I tried to change to PP but it doesn't work when I do....

Now when I export the "startup" which is much more full of data...

it saves a very generic file with almost no info:
test.xml

File Attachment:

File Name: test.xml
File Size:361 B

So I don't yet understand what I should export in xml from twincat..
Also I don't know how to export pdo's there is no export to xml in this window...

Sorry I can't understand what I need to do to export the two xml files from twincat...
I guess one is for PDOs and one for startup config.
1. Do I need to write the files by hand because export from twincat doesn't seem to work? Did you write the example files you sent me manually?
2. or how did you export them from twincat? Maybe I missunderstood and twincat is only for experimenting on the settings.

Thank you again so much in advance and sorry for being slow to understand.

So I edited manually the .xml from my current understanding:
I only added the PDO with SM2 and SM3... I don't know really know if the others pdo idx are useful, nor the reason they exist in twincat.
So I loaded this xml in linuxcnc and after a few trials I still do get errors which are probably due to the fact that I don't really know what to put in the DC sync config and ref clock sync cycles...
In twincat it seems to work at 2000us...

So I changed to:
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<dcConf assignActivate="500" sync0Cycle="2000000" sync0Shift="1000000"/>
according to the thread here:
forum.linuxcnc.org/38-general-linuxcnc-q...rcat-sync-dc-problem

but then I get this:
[ 2350.778194] EtherCAT WARNING: Datagram e64197b9 (master-fsm) was SKIPPED 1 time.
[ 2385.334576] EtherCAT: Requesting master 0...
[ 2385.334592] EtherCAT: Successfully requested master 0.
[ 2385.335248] EtherCAT 0: Domain0: Logical address 0x00000000, 18 byte, expected working counter 3.
[ 2385.335256] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 18 byte, type LRW.
[ 2385.335411] EtherCAT 0: Master thread exited.
[ 2385.335422] EtherCAT 0: Starting EtherCAT-OP thread.
[ 2385.335562] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 2385.494210] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 2385.496263] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 2385.500254] EtherCAT 0-0: Acknowledged state PREOP.

chimeno wrote: Hello @jc2ktr
I don't have that unit,
Is the unit in OP mode?
You can read this post in linuxcnc

Code:

PositionActualValue

, then you only have to enable the unit
compare these signals with TWINCAT3 to see which ones you have to enable

Code:

complexEntry bitLen="1" halPin="SwitchON" halType="bit"/> <complexEntry bitLen="1" halPin="EnableVoltage" halType="bit"/> <complexEntry bitLen="1" halPin="NoQuickStop" halType="bit"/> <complexEntry bitLen="1" halPin="EnableOperation" halType="bit"/> <complexEntry bitLen="1" halPin="OpMode-bit01" halType="bit"/> <complexEntry bitLen="1" halPin="OpMode-bit02" halType="bit"/> <complexEntry bitLen="1" halPin="OpMode-bit03" halType="bit"/> <complexEntry bitLen="1" halPin="FaultReset" halType="bit"/> <complexEntry bitLen="1" halPin="TimeOut" halType="bit"/> <complexEntry bitLen="1" halPin="OpMode-bit04" halType="bit"/> <complexEntry bitLen="1" halPin="bit10" halType="bit"/> <complexEntry bitLen="1" halPin="bit11" halType="bit"/> <complexEntry bitLen="1" halPin="bit12" halType="bit"/> <complexEntry bitLen="1" halPin="bit13" halType="bit"/> <complexEntry bitLen="1" halPin="bit14" halType="bit"/> <complexEntry bitLen="1" halPin="bit15" halType="bit"/>

in TWINCAT3 you have enabled the "distributed clock"
in your .xml file you don't have the line

Code:

<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"

Gretting
Chimeno

I can already enable the drive, when i set the line:

net x-enable => lcec.0.M701.EnableVoltage lcec.0.M701.EnableOperation lcec.0.M701.SwitchON lcec.0.M701.NoQuickStop

I think the Unit was in op mode, will try it later again.

chimeno wrote: Hello @jc2ktr
I will try to help you in everything I can,

I can already enable the drive, when i set the line:

net x-enable => lcec.0.M701.EnableVoltage lcec.0.M701.EnableOperation lcec.0.M701.SwitchON lcec.0.M701.NoQuickStop

I think the Unit was in op mode, will try it later again.

Is it possible that you have the driver configured in another mode? there are several modes, speed, position ..


the first thing is to try to solve error by mistake
1- error motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: kinematicsType
something seems to be wrongly compiled, you still have to compile linuxcnc again without ethercat configuration, if linuxcnc starts correctly, go to step 2
2- configure the 2 pre-configured devices EK100 / EL1809 / EL2004 and start linuxcnc and see that they work correctly.
3-create another configuration, just the generic one, and first try to get linuxcnc to start and put the device in OP, then if it starts to configure by trial and error.

Greeting
Chimeno