Ethercat HAL driver

arvidb
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5 years 8 months ago #199422 by arvidb

Replied by arvidb on topic Ethercat HAL driver

A typo there I guess? 500 ns = 0.5 µs = 2 MHz.

So the cycle time is probably in units of 1 µs?

The following user(s) said Thank You: db1981

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bkt
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5 years 8 months ago - 5 years 8 months ago #199425 by bkt

Replied by bkt on topic Ethercat HAL driver

@db1981

Warning: Spoiler!

Last edit: 5 years 8 months ago by bkt.

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jc2ktr
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5 years 8 months ago #199426 by jc2ktr

Replied by jc2ktr on topic Ethercat HAL driver

db1981 wrote: hello,

0x1006 is the com cycle time = 500ns this is equal to your ethercat app cycle time
0x60C2 is the interpolation time, it's also 50ms * 10^ -5 = 500ns.

is your servo_period in the ini (thread which executes lcec_read/write) also set to 500ns (2khz) ?

This is my hal line with the periods:

loadrt [KINS]KINEMATICS
loadrt motmod base_period_nsec=500000 servo_period_nsec=1000000 traj_period_nsec=100000

when i try to change the servo period linuxcnc did not start anymore.

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db1981
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5 years 8 months ago #199431 by db1981

Replied by db1981 on topic Ethercat HAL driver

thats an servo_period of 1ms,
In which of this threads the lcecs are called (addf)

can you attach the hal file, seems there is something strange with the bus cycle time and the dcconf.

In the Indramat manual is written, that for an position control cycle at 0,25ms (fix for this drive) the communcation period should be min. 1ms.

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jc2ktr
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5 years 8 months ago #199432 by jc2ktr

Replied by jc2ktr on topic Ethercat HAL driver

db1981 wrote: thats an servo_period of 1ms,
In which of this threads the lcecs are called (addf)

can you attach the hal file, seems there is something strange with the bus cycle time and the dcconf.

In the Indramat manual is written, that for an position control cycle at 0,25ms (fix for this drive) the communcation period should be min. 1ms.

This is my halfile where lcec is loaded

File Attachment:

File Name: ec_rexroth.hal
File Size:1.16 KB

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db1981
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5 years 8 months ago #199436 by db1981

Replied by db1981 on topic Ethercat HAL driver

@bkt

this does not match the drivers pdo. If this is an used device (ebay etc.. ) the card may be is configured for 16 Bit Mode. Factory standart would be 32 Bit mode (MDP511), for this the driver is configured.

Is this exactly an EL5151 or an special type EL5151-00XX ?.

Do you have acces to twincat? this would be much faster then configure the Card with sdo commands.

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