Ethercat HAL driver

hello there,

excuse me gentlmens,

has anybody successfull running of Kollmorgen drives like AKD or older S300-guys please? I am looking for in this thread from page 1 and I found supreme link www.iram.fr/~blanchet/ethercat/akd/examples/ of AKD...

I am owner of S300 stuff, it is basically the same but different...

thanks for any reply

Slav

stay healthy

hello,

looks for me that Beckhoff sold them as AX2000......
This is an normal Coe Drive, so setup should not be very complicated.
There exists many Twincat examples for this drive. If you create an working Twincat config for this, taking the parameters to lcnc-ethercat should be no problem.

what I know about AX2xxx series, it is in licence production of Kollmorgen/Danaher S6xx series. They are same, they have same driveGUI software for configuration etc... but S300 is newer one but very similar as you said... and AKD is current product of Kollmorgen with support but with older is huge problem...

I am asking here because I have existing configuration with S300 drivers + heidenhain 1Vpp linear scales connected to drives and thinking about rebuilt it at ethercat for reading real position and home pulse position from scales... but how I saw it is long long way and no experiences...

What I know from my profesional experiences from PLC world, bckhff and ethercat have most advanced technology of communication and I was shocked about fact it is possible to implement it to lcnc... thankfully by guys like you... thanks

Regards Slav

Hello,

you wrote you have an existing configuration, already ethercat (Beckhoff) or the drives analog controlled with linuxcnc?

In my case, I began with mach long time ago but it was not a way for me... basic code and stability how we all know... later I having 7i76e putted on my lathe(fairly tail began....) now but I hitted limits with realtime position feedback from drive and paralel cables etc etc.... But my machine has just 1Vpp scales... basically I have position loop setted up inside driver but I can not see real position and it is painfull situation now...

S3xx drivers have posibility to put inside ethercat card and I think it should be the way but what I read here it is painfull way at lcnc side of wall...

what I read here, I need in best way - Intel cpu, with realtek 8139 intel chipset for network.. next need ek1100 "koppler " with any card for checking status with xml file + network cable Cat 5 and higher..
this is the easer part of job...

but thankfully, @chimeno and others there, did a lot of stuff by us thanks a lot...

from driver side - i need to know if it is SoE or CoE or what ever else... then find any xml from producer(have one) or export that from twincat and setup SDOs and PDOs...

at lcnc side download right distro(now i have 2.8.1 preemt-rt) and follow one of here well showed step by step tutorial and do that dirty job

easy money or? :laugh:

Hello ,
i can't start linuxCNC with my configuration. I have a new error .
Error in LinuxCNC :
........................
............................
Tvcp.QTVCP.LIB.TOOLBAR_ACTIONS][[37mDEBUG[0m] parceed: text: 50 mm Increment: 50.0 scaled: 1.96850393701 (toolbar_actions.py:609)
[QTvcp.QTVCP.WIDGETS.WIDGET_BASECLASS][[33mWARNING[0m] Nno objectName for HAL pin: <qtvcp.widgets.status_label.StatusLabel object at 0x7f97d1a12180> (widget_baseclass.py:54)
[QTvcp.QTVCP.WIDGETS.JOG_INCREMENTS][[37mDEBUG[0m] Linear Current index: -1 Increment: 0 , selection changed Continuous (jog_increments.py:101)
[QtDesigner.QTVCP.QT_TSTAT][[37mDEBUG[0m] Toolfile does not exist' ../sim.tbl (qt_tstat.py:113)
[QtDesigner.QTVCP.QT_TSTAT][[37mDEBUG[0m] Toolfile does not exist' ../sim.tbl (qt_tstat.py:113)
[QTvcp][[37mDEBUG[0m] Set HAL ready (qtvcp:218)
[QTvcp][[37mDEBUG[0m] Show window (qtvcp:278)
[QTvcp][[36mINFO[0m] postgui filename: [33mqtvcp_postgui.hal[0m (qtvcp:309)
HAL: ERROR: function 'motion-command-handler' may only be added to one thread
qtvcp_postgui.hal:19: addf failed
motmod: already exists
23682
23723
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

This error is displayed in DMESG : Failed to receive DC times datagram: Datagram initialized.

Can't do sync and so gives this error?