Forum Menu

Ethercat HAL driver

More
5 years 5 months ago #210661 by db1981
Replied by db1981 on topic Ethercat HAL driver
hi,

-the drive is working with the control software and behaves normal? only linuxcnc/ethercat don't works?

please post the output of "ethercat pdos" :
-after booting the pc and powering up the drive
-while linuxcnc is running

Please Log in or Create an account to join the conversation.

More
5 years 5 months ago #210668 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Hello ,
I found the problem. This line was missing in my xml file.
<dcConf sync0Shift="0" sync0Cycle="*1" assignActivate="300"/>

The device now shows feedback. The problem with the control word remains. I can't get the device to harden the motor shaft.
I tried through the terminal and commands but no success.
Code:
moriseiki@debian:~$ sudo -s [sudo] password for moriseiki: root@debian:/home/moriseiki# dmesg --clear root@debian:/home/moriseiki# dmesg root@debian:/home/moriseiki# ethercat debug 1 root@debian:/home/moriseiki# ethercat download -t int16 0x6040 0 15 root@debian:/home/moriseiki# dmesg [ 2176.175743] EtherCAT DEBUG 0: ecrt_master_sdo_download(master = 0x00000000512fad93, slave_position = 0, index = 0x6040, subindex = 0x00, data = 0x0000000089271200, data_size = 2, abort_code = 0x00000000c76f196f) [ 2176.175747] EtherCAT DEBUG 0-main-0: Scheduling SDO download request. [ 2176.179414] EtherCAT DEBUG 0-main-0: Processing SDO request... [ 2176.179419] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6040:00. [ 2176.179420] EtherCAT DEBUG: 0F 00 [ 2176.179424] EtherCAT DEBUG 0-main-0: Expedited download request: [ 2176.179424] EtherCAT DEBUG: 00 20 2B 40 60 00 0F 00 00 00 [ 2176.191541] EtherCAT DEBUG 0-main-0: Download response: [ 2176.191545] EtherCAT DEBUG: 00 30 6B 40 60 00 0F 00 00 00 [ 2176.191552] EtherCAT DEBUG 0-main-0: Finished SDO request. root@debian:/home/moriseiki# ethercat upload -t int16 0x6041 0 0x0050 80 root@debian:/home/moriseiki# dmesg [ 2176.175743] EtherCAT DEBUG 0: ecrt_master_sdo_download(master = 0x00000000512fad93, slave_position = 0, index = 0x6040, subindex = 0x00, data = 0x0000000089271200, data_size = 2, abort_code = 0x00000000c76f196f) [ 2176.175747] EtherCAT DEBUG 0-main-0: Scheduling SDO download request. [ 2176.179414] EtherCAT DEBUG 0-main-0: Processing SDO request... [ 2176.179419] EtherCAT DEBUG 0-main-0: Downloading SDO 0x6040:00. [ 2176.179420] EtherCAT DEBUG: 0F 00 [ 2176.179424] EtherCAT DEBUG 0-main-0: Expedited download request: [ 2176.179424] EtherCAT DEBUG: 00 20 2B 40 60 00 0F 00 00 00 [ 2176.191541] EtherCAT DEBUG 0-main-0: Download response: [ 2176.191545] EtherCAT DEBUG: 00 30 6B 40 60 00 0F 00 00 00 [ 2176.191552] EtherCAT DEBUG 0-main-0: Finished SDO request. [ 2197.402119] EtherCAT DEBUG 0: ecrt_master_sdo_upload(master = 0x00000000512fad93, slave_position = 0, index = 0x6041, subindex = 0x00, target = 0x000000006ec3cf86, target_size = 2, result_size = 0x000000008b654c67, abort_code = 0x00000000c76f196f) [ 2197.402124] EtherCAT DEBUG 0-main-0: Scheduling SDO upload request. [ 2197.402785] EtherCAT DEBUG 0-main-0: Processing SDO request... [ 2197.402789] EtherCAT DEBUG 0-main-0: Uploading SDO 0x6041:00. [ 2197.402791] EtherCAT DEBUG 0-main-0: Upload request: [ 2197.402793] EtherCAT DEBUG: 00 20 40 41 60 00 00 00 00 00 [ 2197.414889] EtherCAT DEBUG 0-main-0: Upload response: [ 2197.414892] EtherCAT DEBUG: 00 30 4B 41 60 00 50 00 00 00 [ 2197.414898] EtherCAT DEBUG 0-main-0: Uploaded data: [ 2197.414899] EtherCAT DEBUG: 50 00 [ 2197.414902] EtherCAT DEBUG 0-main-0: Finished SDO request. root@debian:/home/moriseiki# ethercat pdos SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x36, Enable 1 SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x32, Enable 1 SM2: PhysAddr 0x1100, DefaultSize 200, ControlRegister 0x74, Enable 1 RxPDO 0x1600 "" PDO entry 0x6040:00, 16 bit, "" PDO entry 0x607a:00, 32 bit, "" SM3: PhysAddr 0x1d00, DefaultSize 200, ControlRegister 0x30, Enable 1 TxPDO 0x1a00 "" PDO entry 0x6041:00, 16 bit, "" PDO entry 0x6064:00, 32 bit, "" root@debian:/home/moriseiki#

Please Log in or Create an account to join the conversation.

More
5 years 5 months ago #210673 by db1981
Replied by db1981 on topic Ethercat HAL driver
you can't write to the controlword through terminal, 6040 is assigned to an pdo and there is only sdo access through terminal. your value will not be recognized.

please do an upload of 0x6080 (modes of operation display) after lcnc has started, to check if it is realy set to 8.

Please Log in or Create an account to join the conversation.

More
5 years 5 months ago - 5 years 5 months ago #210785 by besriworld
Replied by besriworld on topic Ethercat HAL driver
Yes, after checking the address x6061, I saw that the operation mode is not recorded correctly.After changing this value refClockSyncCycles="1" to 1000. operation mode (valve) save correctly .
but I still can't activate the servo.
In Twincat with control word 15 the servo holds the shaft. .
Last edit: 5 years 5 months ago by besriworld.

Please Log in or Create an account to join the conversation.

More
5 years 5 months ago #210795 by db1981
Replied by db1981 on topic Ethercat HAL driver
ahh, you have an working twincat config.
please post the twincat file, and i will check the differences.

Please Log in or Create an account to join the conversation.

More
5 years 5 months ago #210817 by besriworld
Replied by besriworld on topic Ethercat HAL driver
I fixed the problem. I used another example(mux4) to send the control command. Thank you very much to everybody . I will publish the configuration files after I make everything work fine.

Please Log in or Create an account to join the conversation.

Time to create page: 0.269 seconds
Powered by Kunena Forum