1. Configuring LinuxCNC
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  7. Ethercat HAL driver

Ethercat HAL driver

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15 Nov 2021 09:25 #226560 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hello,

please check if in the folder /etc/udev/rules.d  a file named 99-EtherCAT.rules  exists...

if not create this file in the folder  with this line in it:

KERNEL ==" EtherCAT [0 -9]*" , MODE ="0664"

after a reboot, it should work. 

Note, that you have to use the editor for creating the file with sudo rights. z.b."sudo pluma /etc/udev/ruldes.d/99-EtherCAT.rules" 

 

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15 Nov 2021 11:37 #226569 by Schaumstofffräsnewbie
Replied by Schaumstofffräsnewbie on topic Ethercat HAL driver
This file is already existing, but named 99-ethercat.rules instead of 99-EtherCAT.rules ..

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15 Nov 2021 11:58 #226570 by db1981
Replied by db1981 on topic Ethercat HAL driver
I don't understand what happends, the last days it was running on your pc....

try :
-sudo adduser $USER ethercat
and
-sudo adduser root ethercat

-> reboot

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15 Nov 2021 12:21 #226573 by Schaumstofffräsnewbie
Replied by Schaumstofffräsnewbie on topic Ethercat HAL driver
That worked. Now I got these errors, but I suppose that is cause there are only the lcec lines in my hal file at the moment.
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15 Nov 2021 13:22 #226576 by db1981
Replied by db1981 on topic Ethercat HAL driver
yes, add motion and the other stuff again...

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06 Apr 2022 09:09 - 08 Apr 2022 07:01 #239424 by GuiHue
Replied by GuiHue on topic Ethercat HAL driver
blanked, see new post for ping.
Last edit: 08 Apr 2022 07:01 by GuiHue.

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08 Apr 2022 07:04 #239624 by GuiHue
Replied by GuiHue on topic Ethercat HAL driver

I think it doesn't reach the op state.
 


Hi Alex,

did you ever manage to make any progress on this? From what google tells me, this is the only information on a bk1120 with linuxcnc-ethercat I could find. I have a similar setup for trying out and I'm stuck at the same point.

Generally I would argue that when devices coupled through a BK1120 to ethercat, than it should be possible to make that work somehow. At the very least on the level of ethercat on linux itself. From there on, the worst that could happen is some new programming within linuxcnc-ethercat. However, I would hope that a generic configuration would suffice.

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16 Jul 2022 09:45 - 16 Jul 2022 18:39 #247436 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver
I got a huge Problem with my ethercat bus :( Recently died my old PC. I´ve set up a new one with Debian11 and the EtherCAT install thread pinned here in the forum. Then copied my machine backup, but every time i start my machine the OS freezes and the bus Stops. My dmesg after a hard reboot looks alike:

Warning: Spoiler!


EDIT: 
In the DMESG-Log it seems that Ethercat Telegrams get lost. Who is sending these Telegrams ? The EC-Master? or the Slaves?

This is my Config:
 

File Attachment:

File Name: EtherCAT_SOE.rar
File Size:44 KB

 
Attachments:
Last edit: 16 Jul 2022 18:39 by jc2ktr. Reason: additions

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17 Jul 2022 18:19 #247576 by endian
Replied by endian on topic Ethercat HAL driver
hello gentelmens,

have anybody some time to check what is wrong with my lcec config for one benchtop testing axis running under lcec please? driver waiting in preop mode and does not run to op mode. it is kollmorgen S300+ethercat motion card plugged in. I attached photo from original configuration program from that brand. there are some mapped PDOs. I tried used that PDOs but without any succes as running with my configuration of free mapped PDOs.

ps. configs are just for beginning with ethercat, for read stuff from drive and to try workflow.

thanks

regards foxington
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22 Jul 2022 08:10 #248013 by endian
Replied by endian on topic Ethercat HAL driver
hello, 

I am struggling around setup a ethercat driver for working in CSP. I found some commands which are different then others in this topic. Is it my .xml code right please?

Have anybody idea of red rectangles in the picture please? Other stuff is clear to me.
    <!-- SETUP FREE MAPPING PDOs via objects 0x1C12 and 0x1C13 -->

      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      
          <!-- Clear RX PDO -->
          <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="00 63 6C 65"/>
          </sdoConfig>
      
          <!-- Map status word lenght 0x10 == 16 bit to TX-PDO1 -->
           <!-- 0x6041 0010 == register 0x6041 + value 0x10(16bit decimal) -->
          <sdoConfig idx="1A00" subIdx="01">
            <sdoDataRaw data="10 00 41 60"/>
          </sdoConfig>
          
          <!-- Map position feedback double word lenght to TX-PDO1 -->
          <!-- 0x6064 0020 == 0x20 == 0d32 bit -->
          <sdoConfig idx="1A00" subIdx="02">
            <sdoDataRaw data="20 00 64 60"/>
          </sdoConfig>
          
          <!-- Set TX-PDO1 total count to 2 -->
          <sdoConfig idx="1A00" subIdx="00">
            <sdoDataRaw data="02 64 6F 77"/>
          </sdoConfig>
          
      
          <!-- Clear RX-PDO -->
          <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="00 63 6C 65"/>
          </sdoConfig>
          
          <!-- Map control word lenght 0x10 == 16 bit to RX-PDO1 -->
          <!-- 0x6040 0010 == 16bit -->
          <sdoConfig idx="1600" subIdx="01">
            <sdoDataRaw data="10 00 40 60"/>
          </sdoConfig>
          
          <!-- Map position command double word lenght to RX-PDO1 -->
          <!-- 0x607A 0020 == 0x20 == 0d32 bit -->
          <sdoConfig idx="1600" subIdx="02">
            <sdoDataRaw data="20 00 7A 60"/>
          </sdoConfig>
          
          <!-- Set RX-PDO1 count to 2 -->
          <sdoConfig idx="1600" subIdx="00">
            <sdoDataRaw data="02 64 6F 77"/>
          </sdoConfig>
              
              
      <!-- Download PDO 0x1C12:01 index -->
      <!-- 0x1600 -->
      <sdoConfig idx="1C12" subIdx="01">
        <sdoDataRaw data="00 16"/>
      </sdoConfig>
      
      <!-- Download PDO 0x1C12 count -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="01"/>
      </sdoConfig>


      <!-- Download PDO 0x1C13:01 index -->
      <!-- 0x1A00 -->
      <sdoConfig idx="1C13" subIdx="01">
        <sdoDataRaw data="00 1A"/>
      </sdoConfig>
      
      
      <!-- Download PDO 0x1C13 count -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="01"/>
      </sdoConfig> 
      
  
<!--     S300 - 4.8 Supported operation modes
    The following values are used for selection and feedback operating modes:
    cyclic synchronous position mode 0x08(0d08) und 0xFA(0d-06)
    cyclic synchronous velocity mode 0x09 und 0xFE
    cyclic synchronous torque mode 0x0A und 0xFD
    homing mode 0x06 und 0xF9
    Negative values correspond to manufacturer-specific settings in 6060 of size 8bit .-->

      
      <!-- Set OpMode to Cyclic Synchronous Position IN MY CASE 0x08(0d08) und 0xFA(0d-06) -->
      <sdoConfig idx="6060" subIdx="00">
        <sdoDataRaw data="08"/>  
      </sdoConfig>
      
      <!-- Set Cycle Time IN MY CASE 0x02(0d02) und 0xFD(0d-03)-->
      <sdoConfig idx="60C2" subIdx="01">
        <sdoDataRaw data="02"/> 
      </sdoConfig>
      
      <!-- Set Cycle exp -->
      <sdoConfig idx="60C2" subIdx="02">
        <sdoDataRaw data="FD"/> 
      </sdoConfig>

Regards foxington
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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. Ethercat HAL driver
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