Ethercat HAL driver

GuiHue
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4 years 6 months ago #239624 by GuiHue

Replied by GuiHue on topic Ethercat HAL driver

ASKoskov wrote:
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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jc2ktr
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4 years 3 months ago - 4 years 3 months ago #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!

[ 6.772696] Bluetooth: hci0: RTL: fw version 0x099a7253
[ 6.939110] ec_master: loading out-of-tree module taints kernel.
[ 6.939331] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 6.945114] EtherCAT: Master driver 1.5.2 unknown
[ 6.945138] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 6.945141] Bluetooth: BNEP filters: protocol multicast
[ 6.945149] Bluetooth: BNEP socket layer initialized
[ 6.946257] EtherCAT: 1 master waiting for devices.
[ 6.951361] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[ 6.951375] EtherCAT: Accepting 6C:4B:90:CD:99:1D as main device for master 0.
[ 6.951387] ec_generic: Binding socket to interface 2 (enp3s0f0).
[ 6.958410] NET: Registered protocol family 38
[ 6.972415] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 6.972480] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.984031] EtherCAT WARNING 0: 1 datagram TIMED OUT!
[ 7.208025] EtherCAT 0: Link state of ecm0 changed to DOWN.
[ 7.232052] Generic FE-GE Realtek PHY r8169-0-300:00: attached PHY driver [Generic FE-GE Realtek PHY] (mii_bus:phy_addr=r8169-0-300:00, irq=IGNORE)
[ 7.388112] r8169 0000:03:00.0 enp3s0f0: Link is Down
[ 8.378725] rtw_8822ce 0000:02:00.0: start vif 40:5b:d8:e3:ad:cf on port 0
[ 8.456465] rtw_8822ce 0000:02:00.0: stop vif 40:5b:d8:e3:ad:cf on port 0
[ 8.685643] rtw_8822ce 0000:02:00.0: start vif b2:23:21:1f:85:b8 on port 0
[ 8.892441] r8169 0000:03:00.0 enp3s0f0: Link is Up - 100Mbps/Full - flow control off
[ 8.900034] EtherCAT 0: Link state of ecm0 changed to UP.
[ 8.908063] EtherCAT WARNING 0: 26 datagrams TIMED OUT!
[ 8.992273] IPv6: ADDRCONF(NETDEV_CHANGE): enp3s0f0: link becomes ready
[ 9.004036] EtherCAT 0: 11 slave(s) responding on main device.
[ 9.004041] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 9.004130] EtherCAT 0: Scanning bus.
[ 9.004190] EtherCAT WARNING 0-0: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.032972] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.061860] EtherCAT WARNING 0-2: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.660621] EtherCAT WARNING 0-10: Slave has state error bit set (SAFEOP + ERROR)!
[ 9.802731] EtherCAT 0: Bus scanning completed in 796 ms.
[ 9.802734] EtherCAT 0: Using slave 0 as DC reference clock.
[ 9.802736] EtherCAT 0: Starting EoE thread.
[ 9.803104] EtherCAT ERROR 0-0: Data size (343) does not fit in mailbox (0)!
[ 9.803112] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803115] EtherCAT ERROR 0-1: Data size (343) does not fit in mailbox (0)!
[ 9.803119] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803121] EtherCAT ERROR 0-2: Data size (343) does not fit in mailbox (0)!
[ 9.803125] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803164] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803167] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803168] EtherCAT ERROR 0-1: Data size (120) does not fit in mailbox (0)!
[ 9.803171] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803172] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803174] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803212] EtherCAT ERROR 0-0: Data size (96) does not fit in mailbox (0)!
[ 9.803215] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.803216] EtherCAT ERROR 0-1: Data size (96) does not fit in mailbox (0)!
[ 9.803218] EtherCAT WARNING 0-1: Send error at eoe0s1.
[ 9.803219] EtherCAT ERROR 0-2: Data size (120) does not fit in mailbox (0)!
[ 9.803221] EtherCAT WARNING 0-2: Send error at eoe0s2.
[ 9.803260] EtherCAT ERROR 0-0: Data size (120) does not fit in mailbox (0)!
[ 9.803262] EtherCAT WARNING 0-0: Send error at eoe0s0.
[ 9.820551] EtherCAT ERROR 0-0: AL status message 0x001B: "Sync manager watchdog".
[ 9.820707] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 9.822208] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.822241] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 9.822691] EtherCAT 0-0: Acknowledged state PREOP.
[ 9.828100] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[ 9.828615] EtherCAT 0-1: Acknowledged state SAFEOP.
[ 9.830108] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.830139] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[ 9.830604] EtherCAT 0-1: Acknowledged state PREOP.
[ 9.836110] EtherCAT ERROR 0-2: AL status message 0x001B: "Sync manager watchdog".
[ 9.836412] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 9.837918] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 9.837951] EtherCAT ERROR 0-2: AL status message 0x001E: "Invalid input configuration".
[ 9.838406] EtherCAT 0-2: Acknowledged state PREOP.
[ 9.900114] EtherCAT ERROR 0-10: AL status message 0x001B: "Sync manager watchdog".
[ 9.907521] EtherCAT 0-10: Acknowledged state SAFEOP.
[ 9.916129] EtherCAT 0: Slave states on main device: PREOP.

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:44.43 KB

Last edit: 4 years 3 months ago by jc2ktr. Reason: additions

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endian
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4 years 3 months ago #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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endian
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4 years 3 months ago #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.

Code:

    <!-- 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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gueee78
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3 years 2 months ago #277601 by gueee78

Replied by gueee78 on topic Ethercat HAL driver

hello foxington!

Did you get anywhere with your setup?

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endian
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3 years 2 months ago #277630 by endian

Replied by endian on topic Ethercat HAL driver

hello,

yes I have done working core component for kollmorgen and pilz stuff with older incremental format for DC in 1 ms with my benchtop hardware setup - 3 axis. It is little bit more to setup but not complicated at all.

If you are interested check this stuff before.

have a great time

Slav

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Ethercat HAL driver

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