Ethercat HAL driver

Hi Allen

I attached my current XML file. It uses the <masters> </masters>, otherwise my Ethercat HAL driver did indeed not work.
Just installed Linuxcnc on another computer to be sure, but I still get the same errors. When I loaded my files into the Linuxcnc program I got some errors and I know where the problem is now. Still need to solve it tho.

Hello,
that are 16 single bits,
<pdoEntry idx="2692" subIdx="00" bitLen="16" halPin="poscommand" halType="bit"/>
but that are 32 bit float
axis.0.motor-pos-cmd

regards
Frank

Dear Frank,

Thanks for the tip! I changed my haltype but I get the error that it's a float and doesn't get converted to a s32.
I used the :
loadrt conv_s32_float
loadrt_conv_float_s32

Should I maybe put my lcec.0.0.pos to the conv_float_s32.0.out pin?
And the pos-command to the conv_float_s32.0.in pin.

Hello,
Yes,
you can also use the option "scale" in the *.xml to calculate the unit.

regards
Frank

Please, take a look to this paper: Integration of real-time Ethernet in LinuxCNC link.springer.com/article/10.1007/s00170-015-6786-y
The article uses the example of Sercos III but it works also with EtherCAT and other protocols.

Allen

Andreas Schiffler on youtube has a 3 axis mill with 4th axis runing LinuxCNC using etherCAT

Ethercat coupler--- Modules EL ---and EX see his work

jim Pettit