Ethercat HAL driver

Hi Roger,

two quick points are in my mind according to your files/describition
- in xml file the pdoentry poscommand is of type float --> what is about scaling? --> disable drive (AF -> Ab) rotate the shaft what value is there in halpin lcec.0.3.pos and when yes how much if you rote one time...
- in the config of the drive (done in indraworks) do you have the default main operation mode set to "position control"?
- don't use "speedaddcommand" for initial tests/setup

Hope that helps
Andreas

Perhaps find more config example for IndraDrive here (my little milling machine):
github.com/aschiffler/linuxcnc/tree/master/configs/roschi_cnc

Thanks Andreas,
I will try adding scaling using your suggestion, thank you. I have tried before but I did not think to use the pos to determine the scaling. The motor has a brake which I will need to release.

I've attached a screenshot showing the Indraworks mode - "Position control lagless encoder 1". I've also tried "Position control encoder 1" with the same result, but have not tried any other modes.

I'll remove the speed command for now.

I will report back on progress, there is some building work happening in our test lab so it may take a few days.

Best regards,
Roger

I'm having trouble with my Omron G5 R88D-KN15F-ECT servo drive. Whatever I do i just get Error 90 ("Communications setting error") on transition from PRE-OP to OP.

It's always a good idea to write a comprehensive forum post when facing a difficult problem. While writing this I realised why I got Error 90 with aschiffler's linuxcnc - I used someone else's vid and pid values in the xml file! I'll still post this though as it's a good description of all the things that can go wrong. Also, I still wonder why TwinCAT refuses to work with my servo drive.


First I tried using just Etherlab's ethercat command just like narogon describes here , and got the same error (not suprisingly). I then tried to write my own user program based on the example in ethercat-1.5.2/examples/user/, but always got the same Error 90 on activation of the master (with no errors returned from the ecrt_* functions and nothing turning up in /var/log/messages). Well, fair enough, since I'm not really sure what I'm doing anyway.

Next thing to try was TwinCAT. I'm using an old Windows XP install that I dual-boot to on the same computer as my linuxcnc install. I downloaded TwinCAT version 2.11 from Beckhoff and believe I selected "Software level NC PTP" or something like it on installation (not sure about this one?). I have the Omron xml file for the servo drive (file version 1.04) and copied that into the C:\TwinCAT\Io\EtherCAT\ folder, restarted the computer and started TwinCAT System Manager (is this the "TwinCAT Configurator" that's mentioned earlier in this thread?). I right-clicked on "I/O Devices" in the tree pane and selected "Scan Devices...". My EtherCAT card was found ("Device 2 (EtherCAT) (Realtek PCIe GBE Family Co)"). I answered Yes to "Scan for Boxes" and it detected my KN15F-ECT drive. I opted to "Append linked axis to NC-Configuration" when asked. I said no to "Activate Free Run" since I know this causes an error from earlier tries. When I click "Set/Reset TwinCAT to Run mode" I get these errors:
TwinCAT also does not seem to be able to reset the FAULT state of the drive; when navigating to the Diag Message History tab and clicking Ack. Messages I get:
Also Update Diag History gives
(I can reset the FAULT state from Linux by setting and resetting the Fault reset bit in the controlword though, so this seems to be a problem in TwinCAT.)

OK, so no luck with TwinCAT. Next thing was to try the EtherCAT HAL driver. I had already installed the IgH EtherCAT master version 1.5.2 into /opt, and used that install to build the aschiffler version of LinuxCNC. I edited the configure.in script to also look for ecrt.h in /opt/etherlab/include first:
Then built the aschiffler linuxcnc:

I ran ". scripts/rip-environment" - this is imperative of course and needs to be done everytime a new shell is opened since it selects the newly built ethercat-capable linuxcnc for use instead of the system one; you can check that you have done this in your current shell by running "which halrun":
And then started halrun and ran these commands:
My r88d-258th.xml file looks like this:
... but immediately get Error 90 after executing "start" (This was due to wrong vid and pid in the xml file. I've changed them to the correct values in this post though, and it works now!)

Hello everyone:
Now,we attempt to control a 6 DOF robot using LinuxCNC and I encounter a question. I have asked this question in this form and I am very grateful for those who has helped me. But this question is still exist. I know some experts in LinuxCNC and EtherCAT are at here,so I want to post my question at here too.Having said so much,let me state my question.When I closed the DC configuration in my xml file, I got things OK, if not, when I run Linuxcnc and change slaves state to OP, then waiting, you will find that the slave change its state to safeop automaticlly or the pc (ethercat master is on a pc) will be downtime with a CPU Blocked.then I check the kernl log, it shows below:
[ 6284.796454] EtherCAT: Requesting master 0...
[ 6284.796458] EtherCAT: Successfully requested master 0.
[ 6284.798219] EtherCAT 0: Domain0: Logical address 0x00000000, 162 byte, expected working counter 18.
[ 6284.798221] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 162 byte, type LRW.
[ 6284.798233] EtherCAT 0: Master thread exited.
[ 6284.798237] EtherCAT 0: Starting EtherCAT-OP thread.
[ 6284.798261] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 6290.121896] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 6290.129890] EtherCAT 0: Domain 0: Working counter changed to 3/18.
[ 6295.596748] EtherCAT WARNING 0-1: Slave did not sync after 5000 ms.
[ 6295.604745] EtherCAT 0: Domain 0: Working counter changed to 6/18.
[ 6301.079580] EtherCAT WARNING 0-2: Slave did not sync after 5000 ms.
[ 6301.087572] EtherCAT 0: Domain 0: Working counter changed to 9/18.
[ 6306.574377] EtherCAT WARNING 0-3: Slave did not sync after 5000 ms.
[ 6306.582370] EtherCAT 0: Domain 0: Working counter changed to 12/18.
[ 6307.585597] EtherCAT 0: Domain 0: Working counter changed to 15/18.
[ 6312.593723] EtherCAT WARNING 0-5: Slave did not sync after 5000 ms.
[ 6312.601718] EtherCAT 0: Domain 0: Working counter changed to 18/18.
[ 6312.975772] EtherCAT 0: Slave states on main device: OP.
[ 6369.474367] EtherCAT 0: Domain 0: Working counter changed to 16/18.
[ 6369.479352] EtherCAT 0: Slave states on main device: SAFEOP, OP + ERROR.
[ 6369.486319] EtherCAT ERROR 0-0: AL status message 0x0032: "PLL error".
[ 6369.490306] EtherCAT 0-0: Acknowledged state SAFEOP.
[ 6370.475598] EtherCAT 0: Domain 0: 2 working counter changes - now 15/18.
[ 6374.624104] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 6374.632099] EtherCAT 0: Domain 0: Working counter changed to 18/18.
[ 6375.138099] EtherCAT 0: Slave states on main device: OP.

I guess the reason is something about the DC configuration and I now really don't know how to set DC correctly.Does someone know this answers? And it is ok if someone tell me how to configure the DC and I will check my configuration again. Thanks everyone.

Hi chuchengbing,

which servo drives did you use?
Maybe you have the same issue with DC config and "notLRW" like here (Yaskawa):
Post 55408

About the DC configuration. Look at the original "XML-File" (the one which will be used in TwinCAT envoirments for your drive) and find the right values there. (May be the quit old Tutorial from 2013 for Rexroth Indradrives give some more help Google Docs )

Regards
Andreas

Thanks roschi very much.
The servo drives is not a common one but it is using EtherCAT to communicate and the values which have relationship with DC configuration are really come from the xml file which is post by the manufacturer. I am also pretty sure that have a certain relationship with DC configurtation because I don't go wrong when I close the DC in my xml file. I don't know how to set the DC, expecial the parameter "sync0Shifttime" in xml file,because this parameter in my xml is 0(come from the manufacturer),but i find this is the most different in different person when I refer to other's xml file.Also I do not understand the "notLRW" meaning and how I could find it and how to modify it.
Thanks again for replying, I look at the documents you post carefully and I will post my harvest in the latter.