Ethercat HAL driver

Does anyone know if Kollmorgen ADK etherCAT servo amplifiers work with the HAL EtherCAT Drivers here?

jpettit wrote: Does anyone know if Kollmorgen ADK etherCAT servo amplifiers work with the HAL EtherCAT Drivers here?

Read this
www.iram.fr/~blanchet/ethercat/akd/
in order to avoid Raw SDO.

Then try to proceed as if it were a generic slave with preconfigured PDOs.

Thanks for the link and suggestion. Looks like we have a solution

Jim P

Hello everyone:
Recently, I use Linuxcnc control a robot and the kinematics module is genserkins, now I have a question:
as all 6 joints of my robot are rotate joints drived by ethercat motors with absolute encoders, when I open Linuxcnc with AXIS interface, I should jog the joint to make a better accuracy. When i set INCREMENTS in my ini file, I found the unit of this is just in, mm, not degree, as my joints all are rotare joints,the unit of angle is degree, I don't know it is right to set INCRMENTS to 1mm when i want one of my joints to move 1 degree. I just think it is ok, but, when I change one of my joints's degree approaching to 0.0000,then this joint has a following error. I read the source of this, it shows the joint->ferror= joint->pos_cmd - joint->pos_fb,and my FERROR =2, MIN_FERROR=1. then, I use halscope to read the pins of joint.0.error、joint.0.f-error、joint.0.f-error-lim、joint.0.f-errored、joint.0.pos-cmd、joint.0.pos-fb、joint.0.vel-cmd. Then I jog 0 joint, it occurs following error four times and all are when I want to change the joint's value to 0.0000 while joint.0.error、joint.0.f-errored、joint.0.vel-cmd are zero, and joint.0.ferror is far less than joint.0.f-error-lim. I find that before the coming of following error,the joint.0.pos-cmd and joint.0.pos-fb are alway likes below:
joint.0.pos-cmd -0.00000229672098 joint.0.pos-fb -0.00003390842014
joint.0.pos-cmd +0.00000000000000 joint.0.pos-fb +0.00000000000000
joint.0.pos-cmd +0.00071207682292 joint.0.pos-fb +0.00071207682292
Does someone know the answers?thanks very much

I'm back in the test lab now and am still trying to get the Indradrive Cs to turn the servo.
Sorry this is a bit long winded. I want to explain how I got to the conclusion in case I have got something wrong.

The problem is we cannot get linuxcnc to drive the servos to motion. Everything seems OK, they just won't rotate from linuxcnc. They work fine using Twincat and Indraworks.

Since the last post I have discovered that the Fieldbus status word P-0-4078 is not showing 'Operating mode' in the first two bits. Instead it is showing 'Parameter mode'. The word contains: 0xC808 - which is 1100 1000 0000 1000

The first two bits on the right are zero (00) for parameter mode. According to the state machine (page 120 Fig 4-37) in the manual [1] they should be 10 for operating mode.

There are two checks C0100 and C0200 between the state with the bits at 00 and the state with them at 10.
In more detail the two checks are:
"S‑0‑0127, C0100 Communication phase 3 transition check"
"S‑0‑0128, C5200 Communication phase 4 transition check"
When they fail they place a the parameters causing the failure in an IDN List. So to troubleshoot why those checks are failing I want to read the IDN Lists from S‑0‑0021 and S-0-0022.

The question is, how do I read an IDN List using the ethercat command in linux? I can read a simple value out using: But I don't know how to read an IDN list to find the parameter causing the fault.

Thanks,
Roger

[1] ftp://ftp.boschrexroth.pl/brc/IndraDrive_CS/CS_func.pdf

Hi Roger,

for your question how to read out a list i don't have an anwser. But perhaps you can try it with EOE.
You have a running EtherCAT Master and the possibility to connect via IndraWorks over EOE. Then you have the possibility to get more information via the gui.

Perhaps you can share your files: hal + xml.
Which Firmware Version is running on IndraDrive Cs. There is a change in the Verions > 20.x that the drives now support CoE. (my indradrives don't support CoE).

Regards
Andreas