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

Ethercat HAL driver

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23 Jun 2016 08:55 #76476 by sirop
Replied by sirop on topic Ethercat HAL driver

Thanks for your fast reply!

The four Sync Managers were just a test. At first I tried only two Sync Managers (0 and 1) with no success.


That's strange as the case of only 2 Sync Managers is allowed by the EtherCAT standard.

It's a mystery to me, why only the outputs operate. So the communication couldn't be completely wrong.


Are you sure that you use the latest linuxcnc-ethercat? This patch github.com/sittner/linuxcnc-ethercat/com...e59d9d70b46cb2c7f3cc solved the parsing problem of complex pins,
so it might help you too.

Do you use this patch github.com/sittner/ec-debianize/blob/mas...ead_pdo_count.dpatch with etherlabmaster-1.5.2 ?

BTW: is there any way to use the Etherlab Master (Slaves PREOP -> OP and reading Process Data) from Terminal without using the lcec driver, or do I have to write a C-Program?
I would like to test my Network without lcec in order to identify the point of failure.


ethercat command line utility can help you read SDOs, not PDOs as those are read and written in a real time cycle.

You can however insert something like rtapi_print_msg at any place of linuxcnc-ethercat for debugging.
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30 Jun 2016 07:09 #76821 by sirop
Replied by sirop on topic Ethercat HAL driver
@highbiker

I think my first answer was too fast and therefore incomplete.

1. Look, for example, at this line:
<pdoEntry idx="0005" subIdx="32" bitLen="8" halPin="out-31" halType="u32"/>
Not only idx , but also subIdx is meant to be hexadecimal, compare github.com/sittner/linuxcnc-ethercat/blo...ex/ethercat-conf.xml .

2. This Arduino slave has no DC functionality, however, this is the first slave on the physical ring in your case,
that's why it is chosen per default to be

[Do Jun 23 01:58:17 2016] EtherCAT 0: Using slave 0 as DC reference clock.


So rearrange your slaves so that this Arduino slave without DC is not slave 0 .
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30 Jun 2016 14:38 #76845 by sirop
Replied by sirop on topic Ethercat HAL driver
Something else just came to my mind as I was reading this old message lists.etherlab.org/pipermail/etherlab-users/2010/001071.html about YASKAWA slave:

2.) In addition to getting newer firmware you must declare a domain for
the Output and a second one for the Input
since Yaskawa sets notLRW = yes.


You can check if your Arduino Slave supports LRW with
ethercat slaves -v
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01 Jul 2016 10:24 - 01 Jul 2016 13:02 #76884 by highbiker
Replied by highbiker on topic Ethercat HAL driver
Hi sirop,

thank you very much for your help :) You were right: I hadn't installed the newest ethercat master. I didn't know the ec-debianize git. I reinstalled my system and used that git, but it didn't solve the problem.

This Arduino slave has no DC functionality,

The EasyCAT-Shield uses a LAN9252 chip (with µC SPI-Interface), which supports distributed clocks. The output of ethercat slaves -v is: "[...]Distributed clocks: yes, 64 bit[...]".


I tried a lot and finally I figured out a solution. I don't know if it's the best way, but it works. And sorry that I didn't write earlier :blush:

In the original ESI-File of the EasyCAT-Shield ( www.bausano.net/images/arduino-easycat/EasyCAT.xml ) the index and subindices of the pdoEntries of the outputs and inputs are equal. So the outputs and inputs are only kept apart by the configured channels.
This shouldn't be a problem!!! But for a try I changed the pdoEntry Index of the Inputs in the ESI-File to another value (e.g. #x0006) and wrote it onto the Slave-EEPROM of the EasyCAT-Shield. Of course I also changed the entries in the ethercat-conf.xml and now it works.

My ESI-File
Warning: Spoiler!


There shouldn't be any problems with equal pdoEntry Indices on generic slaves on different channels - but unfortunately there might be some.

Best regards and thanks for your help!

P.S.:
I don't know if "channel" is the correct term. In my post "channel" means the PDO-Groups which are defned with indices in the RxPdo or TxPdo tag. For Example
[...]
<RxPdo [...]>
	<Index>[Channelindex]</Index>
[...]
In the EasyCAT case the index of the "output-channel" is #x1600 and of the "input-channel" #x1A00.
Last edit: 01 Jul 2016 13:02 by highbiker.
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05 Jul 2016 09:01 #77016 by DaPeace
Replied by DaPeace on topic Ethercat HAL driver
Hey Guys, short question, is it possible to use the EL7041 Stepper Driver with the Ethercat HAL-Driver without bigger installationissues?

Regards, Jan

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05 Jul 2016 09:44 #77018 by Allan
Replied by Allan on topic Ethercat HAL driver
Hello Jan

The EL7041-1000 is supported and has been tested:

wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver

Even I managed to get it moving. Here's a machine,
tutorial and videos (in German) that uses the EL7041-1000:

github.com/koppi/mk/blob/daa3fd64a0b2b61...mai-Thinkpad-X200.md

Allan

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05 Jul 2016 09:57 #77019 by DaPeace
Replied by DaPeace on topic Ethercat HAL driver
Hello Allan,
Im asking because a can get a EL7041 (without the -1000) really cheap and i want to make some tests if those drivers are usable for my mill.
But if i see how complex that stuff could be i would prefer something thats working out of the box..

Im not really sure whats the difference between EL7041 and EL7041-1000 except there is a little change in pinout of the clamp.

Jan

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05 Jul 2016 10:21 - 05 Jul 2016 10:30 #77021 by Allan
Replied by Allan on topic Ethercat HAL driver
Hello Jan

Reading this post:

forum.linuxcnc.org/forum/24-hal-componen...iver?start=230#68369

from CGC is appears that the 7041 runs.

Hopefully someone can clarify this for you?

I took the easy route and bought EL7041-1000s.
I am really new to this and know that I would
struggle (fail) if I had to deviate from the instructions
available on the forum.
It might be possible to use the generic driver if you
are able to understand it - I have looked at the
generic driver a few times and just cannot understand
despite looking at the examples on here. I am just
too stupid!

Good luck!

Allan

PS Just noticed that user Markux reported that he could
drive his motor using the 7041:

forum.linuxcnc.org/forum/24-hal-componen...hal-driver?start=240
Last edit: 05 Jul 2016 10:30 by Allan. Reason: Update

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12 Jul 2016 17:07 #77349 by zerix
Replied by zerix on topic Ethercat HAL driver
Hello, everybody. Can you help me with my problems? I have installed linuxcnc and Ethercat master follow the . But Master can't find any slaves. I found a recommendation for solving problem at page number 2 and 3 in this topic. But it didn't help. I have servo invertore Delta ASDA-A2-E. Can anybody help me? Linux can't find this servo.

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13 Jul 2016 05:29 - 13 Jul 2016 05:29 #77368 by sirop
Replied by sirop on topic Ethercat HAL driver
1. How exactly did you install?

2. What is your Linux blend and its bitness?

3. What do ethercat slaves and ethercat master yield?
Last edit: 13 Jul 2016 05:29 by sirop.

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