Ethercat HAL driver

cgc wrote in this thread that the EL7041-1000-driver is working. I can load it without getting problems.
But as far as i understood i need to pre-configure the driver via twincat and in twincat i can select different drivemodes that deliver different pdos.. my question is what i need to setup to get that working without changing anything inside the driver?

DaPeace wrote: cgc wrote in this thread that the EL7041-1000-driver is working. I can load it without getting problems.
But as far as i understood i need to pre-configure the driver via twincat and in twincat i can select different drivemodes that deliver different pdos.. my question is what i need to setup to get that working without changing anything inside the driver?

If the hard coded PDO entries for EL7041 within linuxcnc-ethercat is that which you need, then
you do not have to change anything.

If you need some other DOs, then you need edit lcec_el7041_1000.c or use a generic component setup.

Page 126 ff. of download.beckhoff.com/download/document/...rminals/el70x1en.pdf
tells you about default and non-default PDO assignment.

sirop wrote:

zerix wrote: First, I installed linuxcnc then installed EtherCAT realtime HAL driver follow section installation from wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver . Finnaly, I installed Ethercat master from www.etherlab.org/de/ethercat/index.php follow instruction in installation archive. I downloaded linuxcnc 2.7, then i downloaded linuxcnc 2.6. PC is 64-bit bitness. when i create coonection between master and slave, master tries to find slaves, but it can't. slave show that ethercat port switch on. ethercat green LED switch on, but there is no data exchange. mater writes that it "waiting for device(s)..." and "Link: DOWN"

1. Was it the installation method with deb packages from wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver ?
If so, you installed 32 bit version for wheezy which is above all of 28-Jan-2015 , so not the latest.
If this installation methods somehow succeeded, then a version of EtherLab master was also installed.

2. You write that you then installed an EtherLab master. If this part of installation also succeeded, then you might have now two concurrent versions of EtherLab masters ...

So rather begin with a clean Linux and to keep it short:
1. Install this github.com/sittner/ec-debianize .
2. Then install this github.com/sittner/linuxcnc-ethercat

I reinstall linux and try to install this programms, but resulte doesn't change. master tries to find slaves, but find nothing. slave blinks ethercat-LED. Master is "waiting for device(s)..."

zerix wrote: I reinstall linux and try to install this programms, but resulte doesn't change. master tries to find slaves, but find nothing. slave blinks ethercat-LED. Master is "waiting for device(s)..."

It is hard for me to guess what went wrong. Even if no PDOs are configured on your slave, should yield the slaves seen on the network. Maybe, a hardware problem? Do you need to use a crossover cable for your slave?
Waht about the ERROR (ERR) LED ?

Otherwise, please provide the exact installation steps of EtherLAB master and linuxcnc-ethercat component as well as the output of ethercat slaves command.

sirop wrote:

zerix wrote: I reinstall linux and try to install this programms, but resulte doesn't change. master tries to find slaves, but find nothing. slave blinks ethercat-LED. Master is "waiting for device(s)..."

It is hard for me to guess what went wrong. Even if no PDOs are configured on your slave,

Code:

ethercat slaves

should yield the slaves seen on the network. Maybe, a hardware problem? Do you need to use a crossover cable for your slave?
Waht about the ERROR (ERR) LED ?

Otherwise, please provide the exact installation steps of EtherLAB master and linuxcnc-ethercat component as well as the output of ethercat slaves command.

steps:
1st Download ethercat master from IgH
2nd Untar the file: tar xvfj ethercat-1.5.2.tar.bz2
3rd download debian folder from sittner
4th copy debian folder (3rd step) to /ethercat-1.5.2/ (2nd step)
5th sittner instructions:
#cd ethercat-1.5.2
# cd debian
# ./configure -a
# cd ..
# dpkg-checkbuilddeps (and install missing deps)
# dpkg-buildpackage

You get two files some files: ethercat_1.5.2-1_i386.deb, ethercat-dev_1.5.2-1_i386.deb .....

6th # sudo dpkg -i ethercat_1.5.2-1_i386.deb
7th edit /etc/default/ethercat with your configuration (in the file there are useful comments)
8th # sudo update-ethercat-config
9th # sudo dpkg -i ethercat-dev_1.5.2-1_i386.deb
10th restart the machine to get the driver loaded at start.
Then try ethercat connection, but it doesn,t work. then i try to install second package. steps:
1)git clone github.com/sittner/linuxcnc-ethercat.git linuxcnc-ethercat
2) cd linuxcnc-ethercat
3)make
4) sudo make install
finally, i try again ethercat connection, result doesn't change.
Servo invertores uses usual ethernet cable. Error LEDs don't blink or switch on.
Command "ethercat slaves" does nothing. it seems like:
#ethercat slaves
#
And nothing more.

zerix wrote: Servo invertores uses usual ethernet cable. Error LEDs don't blink or switch on.
Command "ethercat slaves" does nothing. it seems like:
#ethercat slaves
#
And nothing more.

Sometime IN and OUT ports of an EtherCAT drive are mixed up,
see page 11 of www.delta.com.tw/product/em/motion/motio...E_UM_EN_20150430.pdf .
Did you also follow Chapter 2 of the user manual?

You might try look through dmesg output... Nothing else comes to my mind.