Ethercat HAL driver

sirop wrote:

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.

what should i see? when use i saw many strings. and find two strings, in that written "ethercat master 1.5.2..." and "master waiting devices..."

Thought I better report we had some success a some weeks ago Ver happy to report the motors now run via linuxcnc.

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.

Thanks that was a very good idea. I was able to replicate the problem using TwinCat instead of linuxcnc - in Free run/Config mode, not in Run mode - and monitoring with IndraWorks over EoE.
The two key points:


The first problem was I was using the wrong position register for the positioning mode.
The other problem with our linuxcnc config was the NC cycle time TwinCat was using was not the same as the value we extracted from the xml file as per the tutorial. Once I realised that difference the remaining issues were reasonably straightforward to solve.
The issue in my previous post turned out to be a red herring.

Thanks for your help Andreas

sirop wrote:

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.

I found problem. ethernet-port haven't contact. i put paper in port and now i can see device. But now I am having other problem. when I write it is showing me

zerix wrote: I found problem. ethernet-port haven't contact. i put paper in port and now i can see device. But now I am having other problem. when I write

Code:

ethercat upload -t int8 0x6061 0

it is showing me

Code:

Failed to upload SDO: input/output error

In my case:
So your line without position argument would work if the master sees only 1 slave on the network.

Hello, everyone! Thank you for sharing your knowledge on this topic. I am a newbie in LinuxCNC and I managed to control Yaskawa servo drives through EtherCAT by following your advices!
Now I have an Ethernet device, and I have bought a Beckhoff EOE port switch, EL6601, for my system to communicate with this Ethernet device through EtherCAT. I believe that I need to write a driver for EL6601 to enable the communication. May I know how to write this driver? Is there any documents or other information I can refer to?
Thank you!

kehaar wrote: Hello, everyone! Thank you for sharing your knowledge on this topic. I am a newbie in LinuxCNC and I managed to control Yaskawa servo drives through EtherCAT by following your advices!
Now I have an Ethernet device, and I have bought a Beckhoff EOE port switch, EL6601, for my system to communicate with this Ethernet device through EtherCAT. I believe that I need to write a driver for EL6601 to enable the communication. May I know how to write this driver? Is there any documents or other information I can refer to?
Thank you!

If you download the source code of the IgH EtherCAT-Master, you can run Doxygen over it.
It seems to me from the Doxygen output of eoe_request.c that you can run EoE only as a kernel space application,
so in principle it should be possible on RTAI to build such a kernel space component.

If you are on rt-preempt, then it might be worth having a look at userspace port of the IgH EtherCAT-Master
fh-soft.de/src/ethercat-userspace.html .