Ethercat HAL driver

sirop wrote:

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:

Code:

$ ethercat upload -p1 -t int8 0x6061 0 0x08 8

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

I have two servo. and one servo works normal. but second servo doesn't can work with ethercat. Green LED blinks, but orange LED doesn't blink or switch on. Can you also help me with command ? i dont understand what i should write. when i wrote it shows me when i wrote it shows me last error again.

zerix wrote: I have two servo. and one servo works normal. but second servo doesn't can work with ethercat. Green LED blinks, but orange LED doesn't blink or switch on. Can you also help me with command

Code:

ethercat reg_read

? i dont understand what i should write. when i wrote

Code:

ethercat reg_read -t int8 0x040e 1

it shows me

Code:

Failed to read register: Input/output error

when i wrote

Code:

ethercat reg_read -t int16 0x040e 1

it shows me last error again.

1. Please always use a position argument to avoid confusion as one cannot know if you have only 1 or more slaves on the
EtherCAT network.

2. You mentioned some hardware problems like loose contacts on the NIC ports.
So first do just to know if the master can really see all slaves.

3. so your command should be either or But what is 0x40e register about? Never seen it...

As for LED indicators of the slave's states - rather consult the manual.

Thank you for your reply!

Currently, apart from EL6601(Ethernet switch port from Beckhoff), I still have several EtherCAT devices to control simultaneously. Previously, I have written a HAL driver for EL3008, an 8 channel analog input I/Os from Beckhoff. However, I do not have any clue and experience in writing one for the EL6601, do you have any advice in writing an EtherCAT HAL driver for EL6601 under the LinuxCNC environment?

Thank you for your time !

kehaar wrote: Thank you for your reply!

Currently, apart from EL6601(Ethernet switch port from Beckhoff), I still have several EtherCAT devices to control simultaneously. Previously, I have written a HAL driver for EL3008, an 8 channel analog input I/Os from Beckhoff. However, I do not have any clue and experience in writing one for the EL6601, do you have any advice in writing an EtherCAT HAL driver for EL6601 under the LinuxCNC environment?

Thank you for your time !

First of all, it is worth looking at this docs patch:
sourceforge.net/p/etherlabmaster/code/ci...d87dcbc43fd04cffbea/

I cannot tell you more as I never used EoE functions of IgH EtherCAT-Master .
Besides this EL6601 manual makes a difference between Real-time data exchange and Non-real-time data exchange.
Non-real-time data exchange is the actual EoE.

So I would begin with standalone app just to learn how to "speak" with this slave either in real time or acyclic in terms of EL66601 manual.

Hello everyone,
simple question, does the linuxnc driver for ethercat also work with rt preempt ?

Or does it only work with rtai and xenomai ?

REEEN wrote: Hello everyone,
simple question, does the linuxnc driver for ethercat also work with rt preempt ?

Or does it only work with rtai and xenomai ?

If the question is about using userspace threads instead of kernel threads with linuxcnc-ethercat,
then the answer is yes. I use userspace threads with xenomai. So rt-preempt should also go.

However, you might need to install the EtherCAT master manually, as github.com/sittner/ec-debianize/blob/mas...an/configure#L79-L95 does not mention rt-preempt.