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Ethercat HAL driver

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8 years 10 months ago #102707 by Piotr
Replied by Piotr on topic Ethercat HAL driver
Hello.
Sorry my english is not perfect.
I have problem with start examples swm-fm45.
I have servo Stober MDS5040/L
I changed ethercat-conf.xml
Code:
<masters> <master idx="0" appTimePeriod="1000000" refClockCycles="1000"> <slave idx="1" type="StMDSk" name="SAT-EC-XML-EtherCAT_FastRefValue"> <dcConf assignActive="300" sync0Cycle="*1" sync0Shift="-2500"/> </slave> </master> </masters>
When I run the program it gets an error
Code:
Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.5 LINUXCNC - 2.7.0 Machine configuration directory is '/home/cezary2528/linuxcnc/configs/swm-fm45a' Machine configuration file is 'swm-fm45a.ini' INIFILE=/home/cezary2528/linuxcnc/configs/swm-fm45a/swm-fm45a.ini PARAMETER_FILE=linuxcnc.var TASK=milltask HALUI= DISPLAY=axis Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io Found file(REL): ./swm-fm45a.hal Shutting down and cleaning up LinuxCNC... Killing task linuxcncsvr, PID=5688 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Debug file information: . Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/lcec.ko: Invalid parameters ./swm-fm45a.hal:22: exit value: 1 ./swm-fm45a.hal:22: insmod for lcec failed, returned -1 See the output of 'dmesg' for more information. 5688 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components

What am I doing wrong?
In the attachment there is the whole log
Thanks in advance

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8 years 10 months ago - 8 years 10 months ago #102709 by sirop
Replied by sirop on topic Ethercat HAL driver
First of all check the correct type spelling:
github.com/sittner/linuxcnc-ethercat/blo...src/lcec_conf.c#L147

Then if

[ 987.272595] LCEC: slave 0.SAT-EC-XML-EtherCAT_FastRefValue: Failed to execute SDO request (0x2212:0x00)

from your kernel log is no false positive, try to investigate this.
Last edit: 8 years 10 months ago by sirop.

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8 years 10 months ago #102729 by Piotr
Replied by Piotr on topic Ethercat HAL driver
Typo appeared when rewriting the code on the forum.
Parameter 0X2212 should be equal to 0?
image missing https://images83.fotosik.pl/929/140d20b881d33f4emed.png
Currently, the servo motor is not connected to the inverter, can it be a problem?

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8 years 10 months ago #102733 by sirop
Replied by sirop on topic Ethercat HAL driver

Piotr wrote: Typo appeared when rewriting the code on the forum.
Parameter 0X2212 should be equal to 0?
Currently, the servo motor is not connected to the inverter, can it be a problem?


Your error message originates from github.com/sittner/linuxcnc-ethercat/blo..._stmds5k.c#L120-L121 .

I do not have the manual of your slave , so can not say much about the SDO request.
If, however, it just takes too much time -- although being successful -- then it may be worth to increase LCEC_SDO_REQ_TIMEOUT
in github.com/sittner/linuxcnc-ethercat/blo...rc/lcec_main.c#L1140 .

Do not know if the servo motor not connected to the inverter can be a problem .

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8 years 9 months ago - 8 years 9 months ago #104859 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello everyone,
I'm trying to run el3773 with linuxcnc-ethercat and I can not get to OP in DC-mode, I think it's synchronization configuration problem but I do not see the one, can someone help me?
Thank you
Chimeno
Last edit: 8 years 9 months ago by chimeno.

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8 years 9 months ago #104863 by sirop
Replied by sirop on topic Ethercat HAL driver
Compare with github.com/sittner/linuxcnc-ethercat/blo...thercat-conf.xml#L13
and then try
Code:
<slave idx="1" type="EL3773" name="EL3773"> <dcConf assignActivate="730" sync0Cycle="*1" sync0Shift="25000" /> </slave>
730 is actually a hex number but without preceding 0x, as I remember vaguely,
sync0Cycle="*1" means the EtherCat cycle is LinuxCNC cycle*1.
To determine what sync0Shift could be, you should read some EtherCAT docs.
The following user(s) said Thank You: chimeno, Nico2017

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