Beckhoff ethercat 64 with bit linuxcnc, How to install.

for hal starting ....

these are pins of one of my machines. The servodrive is named AX_X_C .

hardware io :
# X axis Encoder
net x-pos-fb <= lcec.0.AX_X_C.ch1.enc-pos
setp lcec.0.AX_X_C.ch1.srv-scale-fb2 [AXIS_0]ENC_SCALE #Incremente /pro 1 Einheit
# X AMP
setp lcec.0.AX_X_C.ch1.srv-scale [AXIS_0]SCALE #kehrwert Weg/pro 1 Motorumdrehung
net x-enable => lcec.0.AX_X_C.ch1.srv-enable
net x-vel-cmd => lcec.0.AX_X_C.ch1.srv-velo-cmd
net servo-x-fault <= lcec.0.AX_X_C.ch1.srv-fault

joint connections:


###########################################################
# X axis
###########################################################

# position controler
setp x-pid.Pgain [AXIS_0]P
setp x-pid.Igain [AXIS_0]I
setp x-pid.Dgain [AXIS_0]D
setp x-pid.FF0 [AXIS_0]FF0
setp x-pid.FF1 [AXIS_0]FF1
setp x-pid.FF2 [AXIS_0]FF2
setp x-pid.bias [AXIS_0]BIAS
setp x-pid.deadband [AXIS_0]DEADBAND
setp x-pid.maxoutput [AXIS_0]MAX_OUTPUT

#####
net x-enable => x-pid.enable
net x-pos-cmd => x-pid.command
net x-pos-fb => x-pid.feedback
net x-vel-cmd <= x-pid.output

# axis interface
net x-home => axis.0.home-sw-in
net x-enable <= axis.0.amp-enable-out
net x-amp-fault => axis.0.amp-fault-in
net x-pos-cmd <= axis.0.motor-pos-cmd #
net x-pos-fb => axis.0.motor-pos-fb   #
net x-pos-joint <= axis.0.joint-pos-fb
net x-homed <= axis.0.homed
net x-homing <= axis.0.homing
net x-pos-lim-in => axis.0.pos-lim-sw-in
net x-neg-lim-in => axis.0.neg-lim-sw-in

(this is an 2.7 machine... you have to translate to the joint pins.)

to more i have no access at the moment, i am out of office for many days..

db1981 wrote:

does the servo drive reachs ethercat op state ? I am missing the dc config line in your ethercat_xml . I noticed the fault bit is set , could be result of clock error .
 

No, only preop. But I do not have motors connected, only 24V to drive.
  67  bit   OUT         FALSE  lcec.0.3.slave-state-op
  67  bit   OUT          TRUE  lcec.0.3.slave-state-preop


If I put DC section I get the following:
halcmd: loadusr -W /home/bojan/dev/linuxcnc-ethercat/src/lcec_conf ethercat-conf.xml
lcec_conf: ERROR: unexpected node DC found
lcec_conf: ERROR: Parse error at line 986: parsing aborted
lcec_conf: ERROR: Parse error at line 7: parsing aborted

Maybe I put it in the wrong place?

 

dmesg with debug level 1

[173184.504599] EtherCAT 0: Using slave 0 as DC reference clock.
[173239.482967] EtherCAT: Requesting master 0...
[173239.482974] EtherCAT: Successfully requested master 0.
[173239.674945] EtherCAT 0: Domain0: Logical address 0x00000000, 32 byte, expected working counter 6.
[173239.674951] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 32 byte, type LRW at 00000000bab88993.
[173239.674988] EtherCAT 0: Master thread exited.
[173239.674991] EtherCAT 0: Starting EtherCAT-OP thread.
[173239.675081] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[173402.585998] EtherCAT 0: Domain 0: Working counter changed to 1/6.
[173403.149017] EtherCAT WARNING 0-3: Slave does not support changing the PDO mapping!
[173403.149031] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x0086:00/16 0x002F:00/32. Entries to map: 0x0086:01/16 0x001
8:01/32
[173403.149045] EtherCAT WARNING 0-3: Slave does not support changing the PDO mapping!
[173403.149046] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x0086:00/16 0x002F:00/32. Entries to map: 0x0086:02/16 0x001
8:02/32
[173403.149063] EtherCAT WARNING 0-3: Slave does not support changing the PDO mapping!
[173403.149064] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32 0x00BD:00/32. Entries to map: 0x008
7:01/16 0x0033:01/32 0x0054:01/16
[173403.149077] EtherCAT WARNING 0-3: Slave does not support changing the PDO mapping!
[173403.149078] EtherCAT WARNING 0-3: Currently mapped PDO entries: 0x0087:00/16 0x0033:00/32 0x00BD:00/32. Entries to map: 0x008
7:02/16 0x0033:02/32 0x0054:02/16
[173403.586998] EtherCAT 0: Domain 0: Working counter changed to 3/6.
[173406.070997] EtherCAT ERROR 0-3: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[173406.072996] EtherCAT ERROR 0-3: AL status message 0x0045: "MBX_SOE".
[173406.074998] EtherCAT 0-3: Acknowledged state PREOP.
[173406.082658] EtherCAT 0: Slave states on main device: PREOP, OP.
[173753.578796] EtherCAT 0: Master thread exited.
[173753.578881] EtherCAT 0: Starting EtherCAT-IDLE thread.

 

Hi,
I installed Ethercat and I'm able to detect my slaves.
now I am facing two challenges which require some help:
1. How to communicate and read data in Terminal
2. How to map ethercat I/O module to the LINUXCNC

What IO module?
If its not beckhof, you need to make a custom xml file.
With just the io module connected type
ethercat slaves -v
ethercat pdos

You will have all the info to build a xml file similar to  slave1 here
github.com/rodw-au/linuxcnc-cia402/blob/...ercat-conf-diewu.xml

So I am trying to get a Weidmuller UR20-FBC-EC IO module integrated.

I tried my best to make the xml file.
I had a few doubts though...

On line 6 what are these responsible for:
appTimePeriod="1000000"
refClockSyncCycles="1"

On line 7 what are these responsible for:
type="generic"
configPdos="false"

On line 8 what are these responsible for:
assignActivate="300"
sync0Cycle="*1"
sync0Shift="0"

I have also attached the xml file with this post.
At the end of the file there are 3 commented out sections that have the response to:

ethercat slaves -v
ethercat pdos
ethercat sdos

Not sure if that is any help or not but just thought maybe the extra information may be useful. Please ignore it if it's useless.



Now I do have another question. After this custom xml file is generated, how do I go about integrating it with linuxcnc?

Thanks again for you help