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EtherCAT: How to use the dedicated OmrG5 lcec driver?

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6 years 4 months ago #170118 by arvidb
EtherCAT: How to use the dedicated OmrG5 lcec driver? was created by arvidb
I'm running linuxcnc with EtherCAT support installed according to Nico2017's instructions here . So, running bleeding edge linuxcnc-2.9.0~pre0 and latest linuxcnc-ethercat with latest commit from 2019-11-21 - "Add omron g5 support".

I have an Omron G5/R88D-KN04H-ECT servo drive. It is detected by 'ethercat slaves':
Code:
$ ethercat slaves 0 0:0 PREOP + R88D-KN04H-ECT G5 Series ServoDrive/Motor

I can read e.g. "Position actual value":
Code:
$ ethercat upload -p 0 -t int32 0x6064 0x0 0xfffde579 -137863


However the drive will not enter OP mode when I run these halrun commands:
Code:
loadrt threads name1=master period1=1000000 loadusr -W lcec_conf linuxcnc/configs/ecat-test.xml loadrt lcec addf lcec.read-all master addf lcec.write-all master start

... and the motor position is also not read correctly in HAL:
Code:
halcmd: getp lcec.0.0.pos-fb-raw 0

My ecat-test.xml file looks like this:
Code:
<masters> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1"> <slave idx="0" type="OmrG5"/> </master> </masters>

/var/log/messages looks like this after execulting the halrun commands above:
Code:
Jun 4 20:38:18 debian kernel: [ 2379.133439] EtherCAT: Requesting master 0... Jun 4 20:38:18 debian kernel: [ 2379.133443] EtherCAT: Successfully requested master 0. Jun 4 20:38:18 debian kernel: [ 2379.133566] EtherCAT 0: Domain0: Logical address 0x00000000, 40 byte, expected working counter 3. Jun 4 20:38:18 debian kernel: [ 2379.133568] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 40 byte, type LRW at 0000000045db7704. Jun 4 20:38:18 debian kernel: [ 2379.134668] EtherCAT 0: Master thread exited. Jun 4 20:38:18 debian kernel: [ 2379.134671] EtherCAT 0: Starting EtherCAT-OP thread. Jun 4 20:38:18 debian kernel: [ 2379.134743] EtherCAT WARNING 0: 1 datagram UNMATCHED!

Any idea what I'm doing wrong?

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6 years 4 months ago #170121 by arvidb
Replied by arvidb on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
Some further info: if I try to change state to SAFEOP using ethercat states:
Code:
$ ethercat states SAFEOP
... I get an error indication on the drive: error 90 - "Communications setting error".

When executing "start" in halrun above I do not get any reaction at all from the drive. Neither any error code nor the LED change that would correspond to SAFEOP or OP state - it just continues to show PREOP. The drive is supposed to enter OP state when "start" hal command is issued, right?

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6 years 4 months ago #170275 by arvidb
Replied by arvidb on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
I *think* the Communications setting error is because of wrong DC (distributed clock) Sync0 config. This is not possible to configure with the ethercat command line tool; it must be done with a client program though the etherlabmaster API.

But I found out what the problem is with the linuxcnc-ethercat omrg5 driver! After increasing the ethercat debug level by running 'ethercat debug 1' I found this in syslog when loading the bus config (lcec_conf ...) in halrun:
Code:
Jun 5 20:44:57 debian kernel: [10723.751423] EtherCAT DEBUG 0 0:0: Slave main-0 has no matching product code (0x00000007) for configuration (0x00000005).

*duh* Only the R88D-KN01H-ECT product ID (0x00000005) is defined in the linuxcnc-ethercat OmrG5 driver! After modifying the code to add all the G5 drives, my drive (an R88D-KN04H-ECT) now goes to OP state and responds to pos-cmd changes in halrun! Wohoo! :woohoo:

I will try to get the code upstream, but I attach my patch here in case someone wants to use the current commit (from 2019-11-21) of linuxcnc-ethercat with their G5 drives:

File Attachment:

File Name: omrg5-all-...ls.patch
File Size:7.11 KB


The bus config xml file looks like this:
Code:
<masters> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1"> <slave idx="0" type="R88D-KN04H-ECT"> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/> <watchdog divider="2498" intervals="1000"/> </slave> </master> </masters>

The dcConf and watchdog values are from the manufacturer's device description file.
The following user(s) said Thank You: chimeno, CORBETT, DPFlex

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6 years 3 months ago #173919 by Korbi
Replied by Korbi on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
Hi can you tell me how you managed to get the drive in OP Mode. Iam faced with the same problem.

maybe you can upload your files

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6 years 3 months ago #173946 by CORBETT
Replied by CORBETT on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
@arvidb

Awesome that you made this fix... I have several of these models that I have not had time to try yet.

Thanks,
Robert
The following user(s) said Thank You: arvidb

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6 years 3 months ago #173970 by arvidb
Replied by arvidb on topic EtherCAT: How to use the dedicated OmrG5 lcec driver?
I'm glad it helps! :)

I made a pull request to sittner's github repo a month ago: github.com/sittner/linuxcnc-ethercat/pull/89 . Unfortunately I have gotten no reaction to that request yet. Hopefully he we accept it sooner or later.

Note that this driver configures the drives to use the default "258th PDO Mappings", i.e. cyclic synchronous position control only. Maybe it would be a good idea to use some other mapping that allows speed control (and feedback) as well.

Korbi: I'm not sure what else to tell you. I used the bus config file (.xml file) quoted above, and the modified omrG5 driver, as described.

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