hal ini and xml configuration for akd motor driver

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04 Oct 2021 08:25 #222175 by db1981
How did you cabled your system?

one Network Card -> (cable) -> EK1000 IN Socket - EK1000 OUt Socket -> (cable) -> AKD Drive ?

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04 Oct 2021 08:57 #222177 by itsnotryan
exactly but the ethercat device is EK1100

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04 Oct 2021 09:05 #222178 by db1981
Hmm,

the ek1100 is not listed in your ethercat_conf .

add this to your conf file :
<slave idx="0" type="EK1100"/>

in front of the akd slave, and change the index from the akd to idx="1" .

after this test again, with "ethercat slaves" after starting lcnc.

and post the errors.

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04 Oct 2021 09:43 #222183 by itsnotryan
hi,
thanks for your response, i did the changes to the xml fine and got some errors saying the pin not found so I change the hal file aswel to match the current setting. thanks to you now the EK1100 changes to OP mode but not the driver. the linux cnc runs with no error aswell but i still get this error when i try to jog the motor or run a g code:
link (updating variable file): Operation not permitted
task: main loop took 0.112958 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.123283 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.111918 seconds
link (updating variable file): Operation not permitted
task: main loop took 0.111179 seconds

here are my new files: i think there should be a miss matching of the pins in the hal and actual device what do you think?
 

File Attachment:

File Name: ethercat-c...0-04.xml
File Size:1 KB

File Attachment:

File Name: ethercat_2...0-04.hal
File Size:2 KB
Attachments:

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04 Oct 2021 09:48 #222184 by itsnotryan
oh btw,
linux cnc runs but there is something suspicious in the terminal:
Starting LinuxCNC...
emc/iotask/ioControl.cc 702: can't load tool table.
Found file(REL): ./ethercat.hal
Note: Using POSIX realtime
link (updating variable file): Operation not permitted

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04 Oct 2021 10:07 #222185 by db1981
link (updating variable file): Operation not permitted
this should not be ethercat related, there is something wrong with user rights etc. Lcnc can't write to its var file. never seen this before... to be shure that its not ethercat related, start one of the sample configs and test if this error persists.

AKD Drive:
as long as the drive not goes to op mode, hal pins are not important. First the ethercat conf has to work for this drive.
to go further with this set in Terminal ethercat debug level to 1. "ethercat debug 1"
start the config, and post the ethercat related output of dmesg.

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04 Oct 2021 10:14 #222186 by itsnotryan
i changed the debug level here is the dmesg output
[12431.553229] EtherCAT 0: Starting EtherCAT-IDLE thread.
[12431.553274] EtherCAT 0: 0 slave(s) responding on main device.
[12431.553283] EtherCAT 0: Releasing master...
[12431.553286] EtherCAT 0: Released.
[12431.585195] EtherCAT 0: 2 slave(s) responding on main device.
[12431.585197] EtherCAT 0: Slave states on main device: PREOP.
[12431.585332] EtherCAT 0: Scanning bus.
[12431.711780] EtherCAT 0: Bus scanning completed in 124 ms.
[12431.711783] EtherCAT 0: Using slave 0 as DC reference clock.
[12432.065240] EtherCAT WARNING: Datagram 000000000e020864 (master-fsm) was SKIPPED 1 time.
[12433.797953] EtherCAT: Requesting master 0...
[12433.797957] EtherCAT: Successfully requested master 0.
[12433.798171] EtherCAT 0: Domain0: Logical address 0x00000000, 26 byte, expected working counter 3.
[12433.798173] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 26 byte, type LRW.
[12433.798185] EtherCAT 0: Master thread exited.
[12433.798187] EtherCAT 0: Starting EtherCAT-OP thread.
[12433.798276] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[12433.937191] EtherCAT 0: Slave states on main device: PREOP, OP

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04 Oct 2021 11:22 #222189 by itsnotryan
i noticed even if i run

ryan@RYAN:/media/ryan/LINUXCNC_2_/configs$ ethercat states OP
ryan@RYAN:/media/ryan/LINUXCNC_2_/configs$ ethercat slaves
0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 58:0 PREOP E AKD EtherCAT Drive (CoE)

only the first one changes the state

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04 Oct 2021 12:40 #222197 by itsnotryan
just a quick update, i managed to change the alias from 58 to 0, there was a physical screw type of thing on ht edriver that I set to 0 and now here is my slaves output
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 PREOP + AKD EtherCAT Drive (CoE)

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21 Nov 2021 09:05 #227176 by rodw

just a quick update, i managed to change the alias from 58 to 0, there was a physical screw type of thing on ht edriver that I set to 0 and now here is my slaves output
0 0:0 PREOP + EK1100 EtherCAT-Koppler (2A E-Bus)
1 0:1 PREOP + AKD EtherCAT Drive (CoE)

Hi, would you be able to share your final config? We are on a similar path with 4 of the same drives but I knew nothing about ethercat configs until yesterday , so progress is slow.

Our current error using your config is;
./ethercat.hal:14: execv(lcec_conf): No such file or directory

Thanks in anticipation

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