Omron/Generic Ethercat Driver - Communications Synch Error

Hi everyone,

I am part of a research group here at Iowa State and we are using LinuxCNC to build a laser based directed energy deposition system. We have some Omron G5 R88D-KN01L-ECT drivers that a few other people have seemed to have gotten working on here and I was hoping you might be able to provide some input if this describes you.

Right now I'm just trying to get position exchange information in the HAL viewer for a single axis.

Thanks to the Ethercat installation from repositories - how to step by step , and EtherCAT: How to use the dedicated OmrG5 lcec driver? I think I have the XML setup correctly, as the driver is happy and displays "--" (preop, waiting, no error) until I launch LinuxCNC, which about 1-2s after the main UI loads the driver drops into the '90' error. This occurs regardless of if I have the drive configured as a "generic" device or if I use the OmrG5 driver. I've also tried changing the servo thread cycle time through all of the supported cycle times listed in the documentation (0.5, 1, 2, & 4ms) and no change in behavior.

I've also tried Beckhoff's Ethercat Configurator to make sure that the cycle time was set appropriately

I've attached a snippet of the documentation for the communications synchronization error. Any help/thoughts would be incredibly appreciated as I've been banging my head against this wall for a few days now. The XML, INI and HAL files have also been attached.

Thanks!
 

Change sync0Cycle="10000000" in the xml file to sync0Cycle="*1" and try it

Here is my config for OMRON R88D-KN04H-ECT. With this config I can change driver mode - velocity or position.
Change vid="0x00000083" pid="0x00000007" to you value.
Default driver in velocity mode <sdoDataRaw data="09"/>, in position mode mast be <sdoDataRaw data="08"/>

onceloved, I have tried that with no luck. For the sync0Cycle I've tried the following values with the following servo cycle times:

Servo: 1ms -> sync0Cycle: *1, *2, 1000000, 500000
Servo: 500us-> sync0Cycle: *1, *2

tpa58, thank you a bunch! I'll start with your XML file and see how far I get today then report back.

I was able to get the drive to go into OP mode thanks to your XML file after I changed the PID to my driver.

Thanks again!

Poke poke
I'm trying to get my omron servos working here and it doesn't give the 90 error now, however it is giving me an 83 error which is also communication related.

I am starting with a very basil xml and using halrun to test things.

Any thoughts?

Hi there,

Not sure how much help I can be as I've never gotten the 83 error before. I did find this on the forum, not sure if you've seen it ( www.forum.linuxcnc.org/ethercat/45007-et...hen-exiting-linuxcnc ) but it only applies to exits.

If you'd like I can run upstairs later today and grab my config files to share, although I don't think I really messed with them much beyond the PID from the files tpa58 shared.

everything is working now thanks