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machinekit / machinekit-hal

Universal framework for machine control based on Hardware Abstraction Layer principle
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Ethercat Integration with MK missing #135

Closed ArcEye closed 5 years ago

ArcEye commented 6 years ago

Issue by jpmoniz Tue May 12 11:32:12 2015 Originally opened as https://github.com/machinekit/machinekit/issues/631

Opening issue to capture work focused towards solving this.

ArcEye commented 6 years ago

Comment by koppi Wed May 13 19:40:22 2015

Subscribed! I document my Machinekit CNC experiments here.

ArcEye commented 6 years ago

Comment by mhaberler Mon May 18 12:07:56 2015

I got delivery of a (nanotec N5 EtherCAT drive)[http://de.nanotec.com/produkte/1597-n5-motorsteuerung-fuer-ethercat-oder-canopen/] for testing.

ArcEye commented 6 years ago

Comment by amitgoradia Thu May 28 10:04:46 2015

I got delivery of a Panasonic A5B ethercat servo drive (http://industrial.panasonic.com/ww/products/motors-compressors/fa-motors/ac-servo-motors/minas-a5b) for testing. Have to start working on it.

ArcEye commented 6 years ago

Comment by jpmoniz Thu May 28 11:58:39 2015

Hopefully I will be back at it, in a week or two. In the middle of a house move right now. I'll be working with a control techniques M700 drive. Looks like we have a good mix of different devices.

ArcEye commented 6 years ago

Comment by claudiolorini Thu May 28 12:08:23 2015

...ok, i've got a Beckhoff AX5106 (http://www.beckhoff.com/english.asp?drive_technology/ax51xx.htm) on my desk, some digital IO modules and a Ethercat/CANOpen gateway, if there is something to test, i'm in! (not sure if the Zedboard Eth phisical is compatible with IgH Etherlab but i think i can buy a BBB, or even better use an old PC104 with e100 - Intel PRO/100 Fast-Ethernet chipset!)

following the step-by-step guide provided by @koppi (thanks!) i've managed to see the IO modules from my PC104 (Linux 3.8-1-xenomai.x86-686-pae, Debian GNU/Linux 7.8 wheezy):v:

0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL1252 2K. Fast Dig. Eingang 24V, 1�s, DC Latch
2  0:2  PREOP  +  EL2202 2K. Dig. Ausgang 24V, 0.5A
3  0:3  PREOP  +  EL2202 2K. Dig. Ausgang 24V, 0.5A
4  0:4  PREOP  +  EL1252 2K. Fast Dig. Eingang 24V, 1�s, DC Latch
5  0:5  PREOP  +  EL2202 2K. Dig. Ausgang 24V, 0.5A
6  0:6  PREOP  +  EL1252 2K. Fast Dig. Eingang 24V, 1�s, DC Latch

the master: 

Master0
  Phase: Idle
  Active: no
  Slaves: 7
  Ethernet devices:
    Main: 00:16:27:00:37:1f (attached)
      Link: UP
      Tx frames:   37987
      Tx bytes:    2279444
      Rx frames:   37986
      Rx bytes:    2279384
      Tx errors:   0
      Tx frame rate [1/s]:    242    252    302
      Tx rate [KByte/s]:     14.2   14.8   17.7
      Rx frame rate [1/s]:    242    252    302
      Rx rate [KByte/s]:     14.2   14.8   17.7
    Common:
      Tx frames:   37987
      Tx bytes:    2279444
      Rx frames:   37986
      Rx bytes:    2279384
      Lost frames: 0
      Tx frame rate [1/s]:    242    252    302
      Tx rate [KByte/s]:     14.2   14.8   17.7
      Rx frame rate [1/s]:    242    253    302
      Rx rate [KByte/s]:     14.2 -1746.2   15.7
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0
  Distributed clocks:
    Reference clock: Slave 0
    Application time: 0
                      2000-01-01 00:00:00.000000000

dmesg messages

[12430.194384] EtherCAT: Master driver 1.5.2 unknown
[12430.195354] EtherCAT: 1 master waiting for devices.
[12430.264049] EtherCAT: Accepting 00:16:27:00:37:1F as main device for master 0.
[12430.280972] EtherCAT 0: Starting EtherCAT-IDLE thread.
[12430.286666] EtherCAT 0: Link state of ecm0 changed to UP.
[12430.288183] EtherCAT 0: 7 slave(s) responding on main device.
[12430.288190] EtherCAT 0: Slave states on main device: PREOP.
[12430.288263] EtherCAT 0: Scanning bus.
[12430.944001] EtherCAT 0: Bus scanning completed in 708 ms.
[12430.944001] EtherCAT 0: Using slave 0 as DC reference clock.
ArcEye commented 6 years ago

Comment by claudiolorini Fri Aug 7 11:32:04 2015

...some small steps ahead: I've managed following @koppi 's guide to activate fast digital outputs (EL2202) from Machinekit, adding the few lines of code needed for support and changing the configuration xml.... but: Trying to do the same with the fast digital inputs module (EL1252) i obtain the following error

sudo tail -f /var/log/kern.log | grep EtherCAT
...
Aug  7 13:10:48 PC104 kernel: [14528.822109] EtherCAT ERROR 0 0:1: PDO entry 0x6010:01 is not mapped.
Aug  7 13:10:48 PC104 kernel: [14528.822477] EtherCAT 0: Releasing master...
...

the PDOs that the devices is showing are the following:

ethercat pdos -p1 

SM0: PhysAddr 0x1000, DefaultSize    1, ControlRegister 0x22, Enable 1
  TxPDO 0x1a00 "Channel 1"
    PDO entry 0x6000:01,  1 bit, "Input"
  TxPDO 0x1a01 "Channel 2"
    PDO entry 0x6000:02,  1 bit, "Input"
    PDO entry 0x0000:00,  6 bit, ""
  TxPDO 0x1a02 "Reserved"
SM1: PhysAddr 0x09ae, DefaultSize    0, ControlRegister 0x00, Enable 4
  TxPDO 0x1a13 "Latch"
    PDO entry 0x1d09:ae,  8 bit, "Status1"
    PDO entry 0x1d09:af,  8 bit, "Status2"
    PDO entry 0x1d09:b0, 64 bit, "LatchPos1"
    PDO entry 0x1d09:b8, 64 bit, "LatchNeg1"
    PDO entry 0x1d09:c0, 64 bit, "LatchPos2"
    PDO entry 0x1d09:c8, 64 bit, "LatchNeg2"
SM2: PhysAddr 0x0910, DefaultSize    0, ControlRegister 0x00, Enable 4

afaict the master is requesting the PDO 0x6010 that the device does not provide.... is it correct?

I've added the following to the @sittner source:

lcec_el1xxx.h:

...
#define LCEC_EL1252_PID 0x04E43052
...
#define LCEC_EL1252_PDOS 2
...

lcec_main.c:

...
  { lcecSlaveTypeEL1252, LCEC_EL1xxx_VID, LCEC_EL1252_PID, LCEC_EL1252_PDOS, lcec_el1xxx_init},
...

lcec_conf.h:

...
  lcecSlaveTypeEL1252,
...

lcec_conf.c:

...
  { "EL1252", lcecSlaveTypeEL1252 },
...

...any suggestion?

ArcEye commented 6 years ago

Comment by koppi Fri Aug 7 12:21:25 2015

@claudiolorini 3 months ago I had a similar issue with the PDO mapping for the EL7041-1000 device driver, see http://etherlab-users.etherlab.narkive.com/eqQWt2Pw/el7041-1000-al-status-message-0x001e-invalid-input-configuration

Run ethercat -p1 cstruct and compare it's output to the PDO entries defined in LCEC_EL1252_PDOS. The message in /var/log/kern.log suggests that the PDO structure defined in LCEC_EL1252_PDOS is different to the PDO structure reported by the device.

ArcEye commented 6 years ago

Comment by koppi Fri Aug 7 12:32:06 2015

Sorry, my above comment was not quite correct: you defined LCEC_EL1252_PDOS to be 2.

This is the line, where the PDO mapping happens: https://github.com/sittner/linuxcnc-ethercat/blob/master/src/lcec_el1xxx.c#L52 in the driver from what you report. In your case the addresses are 0x6000:01 and 0x6000:02.

ArcEye commented 6 years ago

Comment by claudiolorini Tue Aug 11 06:44:44 2015

...I've seen the code and i understand better the things now, i think i have to write two specific 'drivers' for EL2202 (has a slightly different behaviour from the generic EL2xxx) and EL1252 (that has a completly different set of PDOs from EL1xxx)! thanks, C.

ArcEye commented 6 years ago

Comment by claudiolorini Mon Aug 24 09:28:33 2015

...ok, i managed to put to work the IO terminals (EL2202 and EL1252), if someone is interested i've made a PR to @sittner, otherwise the code can be accessed here: https://github.com/claudiolorini/linuxcnc-ethercat

Next step is to operate the EL6751 CANopen Master with the Elmo Harmonica CANOpen drives.

ArcEye commented 6 years ago

Comment by dbskccc Mon Nov 30 23:55:53 2015

hello, is somobody try this on beaglebone black, i am just lost on it.

ArcEye commented 6 years ago

Comment by AceXIE Mon Apr 18 08:23:16 2016

Hi, everyone. Are you successed? Now, I am try this on my BBB. I use the .img, so there is no problem running machinekit. However, when I try etherlab master on BBB, this is some errors. Do you have some idea on how to make. Thanks.

ArcEye commented 6 years ago

Comment by sirop Mon Apr 18 08:34:28 2016

@AceXIE Could you please share your error logs?

My suspicion about ethercat on BBB is: linuxcnc-ethercat depends on https://sourceforge.net/p/etherlabmaster/ which in its turn depends on adopted network drivers https://sourceforge.net/p/etherlabmaster/code/ci/default/tree/devices/ .

You may still use the generic network driver from /default/tree/devices/ but it is not the fastest. Thus - even if you configured everything properly - it is not improbable that your master will complain about skipped datagrams...

ArcEye commented 6 years ago

Comment by AceXIE Mon Apr 18 09:12:56 2016

Dear @sirop. Thanks a lot. I follow the tutorial tutorial

1st Download ethercat master from IgH
2nd Untar the file: tar xvfj ethercat-1.5.2.tar.bz2
3rd download debian folder from sittner
4th copy debian folder (3rd step) to /ethercat-1.5.2/ (2nd step)
5th sittner instructions:
$cd ethercat-1.5.2
$ cd debian
$ ./configure -a _//This step, I use ./configure -r, because my kernel version is 3.8.13._
$ cd ..
$ dpkg-checkbuilddeps (and install missing deps)
$ dpkg-buildpackage

There is no error log before this. The error logs is as follows.

/usr/bin/ld: error: ethercat uses VFP register arguments, ../master/soe_errors.o does not
/usr/bin/ld: failed to merge target specific data of file ../master/soe_errors.o
collect2: ld returned 1 exit status
make[3]: *** [ethercat] Error 1
make[3]: Leaving directory `/home/machinekit/ethercat-1.5.2/tool'
make[2]: *** [install-recursive] Error 1
make[2]: Leaving directory `/home/machinekit/ethercat-1.5.2'
make[1]: *** [install] Error 2
make[1]: Leaving directory `/home/machinekit/ethercat-1.5.2'
make: *** [install] Error 2
dpkg-buildpackage: error: debian/rules binary gave error exit status 2

It seems that BBB is hard float, I guess. My kernel version is

cat /proc/version 
Linux version 3.8.13-xenomai-r78 (root@a6-imx6q-wandboard-2gb) (gcc version 4.6.3 (Debian 4.6.3-14) ) #1 Sat Sep 26 16:54:43 UTC 2015

My gcc version is

machinekit@beaglebone:~/ethercat-1.5.2$ gcc -v
Using built-in specs.
COLLECT_GCC=gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/arm-linux-gnueabihf/4.6/lto-wrapper
Target: arm-linux-gnueabihf
Configured with: ../src/configure -v --with-pkgversion='Debian 4.6.3-14' --with-bugurl=file:///usr/share/doc/gcc-4.6/README.Bugs --enable-languages=c,c++,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.6 --enable-shared --enable-linker-build-id --with-system-zlib --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.6 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --enable-plugin --enable-objc-gc --disable-sjlj-exceptions --with-arch=armv7-a --with-fpu=vfpv3-d16 --with-float=hard --with-mode=thumb --enable-checking=release --build=arm-linux-gnueabihf --host=arm-linux-gnueabihf --target=arm-linux-gnueabihf
Thread model: posix
gcc version 4.6.3 (Debian 4.6.3-14)

Do you have some suggestions? When I just install the etherlab, there is no error. And, I can start the EtherCAT Master, and ethercat slaves can also receive my slaves. I don't know how to connect machinekit to Etherlab Master. I want to control my drivers via EtherCAT. I am complete beginner to ARM, Could you help me. Thanks.

ArcEye commented 6 years ago

Comment by sirop Mon Apr 18 10:13:21 2016

@AceXIE I do not know if the usual stackoverflow search would help about /usr/bin/ld: error: ethercat uses VFP register arguments, ../master/soe_errors.o does not http://stackoverflow.com/q/9753749/4599792 ?

However you say:

When I just install the etherlab, there is no error. And, I can start the EtherCAT Master, and ethercat >slaves can also receive my slaves.

It means you can run Etherlab on the BBB but you did not install it like in https://github.com/sittner/ec-debianize/ ?

If you follow this newer tutorial https://github.com/koppi/mk/blob/daa3fd64a0b2b61933cdda100c8679dcee8232cb/Machinekit-Xenomai-Thinkpad-X200.md#installation-und-konfiguration-ethercat-master , then examine and adopt https://github.com/sittner/ec-debianize/blob/master/debian/extras/usr/sbin/update-ethercat-config .

If you find out that Distributed Clock handling is not fine grained enough within https://github.com/sittner/linuxcnc-ethercat , then you can try to code your own MK component for the very slaves you use like: https://github.com/sirop/EtherCAT_HAL/blob/master/pdortapi2dc.comp

ArcEye commented 6 years ago

Comment by AceXIE Mon Apr 18 15:47:48 2016

@sirop Thank you very much.

When I just install the etherlab, there is no error. And, I can start the EtherCAT Master, and ethercat >slaves can also receive my slaves.

I mean the EtherCAT master can work well when I install following the instruction of Etherlab.. I will have a try, as this. By the way, how to use .comp file. I can't find the comp command. Which package I forget to install on debian?

ArcEye commented 6 years ago

Comment by mhaberler Mon Apr 18 16:06:43 2016

@AceXIE compile everyhing non-machinekit for armhf. Mixing softftp and hardfp doesnt work well.

ArcEye commented 6 years ago

Comment by sirop Mon Apr 18 16:10:12 2016

I mean the EtherCAT master can work well when I install following the instruction of Etherlab.

If you still want to install it this way https://github.com/sittner/ec-debianize , try to change the configure options of this debianized packet https://github.com/sittner/ec-debianize/blob/master/debian/configure#L79-L95 . As you see 3.8.13-xenomai-r78 is not among the choices, but only 3.8-1-xenomai.x86-amd64. You might also need to edit/adopt https://github.com/sittner/ec-debianize/blob/master/debian/patches/40_xenomai_config.dpatch .

By the way, how to use .comp file. I can't find the comp command. Which package I forget to install on debian?

Try to follow this: https://groups.google.com/d/msg/machinekit/r8oRB0AnJt8/0944IqkDCwAJ

ArcEye commented 6 years ago

Comment by AceXIE Tue Apr 19 08:01:39 2016

Thank you. @mhaberler My gcc use hardfp as default.

machinekit@beaglebone:~/ethercat-1.5.2$ gcc -v
Using built-in specs.
COLLECT_GCC=gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/arm-linux-gnueabihf/4.6/lto-wrapper
Target: arm-linux-gnueabihf
Configured with: ../src/configure -v --with-pkgversion='Debian 4.6.3-14' --with-bugurl=file:///usr/share/doc/gcc-4.6/README.Bugs --enable-languages=c,c++,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.6 --enable-shared --enable-linker-build-id --with-system-zlib --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.6 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --enable-plugin --enable-objc-gc --disable-sjlj-exceptions --with-arch=armv7-a --with-fpu=vfpv3-d16 --with-float=hard --with-mode=thumb --enable-checking=release --build=arm-linux-gnueabihf --host=arm-linux-gnueabihf --target=arm-linux-gnueabihf
Thread model: posix
gcc version 4.6.3 (Debian 4.6.3-14)

When I use https://github.com/sittner/ec-debianize, I change the configure options just as @sirop said. Unfortunately， there are some errors. I found someone had the same question. http://comments.gmane.org/gmane.network.etherlab.user/2555.

As a workaround, I discovered that if I "touch master/soe_errors.c" when this happens and "make install" again, then it works. Have not had time to go back to it.

I use dpkg-buildpackage to package, because I want install etherlab*-dev.deb which is needed by linuxcnc-ethercat when dpkg-checkbuilddeps https://github.com/koppi/mk/blob/daa3fd64a0b2b61933cdda100c8679dcee8232cb/Machinekit-Xenomai-Thinkpad-X200.md#linuxcnc--ethercat-hal-module

ArcEye commented 6 years ago

Comment by koppi Sat Apr 30 13:55:23 2016

I received a small package from Beckhoff Automation GmbH & Co. KG via UPS two days ago:

img_20160428_161635

The CX9020 is a compact, DIN rail-mountable Ethernet control system with 1 GHz ARM Cortex™-A8 CPU with an FPGA that talks to the EtherCAT fieldbus.

I will document the setup with Debian/Jessie + Machinekit here (– work in progress as of 2016-04-30).

ArcEye commented 6 years ago

Comment by luminize Sat Apr 30 14:14:33 2016

On 30 Apr 2016, at 15:55, Jakob Flierl notifications@github.com wrote: The CX9020 is a compact, DIN rail-mountable Ethernet control system with 1 GHz ARM Cortex™-A8 CPU with an FPGA that talks to the EtherCAT fieldbus

My knowledge is not really up to par, so forgive my ignorance. Do you mean that you would use the Ethercat FPGA fieldbus like you would instantiate components same as you would a stepgen/encoder in a Mesa FPGA card?

ArcEye commented 6 years ago

Comment by koppi Sat Apr 30 15:15:45 2016

@luminize For now I will use the LinuxCNC EtherCAT realtime HAL driver to glue the cards on the EtherCAT fieldbus into the HAL layer. In my current Thinkpad X200 based CNC mill setup the component instantiation for the IO- and stepper-driver cards is configured with this xml file. – So the only real news from my previous post is, that I will give a try at replacing the Thinkpad X200 with a Beckhoff CX9020.

Update: Link to the Beckhoff CCAT FPGA Kernel mode driver to run IgH EtherCAT Master on CX devices.

ArcEye commented 6 years ago

Comment by koppi Fri May 27 18:58:46 2016

I just published a new Video showing a basic siggen HAL component test on the CX9020.

zultron commented 5 years ago

Can this issue be closed? @sittner's lcec component works great with MachineKit, and even enslaving the HAL thread timing to the DC on a slave is supported since PR machinekit/machinekit#1373.

sirop commented 5 years ago

Yes, for closing.