Re: [etherlab-users] Debian Stretch

[Christoph Schroeder]

Hi all,

you need to copy or link the script to /usr/local/sbin
what is the reason for this?

According to man systemd-sysv-generator all you have to do is to install the 
SysV script into /etc/init.d as usually and reload the config:
$ sudo systemctl daemon-reload
This will create a service file under 
/run/systemd/generator.late/ethercat.service which can be enabled for autostart 
as you wrote.

By the way, the EtherCAT master also comes with a proper service file. I didn't 
test it though since the init.d script works fine for me om Debian 9.

Best regards,
Christoph



Von: etherlab-users 
 im 
Auftrag von Steve Hartmann 
Gesendet: Freitag, 4. Januar 2019 18:21
An: Etherlab Users
Betreff: [etherlab-users] Debian Stretch


We have been using etherLabs etherCAT stack on Debian Wheezy with a Xenomai 
kernel for some time now.  For reasons outside of ethercat we want to move to 
Stretch (Debian 9) using the RT_PREEMPT kernel.  I have the stack up and 
running, but some system differences are causing me some difficulties.  I have 
been reading articles, but was wanting to know if someone here has already gone 
through the pain and would be willing to share their work.



First of all, I have found that although the UDev directories are still there, they are all empty 
and UDev seems to be deprecated.  The UDev rule, 99-EtherCAT.rules, which contains the line 
“KERNEL=="EtherCAT[0-9]*", MODE="0664"” no longer seems to have any effect.  
Anyone know the new procedure to set the file mode for the EtherCAT devices?



Second, they have switched to systemd.  I have just been running the 
sbin/ethercatctl script to start and stop the service.  Anyone know the magic 
mojo to add it to the system so I can use systemctrl and thus be able to have 
it start on system startup?



TIA,



Steven



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Re: [etherlab-users] How to check if all slaves have reached operational state?

[Christoph Schroeder]

Hi Mohsen,

additionally you can use ecrt_slave_config_state in your application. I call 
this function plus ecrt_master_state and ecrt_domain_state every other second 
to check the status of the whole setup.

Best regards,
Christoph

On 10/4/18 11:15 PM, Ian Prochazka wrote:
Would user command from OS console give you the answer:

x@x::~$ ethercat slaves



The ethercat commands can be used while your application is running. Try 
'ethercat --help' for other options



Best regards,

Ian




From: etherlab-users 
[etherlab-users-boun...@etherlab.org] On 
Behalf Of Mohsen Alizadeh Noghani [m.aliza...@gmail.com]
Sent: Thursday, October 04, 2018 3:06 AM
To: etherlab-users@etherlab.org
Subject: [etherlab-users] How to check if all slaves have reached operational 
state?

Dear EtherLab users,
After activating the master and starting frame exchange, is there a way to 
check whether all states have reached operational?
Additional info:
Currently, in my 
code, I just 
send empty frames for long enough (trial and error) so that when I exit the loop, my 
slaves (servo drives) are in OP state.
I have tried checking the working counter in the loop and exiting from it after 
the domain's working counter becomes equal to our expected value. However, 
there is still a small delay after that happens and the second slave reaching 
operational state.
Best,
Mohsen



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Re: [etherlab-users] Απ: AL status message 0x0036: "DC Sync0 Cycle Time"

[Christoph Schroeder]

Hello Mike,

reffering to the last question on this list regarding a driver for the
RasPi 3 and kernel 4.x, which driver are you actually using? I thought
the native drivers don't work with newer kernels. I am currently using
the native driver for e1000e Intel cards on Debian Jessie (kernel 3.16)
and would like to upgrade to Debian Stretch (kernel 4.9).

Another question: Which branch of Xenomai did you use (Xenomai 2.x or
Xenomai 3.x)? I did some tests with Xenomai myself and it seemed the
master was ready to use with Xenomai 2 while it requires some
modifications for usage with Xenomai 3.

Best regards,
Christoph

On 04/02/2018 08:55 PM, Mike Karam wrote:

Hi Jurgen,

thanks for your reply. The current option I have beyond the preempt_rt patch is 
the Xenomai framework (since RTAI I think is not very actively developed 
nowadays, in contrast with Xenomai).
I have read some articles which say that the gain in the loop rate is not that 
much considering the development cost. Therefore I haven't done anything in 
this direction. Moreover, the delay from the slave is around 200 μs so I don't 
think I can get more than 5 KHz.
I compiled the kernel myself, following this very good tutorial: 
https://ubuntuforums.org/showthread.php?t=2273355
When I say "native driver" support I mean the e1000e driver support, but for 
the 3.16 kernel (I don't know if that is correct, but having also used the generic driver 
support, the outcomes don't have significant differences).
I'm attaching the makefile I used. It's the makefile provided by synapticon: 
https://doc.synapticon.com/tutorials/getting_started_igh_ethercat_master/installing_igh_ethercat_master/
but a bit changed.

SHELL := /bin/bash
ethercatMasterVersion:=1.5.2-merc
ethercatMasterZip:=ethercat-$(ethercatMasterVersion).tar.bz2
udevRulesFile:=99-EtherCAT.rules
ethercatUserGroup:=$(shell whoami)

$(udevRulesFile):
  @echo "Generating udev rules file"
  @echo "KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\", 
GROUP=\"$(ethercatUserGroup)\"">$(udevRulesFile)

ethercatMaster: $(udevRulesFile)
  #--with-e1000e-kernel=3.16
  tar -xvf $(ethercatMasterZip)
  cd ethercat-$(ethercatMasterVersion);\
  ./configure --disable-8139too --with-e1000e-kernel=3.16;\
  make all modules;

ethercatMasterInstall: ethercatMaster
  cd ethercat-$(ethercatMasterVersion);\
  sudo make modules_install install;\
  sudo depmod;\
  sudo mv ../$(udevRulesFile) /etc/udev/rules.d/$(udevRulesFile);\
  sudo ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/ethercat;\
  sudo mkdir -p /etc/sysconfig/;\
  sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/ethercat;\
  sudo sed -i 's/DEVICE_MODULES=\"\"/DEVICE_MODULES=\"generic\"/g' 
/etc/sysconfig/ethercat;\
  sudo ln -s /opt/etherlab/bin/ethercat /usr/bin/ethercat;\
  interfaces=`ifconfig | grep -e "^e[tn][a-z0-9]*" -o`;\
  for i in $$interfaces;do lastInterface=$$i; done;\
  interfaceMAC=`ifconfig $$lastInterface | grep 
"[0-9A-Fa-f]\{2\}:[0-9A-Fa-f]\{2\}:[0-9A-Fa-f]\{2\}:[0-9A-Fa-f]\{2\}:[0-9A-Fa-f]\{2\}:[0-9A-Fa-f]\{2\}"
 -o`;\
  sudo sed -i "s/MASTER0_DEVICE=\"\"/MASTER0_DEVICE=\"$$interfaceMAC\"/g" 
/etc/sysconfig/ethercat;\

ethercatMasterInstallWithAutoStart: ethercatMasterInstall
  sudo update-rc.d ethercat defaults;\
  sudo /etc/init.d/ethercat start;

clean:
  @echo Removing compiled installation files
  @rm -f -r ethercat-$(ethercatMasterVersion) $(udevRulesFile)

Can you answer to any of my questions? :)
Thanks again,

Mike
Από: Jürgen Walter • DATATRONiQ 
Στάλθηκε: Δευτέρα, 2 Απριλίου 2018 8:15 μμ
Προς: etherlab-users@etherlab.org
Κοιν.: Mike Karam
Θέμα: Re: [etherlab-users] AL status message 0x0036: "DC Sync0 Cycle Time"

Hi Mike,

glad to hear you got it working. Can you please clarify:

I wanted to thank you all for your valuable advice. Now I'm acheiving near 3.5 
kHz loop rate without a single datagram loss. My configured system is

are you still trying to go for 5-10kHz (as per your initial e-mail)?

Ubuntu 16.04 with kernel 4.8.15-rt10 (preempt_rt patched)

did you compile this yourself or did you find a low latency / preempt version 
in the Ubuntu repos?

and support for native driver.

what do you mean by "native driver" - is this the generic driver?

Finally, do you mind writing a short list of commands (while the memory is 
still fresh ;) ) for us and for your future self, perhaps:

   1.  built the custom kernel 4.8.x for preempt_rt
   2.  built etherlab, ie ./configure --options 

Thank you! Jürgen

On 2 Apr 2018, at 18:19, Mike Karam wrote:

Hi all,

I wanted to thank you all for your valuable advice. Now I'm acheiving near 3.5 
kHz loop rate without a single datagram loss. My configured system is (just for 
reference): Ubuntu 16.04 with kernel 4.8.15-rt10(preempt_rt patched) and 
support for native driver. I would like to ask another question: In the dc_user 

Re: [etherlab-users] yet another datagrams UNMATCHED - DC 0.2ms / 5kHz // igb kernel 3.18

[Christoph Schroeder]

Hi Jürgen,

On 02/13/2018 10:01 AM, Jürgen Walter • DATATRONiQ wrote:
I see- will get another Intel card (although compatible ones (kernel driver 
e1000, e1000e) seem to be hard to come by these days) and try with anther 
kernel driver.
I also did some tests with the EtherCAT master, Xenomai and different network 
devices compatible with the ec_e1000e driver.
Test system was a Core-i5 (4th generation) with a Debian Wheezy  (Kernel 3.2) 
with two slaves attached (Microship LAN9252 in simple Digital I/O mode). I 
observed the following:

 *   even with the PREEMPT patch and the native driver ec_e1000e I could barely 
achieve 2000Hz cycle rate without frame losses
 *   with Xenomai I could go over 1Hz without a problem, but there are some 
other issues with Xenomai:
*   the EtherCAT master is not ready to use the newer Xenomai 3.x branch 
and the Xenomai 2.x branch is not supported anymore
*   I got some issues with long term stability on my test system (Kernel 
panic) and decided not to use it on a productive system
*   I would suggest you go for RTAI since you will also get far more help 
from the EtherCAT community, I could barely find other people here who also use 
Xenomai with the EtherCAT master
 *   while using Xenomai I observed, that there is also a huge difference 
between different network chips:
*   I initially used a card with an Intel 82572EI (introduced Q4'05) and 
also tried a Dual port card with an Intel 82571EB (introduced Q3'05) which had 
basically the same results on my test system
*   the best results I got were achieved with an Intel 82574L (introduced 
Q2'0)

I didn't try RTAI till now, but I think you will get the same or even better 
results than I got with Xenomai.

The cards with Intel 82574L we got were sold as "Intel Gigabit CT Desktop 
Adapter". The chip will be produced until 2020, so getting a card with it should be 
no problem. Maybe this will help you.

Best regards,
Christoph



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Re: [etherlab-users] How to make ipk/deb package for IgH EtherCAT Master?

[Christoph Schroeder]

Hi again,

looking at the bottom of the mail, the file still seems to be in the
archive:
http://lists.etherlab.org/pipermail/etherlab-users/attachments/20141112/c165be99/attachment-0001.bin
Rename the file extension into tar.bz2 to extract the data. This
contains the debian folder which you can use to start building dkms
packages based on the 1.5.2 release of the EtherCAT master.

Best regards,
Christoph

On 12/04/2017 11:50 AM, Christoph Schroeder wrote:

Hi,

the komaxgroup did debianize the master as dkms packages (see:
http://lists.etherlab.org/pipermail/etherlab-users/2014/002650.html).
Unfortunately the links from 2014 are already down.

Best regards,
Christoph

On 12/04/2017 01:52 AM, Mike O'Connor wrote:

On 2/12/2017 6:13 AM, Jiarui Lian wrote:

Hi everyone, here is my scenario:

   * I want to cross-compile the IgH EtherCAT Master on powerful linux
 host, as it is faster!
   * (And I finished cross-compile on host: “make, make modules”)
   * Then I want to make an .ipk or .deb packages, to be
 copied/installed on embedded target.
   * So how to make .ipk/.deb package for IgH EtherCAT Master?



Thanks!

Jerry


Hi Jerry

There is a GitHub repo to build deb packages
https://github.com/sittner/ec-debianize

This does not create a dkms package, I'm sure there was work done on
this but I can not find it.

Cheers
Mike
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Re: [etherlab-users] How to make ipk/deb package for IgH EtherCAT Master?

[Christoph Schroeder]

Hi,

the komaxgroup did debianize the master as dkms packages (see:
http://lists.etherlab.org/pipermail/etherlab-users/2014/002650.html).
Unfortunately the links from 2014 are already down.

Best regards,
Christoph

On 12/04/2017 01:52 AM, Mike O'Connor wrote:

On 2/12/2017 6:13 AM, Jiarui Lian wrote:

Hi everyone, here is my scenario:

   * I want to cross-compile the IgH EtherCAT Master on powerful linux
 host, as it is faster!
   * (And I finished cross-compile on host: “make, make modules”)
   * Then I want to make an .ipk or .deb packages, to be
 copied/installed on embedded target.
   * So how to make .ipk/.deb package for IgH EtherCAT Master?



Thanks!

Jerry


Hi Jerry

There is a GitHub repo to build deb packages
https://github.com/sittner/ec-debianize

This does not create a dkms package, I'm sure there was work done on
this but I can not find it.

Cheers
Mike
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[etherlab-users] Question about DC synchronization in rtai_rtdm_dc example

[Christoph Schroeder]

Hi Folks,

I stumbled upon a question regarding the dc example which is part of the
EtherCAT master release. The Example mentions:
"The initial application time is also used for phase calculation for the
SYNC0/1 interrupts. Please be sure to call it at the correct phase to
the realtime cycle"

What does this actually mean and is this even relevant if you don't use
cyclic SYNC0/1? What confuses me is that we use dc_start_time_ns in:
> ecrt_master_application_time(master, dc_start_time_ns);

but for the wakeup time we simply set:
> wakeup_time = system_time_ns() + 10 * cycle_ns;

right before starting the actual cycle. If we set a dc_start_time_ns,
which might seem to be important, shouldn't wakeup_time be something like:
> wakeup_time = dc_start_time_ns + n * cycle_ns;

where n is the number of cycles already done in the past, so that it is
"in phase" to the original start time (and thus with the internal time
used by the master)?
Another thing is, that the start_time is changed at least once inside
"update_master_clock", but at this point it is never used again in this
application. Maybe that's because this example is only a part of a
bigger application, but I am still curious why.

Thanks and best regards,
Christoph




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Re: [etherlab-users] ec_e1000e not compatible with Intel I218-LM NIC

[Christoph Schroeder]

Hi everyone,

here is what I observed with the predecessor I217-LM on Debian 7:
It uses the e1000e driver, not the Intel igb driver which is more common for 
server adapters. The ec_e1000e didn't work for me too on the default kernel 
3.2.xx, but it worked with the backported 3.16.xx kernel. Seems like there was 
something changed which prevents the ec_e1000e of the 3.2.xx kernel to work 
with Intel onboard adapters. It might not be the driver itself since the 
adapter works fine with the unpatched e1000e driver of this kernel. Maybe 
someone who is familiar with these network drivers and the Linux kernel sources 
can figure it out. However the generic driver works in all cases.

Best regards,
Christoph

On 09/18/2017 01:42 AM, Gavin Lambert wrote:
Check which standard kernel module is loaded for that card when using the 
generic driver (or without using EtherCAT at all), either with lsmod or lspci 
-k.

I don’t know whether this applies to that specific card or not, but some of the 
newer gigabit cards require the igb driver rather than the e1000e driver, and 
that hasn’t been patched for EtherCAT yet.

From: Benjamin Neef
Sent: Monday, 18 September 2017 07:52
To: etherlab-users@etherlab.org
Subject: [etherlab-users] ec_e1000e not compatible with Intel I218-LM NIC


Hi,

I set up the latest stable EtherLab EtherCAT Master (branch stable-1.5 from 
Mercurial-Repository) on my Lenovo X250 Laptop (one Intel I218-LM NIC) with 
Debian installed (3.2.0-4-rt-amd64 #1 SMP PREEMPT RT Debian 3.2.89-2 x86_64). 
When I try to use the compiled ec_e1000e kernel module (./configure 
--enable-e1000e; not compiled into the kernel - kernel config set is =M) the 
EtherCAT Master will not find my NIC and stucks on the dmesg message:

EtherCAT: 1 master waiting for devices.

ec_e1000e: Ethercat-capable Intel(R) PRO/1000 Network Driver - 1.5.1-k-EtherCAT

When I use the generic driver everything works fine and the Master find my NIC. 
/etc/sysconfig/ethercat is configured with the right MAC address of my NIC.

I'm not sure if the I218-LM NIC is supported, but in this post it seems that it 
is (http://lists.etherlab.org/pipermail/etherlab-dev/2016/000554.html). Does 
anyone have an idea?

Thank you for your help,

Benjamin.

--

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Technische Universität Braunschweig

Institut für Werkzeugmaschinen und Fertigungstechnik (IWF)



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Re: [etherlab-users] DC sync1 shift time

[Christoph Schroeder]

Hi Philippe,

not sure about the ecrt_slave_config_dc function, but you could always
do things like this 'manually' by using the
ecrt_slave_config_create_reg_request and the functions for direct
register access if it doesn't do what you want. It's stated that it's
for debugging and monitoring only though, but some features are simply
not supported by the user library. In our case we successfully used it
to configure single shot sync pulses which requires access to the start
time register each time a sync pulse should be generated.

Best regards,

Christoph


On 03/10/2017 10:23 AM, Philippe Leuba wrote:

Hi,

We can read from documentation that the parameter sync1_shift of 
ecrt_slave_config_dc is ignored.

Does this mean that we can not use terminal like the Beckhoff EL2522 that 
require both SYNC0 and SYNC1 shift times ?

Would it be complicated to support it ?

Best regards

Philippe Leuba
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Re: [etherlab-users] etherlab-users Digest, Vol 115, Issue 11

[Christoph Schroeder]

Hello,

just a side question related to this topic: Is there anyone working on a newer 
version of the ec_e1000e driver or did anyone patch the Intel Igb driver which 
is used for more recent dual-port network adapter?

Best regards,
Christoph

On 01/24/2017 11:47 PM, Gavin Lambert wrote:
If you have a look in the “devices/e1000e” directory you can see the kernel 
versions that are currently supported.  You can either downgrade your kernel to 
one of the matching versions, try to generate a patched driver for your current 
kernel (by following the existing sources), or use the generic driver instead.  
Note however that using the generic driver means you will probably need to use 
a slower realtime cycle rate as it will typically have more jitter.

From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of 
Justin Hunt
Sent: Wednesday, 25 January 2017 08:28
To: etherlab-users@etherlab.org
Subject: Re: [etherlab-users] etherlab-users Digest, Vol 115, Issue 11

Thank you for the response!
I am currently trying to install EtherCAT Master and I am running into a 
problem. When trying to configure and build using the command:

./configure --disable-8139too --enable-e1000e
I get the error:

checking for kernel for e1000e driver... configure: error: kernel 4.2 not 
available for e1000e driver!
Do I need to use a different kernel, or is there a work around to this problem?



On Tue, Jan 24, 2017 at 4:00 AM, 
>
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Today's Topics:

  1. Using EtherLab to to collect force sensor data (Justin Hunt)
  2. Re: Using EtherLab to to collect force sensor data
 (Dr.-Ing. Wilhelm Hagemeister)


--

Message: 1
Date: Mon, 23 Jan 2017 17:44:04 -0700
From: Justin Hunt >
To: etherlab-users@etherlab.org
Subject: [etherlab-users] Using EtherLab to to collect force sensor
   data
Message-ID:
   

Re: [etherlab-users] ethercat : modules_install error

[Christoph Schroeder]

Hi Roman,

the modules are installed into "/lib/modules/${version}". Your kernel doesn't 
match the configured kernel (4.4.0-21-generic) so all you might have to do is to call 
./configure (with all options needed by your application) and make again.

The directory "/etc/sysconfig" is where the ethercat config is put on RedHat based Linux 
distributions. On Debian based distributions like Mint you may put it into "/etc/default" or just 
make a "/etc/sysconfig". If you don't put it into sysconfig you have to alter ETHERCAT_CONFIG in 
the init.d script.

Best Regards,
Christoph


On 12/12/2016 12:10 PM, Roman Thiessen wrote:
Hello everybody!

I use Linux Mint 18 Cinnamon and want to install a module on my 
4.4.0-53-generic x86_64 kernel.
I try to run Ethercat as discription of instalation in the script, for that I 
use the command $ sudo make modules_install and get the following error message:

~/ethercat-1.5.2 $ sudo make modules_install
make -C "/usr/src/linux-headers-4.4.0-21-generic" M="/home/ro/ethercat-1.5.2" \
INSTALL_MOD_DIR="ethercat" modules_install
make[1]: Verzeichnis „/usr/src/linux-headers-4.4.0-21-generic“ wird betreten
INSTALL /home/ro/ethercat-1.5.2/devices/ec_generic.ko
At main.c:222:
- SSL error:02001002:system library:fopen:No such file or directory: 
bss_file.c:175
- SSL error:2006D080:BIO routines:BIO_new_file:no such file: bss_file.c:178
sign-file: certs/signing_key.pem: No such file or directory
INSTALL /home/ro/ethercat-1.5.2/examples/mini/ec_mini.ko
At main.c:222:
- SSL error:02001002:system library:fopen:No such file or directory: 
bss_file.c:175
- SSL error:2006D080:BIO routines:BIO_new_file:no such file: bss_file.c:178
sign-file: certs/signing_key.pem: No such file or directory
INSTALL /home/ro/ethercat-1.5.2/master/ec_master.ko
At main.c:222:
- SSL error:02001002:system library:fopen:No such file or directory: 
bss_file.c:175
- SSL error:2006D080:BIO routines:BIO_new_file:no such file: bss_file.c:178
sign-file: certs/signing_key.pem: No such file or directory
DEPMOD 4.4.0-21-generic
make[1]: Verzeichnis „/usr/src/linux-headers-4.4.0-21-generic“ wird verlassen


Here are all programs / libraries, which I have additionally loaded and updated:

$ sudo apt-get install build-essential libssl-dev libelf-dev libqt4-dev 
libncurses-dev libncurses5-dev libqt4-dev g++ cpufrequtils libnuma-dev htop 
samba sysfsutils git rt-tests inxi numactl insserv bin86 kernel-package 
pkg-config linux-headers-$(uname -r) mercurial


Also I´ve made some changes in two files:

ethercat-1.5.2/devices/generic.c:

fixed
sock_create_kern(_net, PF_PACKET, SOCK_RAW, htons(ETH_P_ETHERCAT),
 >socket);
original Z215,SP.11
  ret = sock_create_kern(PF_PACKET, SOCK_RAW, 
htons(ETH_P_ETHERCAT),
 >socket);


fixed
  dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), 
, NET_NAME_UNKNOWN, ether_setup);
original Z152
  dev->netdev = alloc_netdev(sizeof(ec_gen_device_t *), 
, ether_setup)


ethercat-1.5.2/master/ethernet.c

fixed
  if (!(eoe->dev = alloc_netdev(sizeof(ec_eoe_t *), 
name, NET_NAME_UNKNOWN, ether_setup))) {
original Z151
  if (!(eoe->dev = alloc_netdev(sizeof(ec_eoe_t *), 
name, ether_setup))) {


Also in my version the path /etc/sysconfig/ doesn´t exist. Which path I have to 
use after modules_install is working? I would be grateful for any help!

Roman



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Re: [etherlab-users] EL9820 configuration issue

[Christoph Schroeder]

Hi Tommaso,

you can find some good documentation here:
http://www.beckhoff.de/default.asp?download/ethercat_development_products.htm
Download the following documents:
EtherCAT Technology (Section I) - General EtherCAT Description
EtherCAT Registers (Section II) - Registers of the ESC

I am not sure about the EL9820 but I guess you mean the configuration between 
simple Digital-IO and interfaces for complex slaves e.g. with a microcontroller 
or FPGA. The different interfaces are configured in the first byte of the 
'EtherCAT Slave Controller Configuration Area' (Word 0-7) in the SII  resp. 
EEPROM (see Section I page 72). This value will initalize the PDI Control 
Register (0x140, see Section II).

In the ESI-file the 'EtherCAT Slave Controller Configuration Area'  is represented 
under the '' tag. For reconfiguration I see the following options:
1. Rewrite the ESI file, generate a SII binary file with TwinCAT and use 
ethercat sii_write (evaluation version is sufficient)
2. Download the current EEPROM with sii_read and modify it with a hexeditor
3. Write your own tool based on the EtherCAT master framework

Whatever you do, be sure to save the old EEPROM with sii_read before writing a 
new one! Hope that helps.


Best regards,
Christoph


On 07/06/2016 01:04 PM, Tommaso Furiosi wrote:
Good evening,

I am trying to use the EL9820 evaluation kit, which comes with the basic 32 
bits digital output configuration. I use a Linux O.S..
Is it possible to configure the ESC in order to select other supported 
interfaces, like the 32 bits digital input or the PIC one, without using any 
tool like TwinCAT? There are guides that explain all passages or reference 
datasheets?

Thank you for your help,

Tommaso



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Helmholtz-Zentrum Berlin für Materialien und Energie GmbH

Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.

Aufsichtsrat: Vorsitzender Dr. Karl Eugen Huthmacher, stv. Vorsitzende Dr. 
Jutta Koch-Unterseher
Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking

Sitz Berlin, AG Charlottenburg, 89 HRB 5583

Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin

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[etherlab-users] Detect the loss of EtherCAT communication

[Christoph Schroeder]

Hi All,

is there any other way for a slave to detect a failure of EtherCAT
communication besides the syncmanager watchdogs  e.g. connection loss
between 2 slaves or a failure of the user application? The syncmanager
watchdog only works for buffered mode but not for mailbox mode which has
acyclic communication.
Background: our slaves will use mainly mailbox communication (VoE) which
is most suitable for our purpose. We solved this problem by introducing
a status byte as PDO which also has a watchdog configured. I am still
eager to know if there is some other possibility for a slave to detect
missing EtherCAT communication.

Thanks and best regards,
Christoph






Helmholtz-Zentrum Berlin für Materialien und Energie GmbH

Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.

Aufsichtsrat: Vorsitzender Prof. Dr. Dr. h.c. mult. Joachim Treusch, stv. 
Vorsitzende Dr. Beatrix Vierkorn-Rudolph
Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking

Sitz Berlin, AG Charlottenburg, 89 HRB 5583

Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin

http://www.helmholtz-berlin.de
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[etherlab-users] Generate SII binaries from ESI file?

[Christoph Schroeder]

Hi All,

we need to generate a binary file for the SII from an existing ESI xml
file. I read that TwinCAT is capable of doing this, but we would prefer
to use free software under Linux. Is there any tool you would suggest?
Background: we are evaluating the Microchip LAN9252 which can be
operated in 2 modes: Digital IO or SPI. Digital IO is preconfigured, now
we want to test the SPI mode which needs another configuration (both ESI
files are available). We will use the IgH EtherCAT-Master to write the
configuration to the EEPROM.


Thanks,
Christoph



Helmholtz-Zentrum Berlin für Materialien und Energie GmbH

Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.

Aufsichtsrat: Vorsitzender Prof. Dr. Dr. h.c. mult. Joachim Treusch, stv. 
Vorsitzende Dr. Beatrix Vierkorn-Rudolph
Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking

Sitz Berlin, AG Charlottenburg, 89 HRB 5583

Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin

http://www.helmholtz-berlin.de
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