orhirshfeld
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Posts posted by orhirshfeld
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We have NY-51 Controller with Linux Ubuntu installed
We have some issues with our EtherCAT communication and we wish to diagnose it.
But we are suffering many crashes when we are using Diagnosis mode in EtherCAT.
We tried the IDE on different PC but got the same results
it's very frustrating and hard to diagnose the problem
We are using IDE version 4.1.0.25
did you encounter a similar problem?
is there a way to slove it?
Can we use EC-Enginner by Acontis to diagnose the communication?
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Can I install PowerPMAC IDE Patch Release (Version 4.2.1.19) if I have 4.1.0.24 already installed?
What are the changes made in this version?
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Is still not supported?
I'm using Power Pmac IDE version 4.1.0.24 with PPMAC NY-51 Controller (CPU:X86 Firmware:2.5.0.0)
I wish to connect to FESTO CTEU and they provide few different ESI
I'm not sure which one I should load, also the ESI Manager doesn't let load all files, I believe because there are two files with the same name.
They give two types, one suitable for OMRON Sysmac Studio and other type is for suitable for BECKHOFF TwinCAT
readme file of FESTO:
Festo CTEU-EtherCAT ESI files
Default behaviour of our CTEU-EC is Modular Device Profile (MDP).
To change it please take a look on "CTEU-EC Config fix-mdp_EN.pdf" for reprogramming the EEPROM.
In this package you find following ESI files for OMROM Sysmac Studio and Beckhoff TwinCAT:
OMROM
Festo CTEU-EtherCAT Modular - use it if PLC support MDP (work Sysmac Studio > V1.06)
Festo CTEU-EtherCAT Fix - can be used after reprogramming the EEPROM on most PLCs
TwinCAT
Festo CTEU-EtherCAT Modular - use it if PLC support MDP
Festo CTEU-EtherCAT Fix - USINT - can be used after reprogramming the EEPROM on all PLCs
Festo CTEU-EtherCAT Fix - BYTEARR - can be used after reprogramming the EEPROM on most PLCs
Please install only one Fix configuration ESI files at the same time.
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I encountered a similar issue and I got an error from IDE
also, I succeed to connect with ssh but when I try to run "gpascii" or "sendgetsends" i get the following error:
rtpmac open, Err Msg: (No such device or address)
Segmentation fault
I attached photos to this post to demonstrate to errors I got
I wonder if you encountered a similar issue to what I described in this post?
also I saw that there are two versions of MotionCore.zip files on the fieldepot:
MotionCore.zip old version:
ftp://ftp.deltatau.ch/Virtual-PowerPMAC-pack/OLD/MotionCore.zip
MotionCore.zip latest version
ftp://ftp.deltatau.ch/Virtual-PowerPMAC-pack/MotionCore.zip
I tried both and failed, did you tried both?
Host OS : Ubuntu 16.04
VM SW: VirtualBox 6.0.6
IDE 4.1.0.24 running on Virtual Machine of Win10
Thank you,
Or Hirshfeld
SW Control Engineer
FFRobotics
https://www.linkedin.com/in/orhirshfeld/
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the motor status shows AmpFault
The AmpFault indicate error source in Motor (pAmpFault=ECAT[0].IO[4127].Data.a)
Axor motor error code indicating Error in getting SYNC msgs
ECAT[0].MasterState=8 (OP)
"ecat slaves" return all OP mode
Motor Conversion = 2184.53 pulses/mm
RapidSpeedSel=0
MaxSpeed=3276.7949 (1.5 m/s) in 1st fast movement and 218.453 (0.1 m/s) in 2nd slow movement.
JogSpeed=3276.7949 (1.5 m/s)
JogTa=-0.030517625 (15 m/s^2)
JogTs=0
The motor is running at Rated Speed, 3000 RPM (1.5 m/s)
We measured torque and found that motor only using below 20% of rated torque at worst case.
This sounds very unusual. I am wondering if the amplifier could be losing power or otherwise faulting out. It sounds like you have a Linear move set up and working, but your rapid move may be attempting to move the motor too quickly.
After the program fails, On the motor status window, what faults do you see?
Does the amplifier show any fault codes?
What is the value of ECAT[0].MasterState?
What is the response to "ecat slaves?"
What is your value of Motor[x].RapidSpeedSel?
At the default of 0, Motor[x].MaxSpeed (which limits the speed of the rest of the program) is used for the rapid move. If your Motor[x].MaxSpeed is set to high for actual motor, the amplifier may be unable to keep up.
Let's make sure Motor[x].RapidSpeedSel=1 so that Motor[x].JogSpeed is used. It may make sense to temporarily lower jog speed for the triggered move, but at least your max speed doesn't need to be changed.
Do you have Motor[x].JogTa and Motor[x].JogTs set? Your rapid move will use these instead of the TA/TS set in the program.
is only Rapid mode provide an option to simultaneity move and interact with sensor digital input?Triggered moves can be homing, jogging or rapid from in program.
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Motor Status Window show AmpFault and Axor Motor return a manufacturer specific EtherCAT error code, the error indicates that it didn't get SYNC msgs for 3ms according to Axor Support.
in "ecat slaves" all stay in Operational (OP) EtherCAT Mode
This sounds very unusual. I am wondering if the amplifier could be losing power or otherwise faulting out. It sounds like you have a Linear move set up and working, but your rapid move may be attempting to move the motor too quickly.
After the program fails, On the motor status window, what faults do you see?
Does the amplifier show any fault codes?
What is the value of ECAT[0].MasterState?
What is the response to "ecat slaves?"
What is your value of Motor[x].RapidSpeedSel?
At the default of 0, Motor[x].MaxSpeed (which limits the speed of the rest of the program) is used for the rapid move. If your Motor[x].MaxSpeed is set to high for actual motor, the amplifier may be unable to keep up.
Let's make sure Motor[x].RapidSpeedSel=1 so that Motor[x].JogSpeed is used. It may make sense to temporarily lower jog speed for the triggered move, but at least your max speed doesn't need to be changed.
Do you have Motor[x].JogTa and Motor[x].JogTs set? Your rapid move will use these instead of the TA/TS set in the program.
is only Rapid mode provide an option to simultaneity move and interact with sensor digital input?Triggered moves can be homing, jogging or rapid from in program.
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We have MotionCore IPC connected to Axor motors using EtherCAT
the movement of the motors is split into three parts, the first part is moving fast according to the required profile, the second part is to move slow and stop when the sensor detects an object (digital input from the motor PDO communication), the third part is returned to the same position as started.
so we decided to implement the first part with Linear movement mode and the second part with Rapid movement mode.
But we encountered many communications errors when Controller switches from Linear to Rapid mode.
The motor needs to get SYNC0 signal and if it doesn't get for 3ms it makes motor stops with failure. so when switching from Linear to Rapid mode it seems that the SYNC0 signal is delaying.
Now we switched the second part of the movement to linear mode but it requires that we move in small intervals and check between intervals which makes this movement much slower than what we need.
is only Rapid mode provide an option to simultaneity move and interact with sensor digital input?
Why we are suffering from communication problems when switching movements modes?
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I switched the master to diagnosis mode and was able to view the SDO
But I still have the issue to get this data when it's not in diagnosis mode
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I suddenly succeed in getting some SDO information until I mistype an address and it stops working, I attached a picture to illustrate
it returned the following msg:
" Error: BgThread sem_timedwait(emIoctlFinish_sem) timed out "
I notice a suspicious configuration in my EtherCAT Configuration
in Slave configuration -> Advanced Option -> SDO Access is set to 0, what does it mean that, is timeout disabled? or access to SDO is disabled?
What firmware version is this?
I am able to use ecattypedsdo successfully to read/write $6060 on a 1S, from an IPC with firmware 2.2.0.1.
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It worked like a charm
I changed the ProgramData\DeltaTau permissions and now I can see the list
Is it possible to load configuration only to the IDE project, for viewing and editing, without downloading to the PPMAC?
I meant just the EtherCAT settings for viewing in IDE, I disconnect the network and import the ENI file to my project and now I can see all configurations but I'm not sure what would happen once I reconnect the PPMAC controller, is it going to load all EtherCAT configuration from ENI file to the controller? or it wouldn't change anything until I press "Load Mapping To PowerPmac" or "Build And Download All Programs"
Also Another question:
in Slave configuration -> Advanced Option -> SDO Access is set to 0, what does it mean that there is no timeout or access SDO is disabled?
I'm asking it because I have problems to access SDO using ecattypedsdo() function
you can see more info about ecattypedsdo() issue I'm encountering in my other post:
http://forums.deltatau.com/showthread.php?tid=1063
I added (the omron version of) the ESI files and I was able to restart the IDE without losing the ESI files from the pull down.
Please try changing the permissions on C:\ProgramData\DeltaTau . Note that while ProgramData is a hidden file, you can paste the location into your file explorer's location bar.
What is the purpose of "Import Slaves from ENI"? is it just loading to IDE project?
Setting up EtherCAT involves making an ENI file for PMAC. If you use the built in copy of EC Engineer, the "Import Slaves" option will internally pass that ENI file. If you already have an ENI file, then you can use the "Import Slaves from ENI" option to browse for it.
Is it possible to load configuration only to the IDE project, for viewing and editing, without downloading to the PPMAC?
I'm not sure I understand, are you asking about just the ethercat settings?
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I tried changing the permissions and got the same results
by the way, in my PC it was installed by default in "C:/delta tau" path
I had a similar problem with devices not appearing. I fixed it by changing the permissions on C:\ProgramData\DeltaTau to allow full access for Users. Once I did this the amplifiers and motors appeared in the list.
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We had some issue before reloading configurations
Is it possible to load configuration only to the IDE project, for viewing and editing, without downloading to the PPMAC?
What is the purpose of "Import Slaves from ENI"? is it just loading to IDE project?
The loaded ENI files aren't Omron products, it's Axor Motor Mack Tron and Festo Fieldbus Module CTEU.
FESTO-CTEU-EC ESI file:
https://www.festo.com/net/el_gr/SupportPortal/default.aspx?documentId=273305&cat=4821
When importing any new ENI to the ESI Manager it's rebuilding cache and already imported file can be viewed in the ESI Manager but as soon as you close the ESI manager window and re-open and it would disappear.
The option is unavailable because EtherCAT is currently enabled (or trying to be enabled). You should be able to select the "Deactivate EtherCAT" or set ECAT[0].Enable=0 in the terminal to allow the "Load Mapping to PowerPMAC From ENI" option.
That is the correct location to pull the ENI from, the main point is it's in the configuration folder of the uploaded project.
I just copied a project off a 1s drive, did a $$$***, imported the ENI and confirmed that was enough to "Build and Download All" and jog the motor.
For the ESI file not showing up. Was this an Omron ESI. It may have been merged into the existing Omron folders. I currently have some Beckhoff ESI files added and I still see the menus that contain the ESI files after re-opening.
Festo CTEU-EtherCAT Modular - 20180719.xml.txt
File_ETH_MKT_MKUN_Omron_rev2.xml.txt
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I tried importing ENI but it seems unavailable
I attached picture
also from where I should import the ENI?
is it "eni.xml" in the folder i uploaded from PPMAC?
for example \192.168.0.136_16_6_15\Configuration\eni.xml
also, as i asked above, why I don't see which ESI files I uploaded to the IDE using ESI Manager?
thank you,
Or Hirshfeld
Control SW Engineer
FFRobotics
Talking to the software team, uploading projects in IDE 4 will not get EtherCAT setup. This feature will be coming in a future IDE release.
You should be able to import the ENI file in your configuration folder if you do not wish to change any of the old settings.
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Firmware version in IDE terminal:
"vers
2.5.0.0"
OS version in SSH terminal:
"Welcome to Ubuntu 16.04.3 LTS (GNU/Linux 4.1.18-xenomai-2.6.5 i686)"
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We have MotionCore IPC with code and EtherCAT configuration was downloaded from one computer.
I uploaded the code from Pmac to another PC and I can view the code.
But when I try to view EtherCAT configurations I can't see the configuration tabs in master or slaves.
also, I uploaded successfully XML files to ESI Manager but when I close and open it again, the new ESI files don't appear.
Although when I try to upload it again it says that it's already loaded.
I attached some screenshots to this post
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My EtherCAT slave is working well with my IPC MotionCore
but i'm trying to get data on slave using SDO
i tried the following in terminal and watch list
"L0=ecattypedsdo(0,3,1,$6060,0,0,1) L0"
and got "-nan"
than i tried to get data using /opt/etherlab/bin/ethercat
but got an error as following:
"
root@192.168.0.136:/opt/etherlab/bin# ethercat upload -m 0 -p 2 -t int8 0x6060 1
-bash: /opt/etherlab/bin/ethercat: cannot execute binary file: Exec format error
"
Slave num 2 and 3 are MackTron motors by Axor and working well with CSP mode.
It's PowerPmac IPC MotionCore with Sys.EcatType=1 (Actonics)
I tried when ECAT[0].enable=1 (enable) and also when ECAT[0].enable=0 (disable)
EDIT:
By checking the EtherCAT file info, I found out it was built for 32bit ARM CPU but the IPC MotionCore running Intel x86_64 CPU with OS Ubuntu i686 (32bit)
is it affecting the watch window command ecattypedsdo?
I believe that I should get a different build of this executable, how should I do it?
I checked the executable info as following:
"
root@192.168.0.136:/opt/etherlab/bin# file ./ethercat
./ethercat: ELF 32-bit LSB executable, ARM, EABI5 version 1 (SYSV), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, for GNU/Linux 2.6.32, BuildID[sha1]=9caa83c5c319dcc87a78e1f31b56584283f604b8, not stripped
"
and also checked the CPU model and OS version as following:
"
root@192.168.0.136:/opt/etherlab/bin# cat /proc/cpuinfo | grep 'model name' | uniq
model name : Intel® Core i7-4700EQ CPU @ 2.40GHz
root@192.168.0.136:/opt/etherlab/bin# uname -a
Linux lx-ppmac 4.1.18-xenomai-2.6.5 #9 SMP Tue Oct 10 12:20:19 PDT 2017 i686 i686 i686 GNU/Linux
"
EDIT 2 :
* I tried in OP and PRE-OP modes and got the same results
* I tried also reading SDO from Pneumatic Outputs, Festo CTEU module, and got the same results
I am trying to use ecatsdo command in the terminal. I can read an SDO just fine, but when I try to write it fails. If I ssh to the PMAC and use the etherlab utility (/opt/etherlab/bin/ethercat) I and write just fine.
Screenshot 1 shows terminal window ecatsdo read OK, but write fails
Screenshot 2 shows etherlab working for both read and write
Any ideas why ecatsdo might not be working? Is there a log somewhere I can look at?
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SDO
in Power PMAC
This thread is very helpful but I encounter a problem trying these examples
I tried the following lines:
L0=ecattypedsdo(0,3,1,$1016,0,0,4) L0
L0=ecattypedsdo(0,3,1,$6060,0,0,1) L0
L0=ecattypedsdo(0,4,1,$6007,0,0,2) L0
but all i get is "-nan"
Slave num 3 and 4 are MackTron motors by Axor and working well with CSP mode.
It's PowerPmac IPC MotionCore with Sys.EcatType=1 (Actonics)
I tried when ECAT[0].enable=1 (enable) and also when ECAT[0].enable=0 (disable)
any tips how to get it working?
How can i access SDO (service data objects) in PowerPMAC?
... i need to set some SDO's like 0x6002...
Please see the attached .pdf for a couple of SDO read/write examples. You may also want to try typing any PMAC command into the terminal window and press the, "F1" key for help. Then set the filter, pull down menu to PMAC. This was not implemented in older versions of the IDE but now is available and very useful.
NOTE: Etherlab Master Stack can use either ecatsdo(), or ecattypedsdo() commands. Acontis Stack only uses the ecattypedsdo() command.
The 465 with EtherCAT comes equipped with the Etherlab Master Stack. You can test this by issuing the sys.ecattype command.
sys.ecattype = 0 (Etherlab)
sys.ecattype = 1 (Acontis)
List of All Tested EtherCAT Devices
in Power PMAC
Posted
This list was last updated 3 years ago in 2017
I wonder if you have any updates
Thanks
Or Hirshfeld
SW Control Engineer
FFRobotics
https://www.linkedin.com/in/orhirshfeld/