CODESYS - the IEC 61131-3 automation software

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 Post subject: BBB EtherCAT Master
PostPosted: Sun Dec 11, 2016 5:05 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
I have a BB Black as EtherCAT Master and two Nanotec motor controls as Slaves. When i start my test programm, the status says "EtherCAT : läuft nicht(not running)".
It's my first project with EtherCAT, so i am not sure about the setup... Can someone please explain me step by step, how to configure it?
Attachment:
testprogramm.jpg


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Mon Dec 12, 2016 7:15 pm 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2016
Hi,
hm.. you need to add the screenhot in online mode.
and give us the plc logger.

BR
Edwin


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Tue Dec 13, 2016 1:12 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
Attachment:
online mode.jpg


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Tue Dec 13, 2016 2:34 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
here is the exported device log.


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Tue Dec 13, 2016 9:47 pm 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2016
Hi,

AL Status read from slave address 1002 status 16#1D
Invalid Output Configuration
Would check the pdo configuration.
Maybe you could add the projectarchive.

BR
Edwin


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Wed Dec 14, 2016 11:45 am 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
Attachment:
pdo configuration.jpg


The project archive is a 30 MB file, so i put it in my dropbox:

https://www.dropbox.com/sh/gx9sg0buwafa ... Zwmqa?dl=0


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Thu Dec 15, 2016 6:17 am 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2016
Hi,
please set the option 'FrameAtTaskstart' some drives react sensitive on jitter in the receiving the ethercat frames.
Do you have applied an rt_preemt patch on our beaglebone Linux kernel for realtime capabilties?
Next step would be to activate distributed clocks on the slaves and check if this will solve the issue (distributed clocks are mandatory on using cyclic position mode / for SoftMotion)
Projekt looks ok for me.
One remark:
How do you Login to the beaglebone with the CODESYS Development System?
The eth0 should be used exclusive by ethercat - BBB -> connected 1:1 with your two drives. (no TCP/IP communication by etho beside ethercat)
How to do this?
Either use a USB_to_Ethernet Adapter or use UBS-Ethernet Connection which the BBB does provide and Login by this usb Connection to download the CODESYS Projekt.

BR
Edwin


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Thu Dec 15, 2016 1:05 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
I added the line "EtherCAT_Master.FrameAtTaskStart := TRUE;" in the INIT-step.

I don't have a rt_preemt patch on my BBB. Do I have to install it?

In the N5 interface is no option to activate distributed clocks. The status says:
Attachment:
N5 status.jpg


I use a USB to Ethernet adapter to download the codesys project.
Attachment:
bbb.jpg


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Thu Dec 15, 2016 1:25 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
I just noticed, that i don't have the option "EtherCAT Parameters" as you can see in a previous screenshot. how can i make it visible?


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Fri Dec 16, 2016 6:03 am 
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Joined: Mon Sep 05, 2005 9:42 am
Posts: 2016
Hi,
yes you need to install rt_preemt
Please check the jitter in the taskmonitor for the Ethercat Task.

and Tools->DeviceEditor->Show generic...

Is the eth0 port exclusive connected to your drive? 1:1 BBB - Drive?
And this USB-Ethernet is your "Login with CODESYS" Interface?


BR
Edwin


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Fri Dec 16, 2016 2:44 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
I found your description for RT_preempt and will try to do it:
viewtopic.php?t=5652&start=30
I have Debian Image 2016-05-13. Do i definitly have to update it to 2016-11-06?

Edwin Schwellinger wrote:
Please check the jitter in the taskmonitor for the Ethercat Task.

If i doubleclick the EtherCAT_Master.EtherCAT_Task, a small dialog with no content pops up and disappears after a half second. Its heading says "Editor nicht gefunden(Editor not found)".

Edwin Schwellinger wrote:
Is the eth0 port exclusive connected to your drive? 1:1 BBB - Drive?
And this USB-Ethernet is your "Login with CODESYS" Interface?

Yes.


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 Post subject: Re: BBB EtherCAT Master
PostPosted: Thu Jan 05, 2017 3:17 pm 
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Joined: Thu Nov 19, 2015 2:40 pm
Posts: 21
Hi,

I am using a CODESYS Softmotion RTE instead of the BBB now. I tried to download my testprogram, but it says:

Attachment:
error box.jpg


and after that:

Attachment:
errors.jpg


I am using Codesys 3.5 SP10. i have Setup_CODESYSControlRTE64V3.5SP10.exe installed on my Windows PC.

Can you help me?


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