Re: [Etherlab-users] IL EC BK ethercat modules configuration seems to prevent going to SAFEOP

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jonas,

I get the idea that there might be a misunderstanding in how to use the
ethercat library/master:

The ethercat master module does some bus scanning in idle mode and the
commandline tool can be used for maintenance tasks but you need an
cyclic application to exchange data with an ethercat slave or to bring
it in the operational state. This can not be done with the command line
tool. See the examples in the EtherCat-Master repo.

If you have an application, please post the relevant initialization code.

Regards Wilhelm

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Re: [Etherlab-users] Cube67 slave support

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jean-Pierre,

I want to give it one more try. The "od" output was not optimal für a
quick analysis. Could you again output the "ssi" content with:

ethercat ssi_read -p1 | od -A x -t x1z -v

Thanks Wilhelm

Am 24.03.22 um 08:36 schrieb Miceli Jean-Pierre:
> Hi Wilhelm,
> 
> 
> Thanks again for your support, knowing that the SSI seems buggy is a big help 
> for us.
> 
> 
> I'll share the answer from the supplier once I get one...
> 
> 
> Have a nice day
> 
> J-P
> 
> 
> From: Dr.-Ing. Wilhelm Hagemeister 
> Sent: Wednesday, March 23, 2022 2:52:29 PM
> To: Miceli Jean-Pierre; etherlab-users@etherlab.org
> Subject: Re: [Etherlab-users] Cube67 slave support
> 
> Hallo Jean-Pierre,
> 
> We currently don't have time to dig deep, but the ssi-content seems to
> be buggy. Please let us know what's the suppliers opinion on this.
> 
> Thanks and regards
> 
> Wilhelm
> 
> 
> Am 21.03.22 um 09:22 schrieb Miceli Jean-Pierre:
>>
>> I've attached the result of the "ethercat sii_read -p1 | od" command.
>>
>>*   Anything relevant here ?
>>
>>
>> Yes, I've contacted the salve supplier. My request has been forwarded to the 
>> support team.
>>
>>*   I'm waiting for the answer.
>>
>> Have a nice day
>> J-P
>> 
>> From: Dr.-Ing. Wilhelm Hagemeister 
>> Sent: Friday, March 18, 2022 5:11:50 PM
>> To: etherlab-users@etherlab.org
>> Cc: Miceli Jean-Pierre
>> Subject: Re: [Etherlab-users] Cube67 slave support
>>
>> Hallo Jean-Pierre,
>>
>> Am 16.03.22 um 08:37 schrieb Miceli Jean-Pierre:
>>>
>>> Some notes:
>>>
>>> *   The system is working perfectly on TwinCAT
>>
>> TwinCAT relies on the XML-Files and the IgH Ethercat master relies on
>> the SSI content. If the content is wrong or data is missing it will not
>> work.
>>
>>> *   As I got no PDOs from the ethercat tool, I coded one from the info 
>>> I got in TwinCAT
>>>
>>> I found the info that the issue can be related to a wrong SII / EEPROM info 
>>> and tried to follow the info in the link below. Unfortunately  did not help.
>>>
>>> *   https://etherlab.org/en/ethercat/faq.php
>>>
>>> So my questions are:
>>>
>>> *   Is the problem really due to the missing/corrupted data in the 
>>> SII/EEPROM
>>
>> Probably. Does "ethercat sii_read -p1 | od" work and if so could you
>> post the output of this command (assuming it is slave 1 you are
>> interested in)?
>>
>>> *   If yes, how can I check that the binary file generated with TwinCAT 
>>> is correct ?
>>
>> It most likely will be correct.
>>
>>> *   Is there other way to update the SII
>>
>> Some slaves simulate the SII content and can't be updated.
>>
>>>
>>> Any idea, suggestion, proposition are welcome .
>>
>> Most likely you will need to contact the supplier and ask for the
>> correction of the SII content. Suppliers sometimes tend to refuse to
>> cooperate and will say: "it works with TwinCat".
>>
>> In that case the last step is to ask if the slave is checked against the
>> conformance test tool from ETG.
>>
>> Regards Wilhelm
>>


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Re: [Etherlab-users] Cube67 slave support

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jean-Pierre,

We currently don't have time to dig deep, but the ssi-content seems to 
be buggy. Please let us know what's the suppliers opinion on this.


Thanks and regards

Wilhelm


Am 21.03.22 um 09:22 schrieb Miceli Jean-Pierre:


I've attached the result of the "ethercat sii_read -p1 | od" command.

   *   Anything relevant here ?


Yes, I've contacted the salve supplier. My request has been forwarded to the 
support team.

   *   I'm waiting for the answer.

Have a nice day
J-P
____
From: Dr.-Ing. Wilhelm Hagemeister 
Sent: Friday, March 18, 2022 5:11:50 PM
To: etherlab-users@etherlab.org
Cc: Miceli Jean-Pierre
Subject: Re: [Etherlab-users] Cube67 slave support

Hallo Jean-Pierre,

Am 16.03.22 um 08:37 schrieb Miceli Jean-Pierre:


Some notes:

*   The system is working perfectly on TwinCAT


TwinCAT relies on the XML-Files and the IgH Ethercat master relies on
the SSI content. If the content is wrong or data is missing it will not
work.


*   As I got no PDOs from the ethercat tool, I coded one from the info I 
got in TwinCAT

I found the info that the issue can be related to a wrong SII / EEPROM info and 
tried to follow the info in the link below. Unfortunately  did not help.

*   https://etherlab.org/en/ethercat/faq.php

So my questions are:

*   Is the problem really due to the missing/corrupted data in the 
SII/EEPROM


Probably. Does "ethercat sii_read -p1 | od" work and if so could you
post the output of this command (assuming it is slave 1 you are
interested in)?


*   If yes, how can I check that the binary file generated with TwinCAT is 
correct ?


It most likely will be correct.


*   Is there other way to update the SII


Some slaves simulate the SII content and can't be updated.



Any idea, suggestion, proposition are welcome .


Most likely you will need to contact the supplier and ask for the
correction of the SII content. Suppliers sometimes tend to refuse to
cooperate and will say: "it works with TwinCat".

In that case the last step is to ask if the slave is checked against the
conformance test tool from ETG.

Regards Wilhelm


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Re: [Etherlab-users] Cube67 slave support

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jean-Pierre,

Am 16.03.22 um 08:37 schrieb Miceli Jean-Pierre:


Some notes:

   *   The system is working perfectly on TwinCAT


TwinCAT relies on the XML-Files and the IgH Ethercat master relies on 
the SSI content. If the content is wrong or data is missing it will not 
work.



   *   As I got no PDOs from the ethercat tool, I coded one from the info I got 
in TwinCAT

I found the info that the issue can be related to a wrong SII / EEPROM info and 
tried to follow the info in the link below. Unfortunately  did not help.

   *   https://etherlab.org/en/ethercat/faq.php

So my questions are:

   *   Is the problem really due to the missing/corrupted data in the SII/EEPROM


Probably. Does "ethercat sii_read -p1 | od" work and if so could you 
post the output of this command (assuming it is slave 1 you are 
interested in)?



   *   If yes, how can I check that the binary file generated with TwinCAT is 
correct ?


It most likely will be correct.


   *   Is there other way to update the SII


Some slaves simulate the SII content and can't be updated.



Any idea, suggestion, proposition are welcome .


Most likely you will need to contact the supplier and ask for the 
correction of the SII content. Suppliers sometimes tend to refuse to 
cooperate and will say: "it works with TwinCat".


In that case the last step is to ask if the slave is checked against the 
conformance test tool from ETG.


Regards Wilhelm
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Re: [Etherlab-users] Best filesystem for DLS?

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Sebastian,

many thanks for sharing your results. I will follow your advice for the 
next project with dls.


Regards Wilhelm


Am 28.04.21 um 19:17 schrieb Sebastien BLANCHET:

Just to share the results for the best filesystems for DLS and millions 
of files:


I had reached the inodes limits (78M) on a 1TB ext4 filesystem with DLS.

I have switched to ZFS instead of ext4. And now it works well.



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Re: [Etherlab-users] Paho MQTT in C for communication

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Faras,

Am 28.04.21 um 17:51 schrieb Brumand-Poor, Faras:


So I will add the rtipc Simulink block to my Etherlab Simulink model and than I 
can exchange the data with my MQTT Client in C.


Jep, see the folder: "test" in the repo. There is a cpp-example program.


I want to exchange data from the MQTT Client in C to a Python MQTT Client. 
Could this arise an issue?


What you do "behind" the rtipc interface is up to you. There will be no 
impact on your Etherlab program.


One hint: read the README to understand what the library does.

One correction: the Simulink blocks for using "rticp" on the Simulink 
side are part of the EtherLab library!


Regards

Wilhelm



Best Regards

Faras

-Ursprüngliche Nachricht-
Von: Etherlab-users  Im Auftrag von 
Dr.-Ing. Wilhelm Hagemeister
Gesendet: Mittwoch, 28. April 2021 17:40
An: etherlab-users@etherlab.org
Betreff: Re: [Etherlab-users] Paho MQTT in C for communication

Hallo Faras,

I suggest you run your MQTT software in a different program and transfer your data 
between the MQTT program and the real time EtherLab process with "rtipc":

https://build.opensuse.org/package/show/science:EtherLab/rtipc

This library enables you to exchange data between different EtherLab processes 
or an EtherLab process and an other C programm (real time or not). Because 
there is no locking, there will be no problems with real time behavior. The 
library comes with Simulink blocks and an C interface.

Regards Wilhelm

Am 28.04.21 um 13:24 schrieb Brumand-Poor, Faras:

Hello,


I wrote a C program, which uses the Paho MQTT libary
<https://github.com/eclipse/paho.mqtt.c>. From this C file I can
create a Simulink block and add it to my Simulation.

I am also able to compile the Simulink model to C and run it.


However if I try to do this in Etherlab, I always get an error
regarding some safety threads.


I looked in the Paho library and realised that I implemented the MQTT
in a synchronous manner. There is also a asynchronous approach so I
was thinking about reimplementing the code

so the communication is asynchron. Synchron means that all processes
are stopped when a message is published are received. Asynchron means
that the communication is run parallel on

other threads.


Does anyone have experience with MQTT and Etherlab or does someone
know if my approach is wrong?

Because I don't know if the asynchron libary is going to work.


Thank you in advance for your help.


Best regards,


Faras Brumand






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Re: [Etherlab-users] Paho MQTT in C for communication

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Faras,

I suggest you run your MQTT software in a different program and transfer 
your data between the MQTT program and the real time EtherLab process 
with "rtipc":


https://build.opensuse.org/package/show/science:EtherLab/rtipc

This library enables you to exchange data between different EtherLab 
processes or an EtherLab process and an other C programm (real time or 
not). Because there is no locking, there will be no problems with real 
time behavior. The library comes with Simulink blocks and an C interface.


Regards Wilhelm

Am 28.04.21 um 13:24 schrieb Brumand-Poor, Faras:

Hello,


I wrote a C program, which uses the Paho MQTT libary 
. From this C file I can create 
a Simulink block and add it to my Simulation.


I am also able to compile the Simulink model to C and run it.


However if I try to do this in Etherlab, I always get an error regarding 
some safety threads.



I looked in the Paho library and realised that I implemented the MQTT in 
a synchronous manner. There is also a asynchronous approach so I was 
thinking about reimplementing the code


so the communication is asynchron. Synchron means that all processes are 
stopped when a message is published are received. Asynchron means that 
the communication is run parallel on


other threads.


Does anyone have experience with MQTT and Etherlab or does someone know 
if my approach is wrong?


Because I don't know if the asynchron libary is going to work.


Thank you in advance for your help.


Best regards,


Faras Brumand






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Re: [Etherlab-users] Best filesystem for DLS?

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Sebastien,

Am 24.03.21 um 15:04 schrieb Sebastien BLANCHET:
> Dear Wilhelm,
> 
> You are right, there was a configuration error in job.xml the block size
> was only 10. I have increased it to 2000 to get fewer files.

that is not really a configuration error. It is the default value ;-)
depending on your sample frequency giving you a latency of 10 seconds.

A blocksize of 2000 for 1Hz means that new blocks get written only every
approx half an hour (2000 s). So you only are able to see new data (in
dlsgui) after this time. If that is to much latency, reduce the
blocksize to 60 e.g.

Anyway greater blocksizes result in better compression and less overhead.

Increasing "Reduction" has more impact on file count, because it
influences the creation of "meta levels". Doubling that value (default
30) should be no problem.

DLS is definitely the right tool to store hugh amount of data over a
long period, but to be honest we never had jobs with 20k signals up
until now.

It would be much appreciated if you later could share your experience
with other filesystems.

Regards

Wilhelm Hagemeister

> 
> I will do some tests with other filesystems that can handle more files.
> 
> I am sampling 20K signals at 1Hz without trigger and I keep them for one
> year for technical forensic analysis.
> 
> I do not know if dls is designed to operate at such scale, but it is the
> easiest archiving tool I have ever found and it seems to support the
> workload.
> 
> Best Regards,
> ---
> Sebastien BLANCHET
> 
> 
> 
> On 3/23/21 5:30 PM, Dr.-Ing. Wilhelm Hagemeister wrote:
>> Hi Sebastien,
>>
>> increasing the number of inodes helps.
>>
>> dumpe2fs -h /dev/sdxx helps to see what are your limits now.
>>
>> Regarding dls please check, if you get restarts of the sampling
>> processes due to sample time constrains. Usually this is the case with
>> data sources form realtime processes with high jitter. This results in
>> creating new chunks (and a lot of new files). So have a look in your
>> channel directory (or in dlsgui) if you have lots of chunks which have a
>> breaks of only a few seconds.
>> Also you get a log entry in your messages (or journalctl) saying
>> something like: "Time diff of xxx us (expected xxx us, error is percent
>> xxx %)"
>>
>> Also increasing the numbers for blocksize and reduction in the channel
>> setup decreases the number of files.
>>
>> Are you sampling constantly or just small chunks with a trigger for your
>> job? If later is the case, try to increase chunksize by constant
>> sampling over longer periods.
>>
>> "btrfs" and "xfs" have no inode limitation but we have no experience
>> with that.
>>
>> Regards Wilhelm Hagemeister
>>
>> Am 23.03.21 um 17:05 schrieb Merkel, Amos:
>>> Hi,
>>>
>>>
>>> I have never tried, but couldn't you simply manually define a
>>> higher bytes-per-inode ratio with mkfs.ext4 -i ?
>>>
>>> Arch-Wiki has some explanations on the topic:
>>> https://wiki.archlinux.org/index.php/Ext4#Bytes-per-inode_ratio
>>> <https://wiki.archlinux.org/index.php/Ext4#Bytes-per-inode_ratio>
>>>
>>>
>>> Greetings,
>>>
>>> Amos
>>>
>>> 
>>> *Von:* Etherlab-users  im Auftrag
>>> von blanc...@iram.fr 
>>> *Gesendet:* Dienstag, 23. März 2021 16:35:28
>>> *An:* etherlab-users@etherlab.org
>>> *Betreff:* [Etherlab-users] Best filesystem for DLS?
>>>   Hi,
>>>
>>> Short version:
>>> ---
>>> What is the best filesystem for DLS data ?
>>>
>>> Long version:
>>> ---
>>> I am running DLS to archive a lot of signals (about 20K), and I am
>>> facing an issue with the number of files.
>>>
>>> I have a 1TB EXT4 filesystem to store the data. It is 50% full but there
>>> is no more free inodes, because DLS creates many files and directories.
>>> According to the output of “df -i”, DLS has already created about 78M of
>>> files.
>>>
>>> I understand that I have to switch to another filesystem that supports a
>>> bigger number of files.
>>> And I wonder, what is the best filesystem for such a case.
>>>
>>> Regards,
>>> —
>>> Sebastien BLANCHET
>>> -- 
>>> Etherlab-users mailing list
>>> Etherlab-users@etherlab.org
>>> https://lists.etherlab.org/mailman/listinfo/etherlab-users
>>> <https://lists.etherlab.org/mailman/listinfo/etherlab-users>
>>>
>>
>>
> 

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Re: [Etherlab-users] Best filesystem for DLS?

[Dr.-Ing. Wilhelm Hagemeister]

Hi Sebastien,

increasing the number of inodes helps.

dumpe2fs -h /dev/sdxx helps to see what are your limits now.

Regarding dls please check, if you get restarts of the sampling
processes due to sample time constrains. Usually this is the case with
data sources form realtime processes with high jitter. This results in
creating new chunks (and a lot of new files). So have a look in your
channel directory (or in dlsgui) if you have lots of chunks which have a
breaks of only a few seconds.
Also you get a log entry in your messages (or journalctl) saying
something like: "Time diff of xxx us (expected xxx us, error is percent
xxx %)"

Also increasing the numbers for blocksize and reduction in the channel
setup decreases the number of files.

Are you sampling constantly or just small chunks with a trigger for your
job? If later is the case, try to increase chunksize by constant
sampling over longer periods.

"btrfs" and "xfs" have no inode limitation but we have no experience
with that.

Regards Wilhelm Hagemeister

Am 23.03.21 um 17:05 schrieb Merkel, Amos:
> Hi,
> 
> 
> I have never tried, but couldn't you simply manually define a
> higher bytes-per-inode ratio with mkfs.ext4 -i ? 
> 
> Arch-Wiki has some explanations on the topic:
> https://wiki.archlinux.org/index.php/Ext4#Bytes-per-inode_ratio
>  
> 
> 
> Greetings,
> 
> Amos 
> 
> 
> *Von:* Etherlab-users  im Auftrag
> von blanc...@iram.fr 
> *Gesendet:* Dienstag, 23. März 2021 16:35:28
> *An:* etherlab-users@etherlab.org
> *Betreff:* [Etherlab-users] Best filesystem for DLS?
>  
> Hi,
> 
> Short version:
> ---
> What is the best filesystem for DLS data ?
> 
> Long version:
> ---
> I am running DLS to archive a lot of signals (about 20K), and I am
> facing an issue with the number of files.
> 
> I have a 1TB EXT4 filesystem to store the data. It is 50% full but there
> is no more free inodes, because DLS creates many files and directories.
> According to the output of “df -i”, DLS has already created about 78M of
> files.
> 
> I understand that I have to switch to another filesystem that supports a
> bigger number of files.
> And I wonder, what is the best filesystem for such a case.
> 
> Regards,
> —
> Sebastien BLANCHET
> -- 
> Etherlab-users mailing list
> Etherlab-users@etherlab.org
> https://lists.etherlab.org/mailman/listinfo/etherlab-users
> 
> 


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Re: [Etherlab-users] ethercat master kernel version

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Vincent,

depending on the used Ethernet device the "original" EtherCAT master
run's under recent kernels.

If one uses the generic NIC-driver any recent kernel should be
supported. For other NIC interfaces have a look in the "devices"
directory. There you will find the patched NIC modules for the different
kernel versions.

Best regard Wilhelm

Am 09.03.21 um 16:13 schrieb BUSSIERES Vincent:
> Dear Etherlab users,
> 
>  
> 
> I have developed a software which uses Gavin etherlab master patchset
> 20190904. This software currently runs on a debian 10.8 with kernel 4.19.
> 
> I’d like to change my linux distribution for a more recent one, like
> Ubuntu 20.04 with kernel 5.8 or later with a Debian 11.
> 
>  
> 
> Ethercat documentation specifies that ethercat master is designed as a
> kernel module for Linux 2.6 / 3.x.
> 
> Could you tell me if this still right, or may I use Ethercat master with
> recent kernels ?
> 




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Re: [Etherlab-users] [etherlab-users] Running the Controll Program in a Qt Application

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Daniel,

with QtPdWidgets come examples both "Qt-classic" and QML using PdCom. 
You will probably find the newest version of QtPdWidgets here:


https://download.opensuse.org/repositories/science:/EtherLab/openSUSE_Leap_15.1/src/QtPdWidgets-1.3.7hg658-lp151.71.3.src.rpm

If you are writing an tablet app that should be running also on Android 
or IOS, have a look at the QML-example but please be aware that the QML 
code is in an experimental state.


An updated (QML) version with a project file suitable for Android (later 
IOS) will be posted in a couple of weeks.


Regards Wilhelm

Am 03.08.20 um 12:04 schrieb Daniel Lemus:


Hi Wilhem

I am also interested on having a minimum working example of the use of PdCom 
with Qt. I would like to try to make a tablet app to control my ethercat 
application.
Could you also share it with me?

Thank you.

Daniel



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Re: [etherlab-users] Beckhoff AX5000 - How to get rid of AX5801 safety card?

[Dr.-Ing. Wilhelm Hagemeister]

On 03.02.20 17:21, Hugh Sparks wrote:


It's tricky bothering them while using IgH. ;-)



Yes indeed, we at IgH know all about it...

Sorry, this is off-topic as well, but I had to respond.

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Re: [etherlab-users] Complements for a Etherlab Master build system

[Dr.-Ing. Wilhelm Hagemeister]

Sorry, typo,

I meant our software developers...

Regards Wilhelm



Am 09.01.20 um 14:15 schrieb Dr.-Ing. Wilhelm Hagemeister:

Hallo Han,

many thanks for your contribution to EtherLab. I cloned your repo and 
will ask your software developers if we should integrate that maybe in 
the "official" etherlab repo's.


Success with your new job.

Regards

Wilhelm


Am 09.01.20 um 13:12 schrieb Jeong Han Lee:

Hi Mike and Jürgen,

   I am glad to hear that the repository is good for others.

   Unfortunately, I am leaving that project (ESS) tomorrow. If my new 
job doesn't use the ethercat (etherlab) master, I am not available to 
work with that repository.


   With some limitation, there is another repository related with 
preempt RT configuration [1].


   Just in case, if one would like to keep these repositories, please 
fork them now. It may be disappeared from github after my leave.


   Hope the etherlab user community enjoy it and someone in the 
project may take care my work.


   Best,
   Han


[1] https://github.com/icshwi/realtime-config


On 1/9/20 11:02 AM, Jürgen Walter • DATATRONiQ wrote:

Mike,


I just found and tested a Github project
(https://github.com/icshwi/etherlabmaster) which has very clean build
system for Etherlab master which also includes the patches from Gavin
Lambert.


thanks for sharing - looks really good!

 From their README:

This is NOT a web application, NOT an Apps for phones, NOT a cloud 
application.


:)

Thanks, Jürgen


On 9 Jan 2020, at 10:39, Mike O'Connor wrote:


Hi All

I just found and tested a Github project
(https://github.com/icshwi/etherlabmaster) which has very clean build
system for Etherlab master which also includes the patches from Gavin
Lambert.

The really nice feature is the direct support of DKMS and most of the
systemd setup needed also.

It did miss one feature, it did not set the network interface up, so
that has to be done via netplan or ifupdown.

My thanks to the developer Timo Korhonen and the team at ESS EPICS : e3

Cheers

Mike

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Re: [etherlab-users] Complements for a Etherlab Master build system

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Han,

many thanks for your contribution to EtherLab. I cloned your repo and 
will ask your software developers if we should integrate that maybe in 
the "official" etherlab repo's.


Success with your new job.

Regards

Wilhelm


Am 09.01.20 um 13:12 schrieb Jeong Han Lee:

Hi Mike and Jürgen,

   I am glad to hear that the repository is good for others.

   Unfortunately, I am leaving that project (ESS) tomorrow. If my new 
job doesn't use the ethercat (etherlab) master, I am not available to 
work with that repository.


   With some limitation, there is another repository related with 
preempt RT configuration [1].


   Just in case, if one would like to keep these repositories, please 
fork them now. It may be disappeared from github after my leave.


   Hope the etherlab user community enjoy it and someone in the project 
may take care my work.


   Best,
   Han


[1] https://github.com/icshwi/realtime-config


On 1/9/20 11:02 AM, Jürgen Walter • DATATRONiQ wrote:

Mike,


I just found and tested a Github project
(https://github.com/icshwi/etherlabmaster) which has very clean build
system for Etherlab master which also includes the patches from Gavin
Lambert.


thanks for sharing - looks really good!

 From their README:

This is NOT a web application, NOT an Apps for phones, NOT a cloud 
application.


:)

Thanks, Jürgen


On 9 Jan 2020, at 10:39, Mike O'Connor wrote:


Hi All

I just found and tested a Github project
(https://github.com/icshwi/etherlabmaster) which has very clean build
system for Etherlab master which also includes the patches from Gavin
Lambert.

The really nice feature is the direct support of DKMS and most of the
systemd setup needed also.

It did miss one feature, it did not set the network interface up, so
that has to be done via netplan or ifupdown.

My thanks to the developer Timo Korhonen and the team at ESS EPICS : e3

Cheers

Mike

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Re: [etherlab-users] R: R: System randomly freezes in multi-thread Qt application with a RT process

[Dr.-Ing. Wilhelm Hagemeister]

Hello Simone,


Am 03.06.19 um 20:14 schrieb Simone Comari:

Hi all,

Following Wilhelm's suggestion, I had a look at their libraries. The 
premises seem promising, meaning that it looks like it is exactly what 
we need. Only issue is that I really had some troubles understanding how 
I can integrate it into my program.
As far as I understood, we should split our application into two 
separate programs, being one the server, running our ethercat-capable 
real time process, and the other the client, running our GUI. Then these 
processes should be started separately and would communicate through 
some (internal?) network protocol. Is it somewhat correct?


Yes, perfectly summarized. The advantage is, that the protocol is 
multiclient capable. It is is human readable; based on xml but efficient 
to also transport large amount of streaming data and tools from the 
EtherLab-suite can be used.




I will definitely have to look deeper into it, but a first question 
already comes to my mind: how do I enhance a real time task on the 
server side with pdserv? I'm using this 
 library 
(our own) to start our real-time thread at the moment.


As I said a good pdserv example is missing, but work on this is on progress.

Please find here a snippet of our "boilerplate code" meanwhile:
(sorry I had to delete some pieces. It won't run like this, but I think 
you will get the idea behind it.)


Task.h
//

#ifndef TaskH
#define TaskH

//

#include 

#include 

//

class Task
{
public:
Task(double sampleTime, const std::string );

struct pdserv *pdserv() const { return _pdserv; }
struct pdtask *pdtask() const { return _pdtask; }

typedef std::function UpdateFunction;

int run(UpdateFunction);

private:
const double _sampleTime;
ec_master_t * const _master;
struct pdserv * const _pdserv;
struct pdtask * const _pdtask;
};

//

#endif

//



Task.cpp

//

#include "Task.h"

#include 

#include 
#include 
using namespace std;

#include  // sleep()
#include  // memset()
#include  // mlockall()
#include  // sigaction()

//

/** The maximum stack size which is guranteed safe to access without 
faulting.

 */
#define MAX_SAFE_STACK (8 * 1024)

/** Nanoseconds per second. */
#define NSEC_PER_SEC (10)

/** Timespec difference */
#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
(B).tv_nsec - (A).tv_nsec)

/** Timespec to ns. */
#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)

//

static bool run = true;

//

void stack_prefault(void)
{
unsigned char dummy[MAX_SAFE_STACK];
memset(dummy, 0, MAX_SAFE_STACK);
}

//

void signal_handler(int signum)
{
cerr << "Received signal " << signum << "." << endl;

switch (signum) {
case SIGINT:
case SIGTERM:
run = false;
break;

default:
break;
}
}

//

Task::Task(
double sampleTime,
const std::string 
):
_sampleTime(sampleTime),
_master(ecrt_request_master(0)),


_pdtask(pdserv_create_task(_pdserv, _sampleTime, "main"))
{
struct sigaction sa;
memset(, 0x00, sizeof(sa));
sa.sa_handler = signal_handler;
sigaction(SIGTERM, , NULL);
sigaction(SIGINT, , NULL);

}

//

int Task::run(UpdateFunction update)
{
if (_master) {
if (ecrt_master_activate(_master)) {
stringstream err;
err << "Failed to activate master.";
throw std::runtime_error(err.str());
}
}

/* Finalize PdServ */

if (pdserv_prepare(_pdserv)) {
cerr << "Failed to prepare PdServ." << endl;
return 1;
}

/* Set priority */

struct sched_param param = {};
param.sched_priority = sched_get_priority_max(SCHED_FIFO);

if (sched_setscheduler(0, SCHED_FIFO, ) == -1) {
cerr << "sched_setscheduler() failed: " << strerror(errno) << endl;
}

/* Lock memory */

if (mlockall(MCL_CURRENT | MCL_FUTURE) 

Re: [etherlab-users] R: System randomly freezes in multi-thread Qt application with a RT process

[Dr.-Ing. Wilhelm Hagemeister]

Hi Simone,

in addition to Robertos post...

We strictly separate GUI from real time program and communicate between
a realtime process as the data producer and clients like GUI as 
consumers by a network protocol. This protocol separates parameters from
channels and is bidirectional and multi client capable. It also allows 
to run realtime process and GUI on separate machines; which mostly the 
case. Also it makes debugging a lot easier due to reduced complexity.


"pdcom" and "pdserv" are the well tested communication libraries and
"qtpdwidgets" is the library with process data aware widgets for QT(4 
and 5).

With this "qtpdwidgets" comes an example.

Read the README with comes with the libraries.

By using "pdserv" as the communication interface to the realtime process 
you also are able to use tools like "Testmanager" or "dlsd".


There is no good example for "pdserv" right now. But triggered by your 
post I asked my colleague to add an example to the "pdserv" library to 
make the start a bit easier.


look here for latest versions and precompiled rpm's (sorry, no debian
packages yet, we are working on it...):

https://build.opensuse.org/project/show/science:EtherLab

Don't reinvent the wheel... if you can avoid it.

Regards Wilhelm.

P.S. EoE has some issues. Try without it.

Am 31.05.19 um 09:30 schrieb Viola Roberto:

Hi Simone,

   first of all the guc firmware aren’t a issue, so go on J

In order to understand the issue i think you should try to split your 
application in small pieces: in this way we can try to delimit the 
perimeter of the issue.


You could try to run a simple application (using the ethercat example 
that you can find on the repository) that only read or write some 
objects from your slaves and step after step you can add pieces of code 
in order to identify when and where the issue happens. I don’t know how 
much is big your app, but from my point of view it’s the only way to 
achieve some results.


Other note: in your first log i saw that the crash happened in EoE 
context, did you use it? Could you try to disable it and test it again?


Have a nice weekend

Roberto

*Da:*Simone Comari [mailto:simone.coma...@unibo.it]
*Inviato:* mercoledì 29 maggio 2019 15:50
*A:* Viola Roberto ; 
etherlab-users@etherlab.org

*Cc:* Edoardo Ida 
*Oggetto:* R: System randomly freezes in multi-thread Qt application 
with a RT process


Hi Roberto,

Thanks for following up, much appreciated.

We tried the same setup on a laptop (Dell Inspiron-5567, Intel® Core™ 
i7-7500U CPU @ 2.70GHz × 4), dual booted Windows 10/Ubuntu 16.04.6  but 
the behavior remains the same.


I noticed nevertheless that both workstations have the same driver for 
the video card (i.e. /i915/). I also noticed that at the end of RT 
kernel build (I think when making /modules_install/) there was a warning 
about a couple of missing firmwares for this device:


possible missing firmware /lib/firmware/i915/kbl_guc_ver9_14.bin for 
module i915


possible missing firmware /lib/firmware/i915/bxt_guc_ver8_7.bin for 
module i915




So I copied the missing files (taken from here 
) 
into //lib/firmware/i915/ and updated with following command:


|sudo update-initramfs -u|

I then recompiled both the RT kernel and etherlab libs, but except for 
the disappeared warnings, nothing changed.


The video card I'm mounting is the following:

$ lshw -C video

   *-display

        description: VGA compatible controller

        product: HD Graphics 620

        vendor: Intel Corporation

        physical id: 2

        bus info: pci@:00:02.0 

        version: 02

        width: 64 bits

        clock: 33MHz

        capabilities: pciexpress msi pm vga_controller bus_master 
cap_list rom


        configuration: driver=i915 latency=0

        resources: irq:280 memory:de00-deff 
memory:b000-bfff ioport:f000(size=64) memory:c-d


I've tried to stress both CPU

$ stress --cpu `nproc` --vm `nproc` --vm-bytes 1GB --io `nproc` --hdd 
`nproc` --hdd-bytes 1GB --timeout 60s


stress: info: [6624] dispatching hogs: 4 cpu, 4 io, 4 vm, 4 hdd

stress: info: [6624] successful run completed in 60s

and video card

$ glmark2

===

     glmark2 2014.03+git20150611.fa71af2d

===

     OpenGL Information

     GL_VENDOR:     Intel Open Source Technology Center

     GL_RENDERER:   Mesa DRI Intel(R) HD Graphics 620 (Kaby Lake GT2)

     GL_VERSION:    3.0 Mesa 18.0.5

===

[build] use-vbo=false: FPS: 1392 FrameTime: 0.718 ms

[build] use-vbo=true: FPS: 1494 FrameTime: 0.669 ms

[texture] texture-filter=nearest: FPS: 1220 FrameTime: 0.820 ms

[texture] texture-filter=linear: FPS: 1370 FrameTime: 0.730 ms

[texture] texture-filter=mipmap: FPS: 1379 FrameTime: 0.725 ms

Re: [etherlab-users] R: Random Datagram Unmatched

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Roberto,

Am 21.05.19 um 14:48 schrieb Viola Roberto:


This crc thing plus the packet’s counter thing by ifconfig push me to 
think that sometimes the ec module ignores a packet even if ethernet 
card receives it. Is is possible?


Yes that is possible. If you query the NIC to early after you send the 
frame, it might not be back yet. What is the order of your realtime 
execution? Is it receiving EtherCAT (the previous frame), processing, 
sending EtherCAT, waiting for next rt-schedule?


Due to jitter, or a to long execution time of your task, sending and 
receiving the EtherCAT frame might come to close. This might also 
explain why it is not a function of your cycle time. You have to monitor 
your execution time and cycle jitter to get to the problem.




What happen when EC gives me this warning? I mean, i will lost the 
informations inside the unmatched packet for sure, but if this issue 
happens when i write a SDO instead of a PDO the EC will retry 
automatically to send another SDO packet?


If you accept frame drops, depends on your application. We usually 
accept a frame drop once in a while and don't trigger an emergency stop 
or likewise. SDO transfers are handled with state machines. If a request 
get's lost, it will be resent or will flag an error (which must be 
handled by your application).


Regards Wilhelm.
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Re: [etherlab-users] Usage of IgH EtherCAT Master for Safety

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Mr Zeilhofer,

yes, it is possible and we use it very widely. The configuration of the 
safety master e.g. EL6900 is done with TwinCat. Once the safety project 
is finished, downloaded to EL6900 with TwinCat and tested, the IgH 
EtherCAT master can transfer the data of the "black channel(s)".


It is a bit fiddly to connect the right PDO's of the TwinSafe master to 
the PDO's of the TwinSafe slaves but in any case possible. Basically 6 
bytes have to be transferred from and to each safely slave.


See attached a screenshot how it is done in EtherLab (with Simulink).

Kind regards

Wilhelm Hagemeister.

Am 10.05.19 um 17:39 schrieb Karl Zeilhofer:

Hello,

I wonder, if it is possible, to connect safety critical components in an
industrial application via EtherCAT as described in [1], if the bus is
driven by an IgH EtherCAT master.

Kind regards,
Karl Zeilhofer

[1] https://www.ethercat.org/en/safety.html

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Re: [etherlab-users] Running the Controll Program in a Qt Application

[Dr.-Ing. Wilhelm Hagemeister]

addendum:

look here for latest versions and precompiled rpm's (sorry, no debian
packages jet):

https://build.opensuse.org/project/show/science:EtherLab

regards Wilhelm

Am 03.05.2019 um 00:05 schrieb Karl Zeilhofer:
> Hi,
> 
> are there any recommendations on how to merge EtherCAT master programm
> with a GUI?
> 
> Is there any documentation on how to set up the threads/processes
> correctly?
> 
> I would love to use the Qt SDK for writing the HMI.
> 
> Kind regards,
> Karl Zeilhofer
> 
> 
> 
> 
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Re: [etherlab-users] Running the Controll Program in a Qt Application

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Mr Zeilhofer,

we strictly separate GUI from real time program and communicate between
a realtime process as the data producer and clients like GUI as multi
consumers by a network protocol. This protocol separates parameters from
channels and is bidirectional and multi client capable. It allows to run
realtime process and GUI on separate machines which is generally the case.

"pdcom" and "pdserv" are the communication libraries and
"qtpdwidgets" is the library with process data aware widgets for QT.
With this library comes an example. Read the README with comes with the
libraries.

If you want to, I can ask my colleagues if they have a small example for
the real time application with "pdserv" integration for you.

Regards Wilhelm.

Am 03.05.2019 um 00:05 schrieb Karl Zeilhofer:
> Hi,
> 
> are there any recommendations on how to merge EtherCAT master programm
> with a GUI?
> 
> Is there any documentation on how to set up the threads/processes
> correctly?
> 
> I would love to use the Qt SDK for writing the HMI.
> 
> Kind regards,
> Karl Zeilhofer
> 
> 
> 
> 
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Re: [etherlab-users] EtherCAT Master via USB-Adapter?

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Mr Zeilhofer,

generally the EtherCAT master should work with any Ethernet interface
which is supported by the kernel if one uses the generic driver.

Due to the fact that the generic driver uses parts of the regular
network stack, don't expect good realtime behavior with an USB connected
adapter.

Regards Wilhelm

Am 30.04.2019 um 01:40 schrieb Karl Zeilhofer:
> Hi,
> 
> has anyone experiences with running the IgH EtherCAT master via a
> USB-Ethernet adapter?
> I'm using one on one of my servers, which runs since years without
> problems. It uses the r8152 Ethernet driver, which is not supported.
> 
> For the first tests, I don't want to configure my main Ethernet port,
> which is an e1000e, on my daily working machine.
> As far as I understood from the documentation, that Ethernet port cannot
> be used for the daily network traffic any more, right?
> 
> If it would generally work over USB, I would buy a new adapter with one
> of the supported chip sets. Any recommendations?
> 


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Re: [etherlab-users] Inappropriate ioctl for device

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Daniel,

that sounds like the ethercat library does not fit to the kernel module.

If you have installed the two ethercat installations to different 
locations e.g. /usr/lib or /usr/local/lib it is depending on your search 
path settings what gets found first.


So it might be helpful to clean up first and do a fresh ethercat install.

Regards Wilhelm

Am 15.03.19 um 10:42 schrieb Daniel Lemus:

Hi

Im having trouble starting the build application from Matlab. Ethercat 
recognizes all the slaves and the master seems operational. However when 
I try to run the built executable I get the following error.


/Failed to request master 0: Inappropriate ioctl for device/

This started happening after I updated my Ethercat installation (I went 
from downloading the tar file to clone it using hg).


I see there is an old post discussing this topic 
(http://lists.etherlab.org/pipermail/etherlab-users/2009/000437.html) 
but there is no clear solution (Or at least not clear to me) on how this 
issue could be solved. In this post It is suggested that the problem is 
caused by an old master module loaded when a new library version is 
used. To be honest I don’t know how to solve this.


I appreciate the help you guys could give me

Daniel Lemus

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Re: [etherlab-users] (configuring pdo and sdo for a slave motion controller)

[Dr.-Ing. Wilhelm Hagemeister]

Correct (next time you could drop the parentheses). Perfect. Thanks.

Am 15.01.19 um 15:34 schrieb Samiha Islam:

Dear Wilhelm,
Apologies for not adding the subject. I have added the subject here. Is 
that the correct format?



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Re: [etherlab-users] (no subject)

[Dr.-Ing. Wilhelm Hagemeister]

Dear Samiha,

be polite and don't leave the subject empty. It hinders others to filter 
the mailing list effectively.


Regards Wilhelm

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Re: [etherlab-users] First Steps with ethercat

[Dr.-Ing. Wilhelm Hagemeister]

Hello Mr Graichen,

you need an application to exchange data with a terminal or to bring it
in the operational state. This can not be done with the command line
tool. See the examples in the EtherCat-Master repo.

Regards Wilhelm

Am 29.11.2018 um 14:47 schrieb Graichen Michael:
> Hey,
> 
> 
> but how can I actually set the outputs and read the inputs?
> 
> 
> Thanks for your help
> 
> 
> Michael
> 
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Re: [etherlab-users] Unable to write servo drive control word

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jan,

to clarify Mohsen response; you need an application which exchanges data 
cyclically. One can't get a drive or slave to "Operational" or write and 
read PDOS only with the ethercat command. See the example section in the 
ethercat repo for examples.


Regards Wilhelm.
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Re: [etherlab-users] Beginner: how to control EL2252 output using ethercat cmd line tool

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Jean-Pierre,

you need an application to exchange data with a terminal or to bring it
in the operational state. This can not be done with the command line
tool. See the examples in the EtherCat-Master repo.

Regards Wilhelm

Am 13.06.2018 um 14:10 schrieb Miceli Jean-Pierre:
> Hi all,
> 
> Disclaimer: I'm a total beginner in EtherCAT world.
> 
> I'd like to control a Beckhoff EL2252 outputs using the command line tool.
> 
> Using the pdos option I get the following:
> SM0: PhysAddr 0x0981, DefaultSize0, ControlRegister 0x00, Enable 12
>   TxPDO 0x1602 "DC Sync Activate"
> PDO entry 0x1d09:81,  8 bit, "Activate"
> SM1: PhysAddr 0x0990, DefaultSize0, ControlRegister 0x00, Enable 4
>   TxPDO 0x1603 "DC Sync Start"
> PDO entry 0x1d09:90, 64 bit, "StartTime"
> SM2: PhysAddr 0x0f00, DefaultSize0, ControlRegister 0x44, Enable 9
>   RxPDO 0x1600 "Channel 1"
> PDO entry 0x7000:01,  1 bit, "Output"
> PDO entry 0x7000:02,  1 bit, "TriState"
>   RxPDO 0x1601 "Channel 2"
> PDO entry 0x7010:01,  1 bit, "Output"
> PDO entry 0x7010:02,  1 bit, "TriState"
> PDO entry 0x:00,  4 bit, ""
>   RxPDO 0x1604 "Reserved"
> SM3: PhysAddr 0x0910, DefaultSize0, ControlRegister 0x00, Enable 4
> SM4: PhysAddr 0x1000, DefaultSize0, ControlRegister 0x00, Enable 4
> 
> From the slave datasheet, I should send 2 frames
>   1.  Frist frame:
>  *   set the StartTime to a correct value (in the future)
>  *   set activate to 0
>  *   set the value for the outputs
>   2.  Set activate to 3
> 
> How can I do that ?
> 
> Many thanks by advance for your help
> J-P
> 
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Re: [etherlab-users] ec_e1000e not compatible with Intel I218-LM NIC

[Dr.-Ing. Wilhelm Hagemeister]

The igb driver is being worked on and it will be released in the next
couple of weeks.

Am 18.09.2017 um 01:42 schrieb Gavin Lambert:

> 
> 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.
> 


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Re: [etherlab-users] Purpose of the PdCom Library

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Justin,

pdcom and pdserv are the two ends of an Ethernet! communication library 
which connect the process data from an realtime process to the consumer 
clients. pdserv handles the realtime process side and pdcom the client 
side. Both libraries have no dependency on EtherCat.


To answer your question:
No, you can't use pdcom to stream data directly from EtherCat devices.

The EtherCat master library is the interface to your devices. One needs 
an C or C++ application to gather data from an EtherCat device. Look at 
the examples which come with the EtherCat Master. Alternatively this 
application can be build with Matlab/Simulink and the help of EtherLab.


To make the data of your application available to other processes (via 
network) one can use pdserv (which is used by EtherLab).


Consumers like DLS and applications build with QtPdWidgets use pdcom.

Regards Wilhelm.

Am 10.02.2017 um 20:53 schrieb Justin Hunt:

Hello Everyone,

I was looking into the PdCom library and it appears that it can be used
independently of the other Etherlab software components. Does this mean
that I can use it directly to stream data from an ethercat device to my
Linux computer?

Thanks,
Justin


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Re: [etherlab-users] Using EtherLab to to collect force sensor data

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Justin,

indeed you need an application. The EtherCAT-Master is more or less like 
a Ethernet driver which gives you the ability to access the network 
stack but has no application functionality (my apologies to the 
programmers of EtherCAT and Ethernet for simplification here). Look at 
the examples which come with the EtherCAT Master.




I'm still confused about the EtherLab software components and was hoping
someone could help guide me. If I just want to stream the data to the PC
and maybe visualize it using the terminal, do I need any of the software
components beyond EtherCAT Master?



Regards Wilhelm.
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Re: [etherlab-users] Limit of process values in Testmanager/Etherlab App

[Dr.-Ing. Wilhelm Hagemeister]

Dear Mr Rehberger,

the Testmanager has an internal ringbuffer for storing the process 
response data (stupid design: I didn't know better at the time I 
designed that interface). During the connection process the Testmanager 
requests the channel and parameter lists. If you have really a lot 
parameters and channels the ringbuffer might overflow resulting in the 
observed loss. Depending on your version of testmanger the default 
ringbuffer sizes varies. On newer versions: 3.6.xx it is 8MB big. One 
can modify the size with the command line argument --buffersize=SIZE 
[byte]. Other arguments are documented in the text box in the About-Dialog.


Try to incrementally increase the buffersize until the observed behavior 
vanishes. If that does not work, please provide feedback with:


- Etherlab-Version
- Testmanger-Version
- Amount of Channels and Parameters

Good luck

regards Wilhelm.



Am 13.12.2016 um 17:37 schrieb Rehberger, Sebastian:

Dear Etherlab Users,



is anyone aware of a limit for process values / Simulink blocks used for
an Etherlab application?

We’re experiencing the following effect: Having a certain amount of
Simulink blocks and model-depth results in two behaviours:

1)  the values loose the possibility to be live-tuned / adapted
during run-time and

2)  that certain blocks are not shown in the Testmanager process
tree. That means process data cannot be efficiently logged any more.

Is there any workaround for that issue, or can anyone guess what we are
doing wrong?



Kind regards,

Sebastian





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Re: [etherlab-users] Unknown xml configuration

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Carlos,

for updating the EEPROM see: http://etherlab.org/en/ethercat/faq.php

Just for clarification ... you need a running application for 
PDO-access.  You can't do that with only with the EtherCat-Master...


Regards Wilhelm.

Am 28.09.2016 um 12:01 schrieb carlos_jimenez:

Hello,

I have tried applying the configuration to the watchdog, but I get the
same result. I can read a correct value on input through the ethercat
tool upload (with SDOs), but I cannot get this value with PDOs, I
receive just 0.
The EEPROM configuration should be done by the vendor, but it is
possible to put it again with the master?

Thank you and best regards

El 28-09-2016 10:49, carlos_jimenez escribió:

Hello Gavin,

Thank you very much for ypur answer, I will try with the watchdog :)

Best regards

El 28-09-2016 00:49, Gavin Lambert escribió:

On 28 September 2016 02:57, quoth carlos_jimenez:

I have some problems to read values from a Gantner modules, and I have
the configuration file of this modules, but there are some strange
tags for
me, I don't know how to use this tags with the master.

...

   

  100
  2000

   



These have no equivalent in Etherlab; it uses its own built-in mailbox
timeouts and you can't override them.  You also usually don't need to.



   25000
   100



These control the Process Data Watchdog, which is configured in
Etherlab via the ecrt_slave_config_watchdog API.



   2048
   080C0204C800



This is basic configuration information which should already be
programmed into the SII EEPROM by the vendor, so you shouldn't need to
do anything with it.


--
Carlos Jiménez

ENCOPIM S.L.
Ctra. Santiga, 104, P.I. Els Pinetons
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Fax: (+34) 935 94 64 15

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Re: [etherlab-users] Regarding SDOs

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Erik,

slaves have the "Slave Information Interface" (SII). This is more or 
less a EEROM which stores necessary information for the master to 
configure the slave.

See also: http://etherlab.org/en/ethercat/faq.php

Vendors can decide to store the SDO-Dictionary in the EEPROM or not. 
Because the EtherCat-Master only works with the information which can be 
fetched from the SII, it will present the SDOs if the dictionary is 
stored in the EEPROM otherwise not.


Regards Wilhelm.

Am 14.09.2016 um 10:19 schrieb Erik Euving:

Dear all,

I have a question regarding SDOs of a specific slave I use for my setup,
namely the D1-N-36-E0-2-1-00 drive by HIWIN. As you can see in the
attached screenshot, when I type the "~> ethercat -p 1 sdos" command, I
do not receive any feedback from the slave. When I type the same command
for my other slave (E-Box by Ketels) I get the full list.

My understanding about the inner workings of Ethercat and Etherlab is
very limited, but could someone explain why a slave would not give me
the list of available SDOs? I have a manual and I am able to access
individual SDOs (e.g. "~> ethercat upload -p 1 -t int8 0x6060 0" for
Mode of Operation) but requesting the full list is not possible.

Thanks!

Kind regards,
Erik


e.j.euv...@student.utwente.nl  |
+31641615351



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Re: [etherlab-users] Beckhoff EL6224 IO-Link

[Dr.-Ing. Wilhelm Hagemeister]

Hallo,

copy the output of etherlab --skin etherlab -p xx to your m-file.
Add sdo configuration as show in attached example.
Call the m-file from an generic slave block.

Attached an example for EL7041.

Sometimes one has to examine the configuration from TwinCat.

Regards Wilhelm.

Am 26.01.2016 um 20:08 schrieb Rehberger, Sebastian:

Dear Etherlab Users,

has anyone already used a Beckhoff EL6224 bus clamp? This is a IO-Link
terminal and we are having some RFID reader/writers connected to it.

I recently tried to use the generic slave block for interfacing it, but
failed. I therefore generated the .m configuration file for the generic
configuration with "--skin" option on command line. Any idea how I
should approach this? Thank you for any advice and help.

Kind regards,

Sebastian



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%
% Master 0, Slave 17, "EL7041-1000"
%
function rv = el7041_1000()

% Slave configuration

rv.SlaveConfig.vendor = 2;
rv.SlaveConfig.product = hex2dec('1b813052');
rv.SlaveConfig.description = 'EL7041-1000';
rv.SlaveConfig.sm = { ...
{0, 0, {
}}, ...
{1, 1, {
}}, ...
{2, 0, {
{hex2dec('1600'), [
hex2dec('7000'), hex2dec('01'),   1; ...
hex2dec('7000'), hex2dec('02'),   1; ...
hex2dec('7000'), hex2dec('03'),   1; ...
hex2dec('7000'), hex2dec('04'),   1; ...
hex2dec(''), hex2dec('00'),   4; ...
hex2dec(''), hex2dec('00'),   8; ...
hex2dec('7000'), hex2dec('11'),  16; ...
]}, ...
{hex2dec('1602'), [
hex2dec('7010'), hex2dec('01'),   1; ...
hex2dec('7010'), hex2dec('02'),   1; ...
hex2dec('7010'), hex2dec('03'),   1; ...
hex2dec(''), hex2dec('00'),   5; ...
hex2dec(''), hex2dec('00'),   8; ...
]}, ...
{hex2dec('1604'), [
hex2dec('7010'), hex2dec('21'),  16; ...
]}, ...
}}, ...
{3, 1, {
{hex2dec('1a00'), [
hex2dec('6000'), hex2dec('01'),   1; ...
hex2dec('6000'), hex2dec('02'),   1; ...
hex2dec('6000'), hex2dec('03'),   1; ...
hex2dec('6000'), hex2dec('04'),   1; ...
hex2dec('6000'), hex2dec('05'),   1; ...
hex2dec(''), hex2dec('00'),   2; ...
hex2dec('6000'), hex2dec('08'),   1; ...
hex2dec('6000'), hex2dec('09'),   1; ...
hex2dec('6000'), hex2dec('0a'),   1; ...
hex2dec('6000'), hex2dec('0b'),   1; ...
hex2dec(''), hex2dec('00'),   1; ...
hex2dec('6000'), hex2dec('0d'),   1; ...
hex2dec('6000'), hex2dec('0e'),   1; ...
hex2dec(''), hex2dec('00'),   1; ...
hex2dec('6000'), hex2dec('10'),   1; ...
hex2dec('6000'), hex2dec('11'),  16; ...
hex2dec('6000'), hex2dec('12'),  16; ...
]}, ...
{hex2dec('1a03'), [
hex2dec('6010'), hex2dec('01'),   1; ...
hex2dec('6010'), hex2dec('02'),   1; ...
hex2dec('6010'), hex2dec('03'),   1; ...
hex2dec('6010'), hex2dec('04'),   1; ...
hex2dec('6010'), hex2dec('05'),   1; ...
hex2dec('6010'), hex2dec('06'),   1; ...
hex2dec('6010'), hex2dec('07'),   1; ...
hex2dec(''), hex2dec('00'),   4; ...
hex2dec('6010'), hex2dec('0c'),   1; ...
hex2dec('6010'), hex2dec('0d'),   1; ...
hex2dec('6010'), hex2dec('0e'),   1; ...
hex2dec(''), hex2dec('00'),   1; ...
hex2dec('6010'), hex2dec('10'),   1; ...
]}, ...
}}, ...
};

% Port configuration

rv.PortConfig.input(1).pdo = [2, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1001;

rv.PortConfig.input(2).pdo = [2, 0, 1, 0];
rv.PortConfig.input(2).pdo_data_type = 1001;

rv.PortConfig.input(3).pdo = [2, 0, 2, 0];
rv.PortConfig.input(3).pdo_data_type = 1001;

rv.PortConfig.input(4).pdo = [2, 0, 3, 0];
rv.PortConfig.input(4).pdo_data_type = 1001;

rv.PortConfig.input(5).pdo = [2, 0, 6, 0];
rv.PortConfig.input(5).pdo_data_type = 1016;

rv.PortConfig.input(6).pdo = [2, 1, 0, 0];
rv.PortConfig.input(6).pdo_data_type = 1001;

rv.PortConfig.input(7).pdo = [2, 1, 1, 0];
rv.PortConfig.input(7).pdo_data_type = 1001;

rv.PortConfig.input(8).pdo = [2, 1, 2, 0];
rv.PortConfig.input(8).pdo_data_type = 1001;

rv.PortConfig.input(9).pdo = [2, 2, 0, 0];
rv.PortConfig.input(9).pdo_data_type = 1016;

rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
rv.PortConfig.output(1).pdo_data_type = 1001;

rv.PortConfig.output(2).pdo = [3, 0, 1, 0];
rv.PortConfig.output(2).pdo_data_type = 1001;

rv.PortConfig.output(3).pdo = [3, 0, 2, 0];
rv.PortConfig.output(3).pdo_data_type = 1001;

rv.PortConfig.output(4).pdo = [3, 0, 3, 0];

Re: [etherlab-users] Compiling Problem due to missing header-file

[Dr.-Ing. Wilhelm Hagemeister]

have you installed the EtherCat-Master?

The first error complains that ecrt_support.c is missing...

Regards Wilhelm.

Am 19.01.2016 um 14:08 schrieb Oldenbourg, Mitja:

Dear Etherlab users,

we have installed Etherlab 2.1.0 along with pdserv 1.1.0 and Matlab
2014b. To test things out we made a very simple test model in simulink
using a Master state block and a Domain State block. with "ctrl+b" it
encounters following error:
"/opt/etherlab/rtw/src/hrt_main.c:138: fatal error: rt_nonfinite.h:
Datei oder Verzeichnis nicht gefunden"
stating that it can't find the file rt_nonfinite.h
Do you have any idea what causes this problem and how to solve it?



Whole Build procedure for model:

### Invoking Target Language Compiler on newtest.rtw
### Using System Target File: /opt/etherlab/rtw/etherlab/etherlab.tlc
### Loading TLC function libraries
### Initial pass through model to cache user defined code
### Caching model source code
### Generating TLC interface API.
### Writing source file newtest_capi.c
### Writing header file newtest_capi.h
### Writing source file newtest.c
### Writing header file newtest.h
### Writing header file newtest_types.h
### Writing header file rtwtypes.h
### Writing header file builtin_typeid_types.h
### Writing header file multiword_types.h
### Writing header file newtest_private.h
### Writing header file rtmodel.h
### Writing source file newtest_data.c
### TLC code generation complete.
### File ecrt_support.c associated with S-Function 'domain_state' (used
in 'newtest/Domain State') does not exist
### File ecrt_support.c associated with S-Function 'master_state' (used
in 'newtest/Master State') does not exist
### Processing Template Makefile:
/opt/etherlab/rtw/etherlab/etherlab_hrt.tmf
### Creating newtest.mk from /opt/etherlab/rtw/etherlab/etherlab_hrt.tmf
### Building newtest: /home/jasper/MATLAB2014/bin/glnxa64/gmake -f
newtest.mk  EXT_MODE=0 EXTMODE_STATIC_ALLOC=0
EXTMODE_STATIC_ALLOC_SIZE=100 EXTMODE_TRANSPORT=0 MAT_FILE=0
CC  newtest_capi.o
CC  newtest_data.o
CC  newtest_header.o
CC  ecrt_support.o
CC  newtest.o
CC  hrt_main.o
/opt/etherlab/rtw/src/hrt_main.c:138: fatal error: rt_nonfinite.h: Datei
oder Verzeichnis nicht gefunden
compilation terminated.
gmake: *** [hrt_main.o] Fehler 1

Thank you very much in advance.

Best regards,

Mitja Oldenbourg


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Re: [etherlab-users] Ethercat master kernel module warnings

[Dr.-Ing. Wilhelm Hagemeister]

Hello John,

have you tried with the supplied sample "c" code?

Just for your information:
on a recent kernel with RT-Preempt-Patch we run cyclic tasks usually at 
1 kHz with the generic NIC driver without any skipped datagrams.


If you don't use the RT-Preempt-Patch you should not observe regular 
skipped frames if you do not load the machine to much.


If you have skipped frames at regular time intervals there is something 
wrong with your application.


If you have skipped frames randomly it can be cabling (unlikely), a 
misbehaving slave (very unlikely), or non realtime behaviour of your 
application.


Try to measure the time intervals between your cyclic calls.

Try to measure the time interval between "master_send" and 
"master_recieve". The EtherCat frame has to be "back" before you can 
receive it.


One more thing: intelligent NIC's can do interrupt throttling to 
decrease load for the processor. This results in poor realtime 
behaviour. I can remember this has been an issue some time ago. Please 
check the etherlab mailing list...


Regards Wilhelm.

Am 14.12.2015 um 17:24 schrieb John Hubbard:

Hello,

I'm working on a proof of concept application using the IgH EtherCAT
master however I'm having some problems.  Specifically I'm seeing
unmatched and skipped datagram packet warnings coming out of the kernel
module:

Dec 11 13:26:31 lyot kernel: [878188.716201] EtherCAT WARNING: Datagram
88032e383558 (domain0-0-main) was SKIPPED 21 times.
Dec 11 13:26:31 lyot kernel: [878189.443671] EtherCAT WARNING 0: 20
datagrams UNMATCHED!
Dec 11 13:26:32 lyot kernel: [878189.769889] EtherCAT WARNING: Datagram
88032e383558 (domain0-0-main) was SKIPPED 21 times.
Dec 11 13:26:32 lyot kernel: [878190.444575] EtherCAT WARNING 0: 20
datagrams UNMATCHED!

Based on the mailing list and the documentation PDF I believe that the
problem is related to attempting to run the cyclic task too quickly.
I'm running the cyclic task in userland at ~20Hz (50ms delays) on Ubuntu
14.04 with the 3.16.0-55 kernel. The master is relying on the generic
NIC driver to control a 4 port Intel 85271EB PCIe card.  Even slowing
way down to 5 seconds I still see the occasional "SKIPPED 1 times"
message.  The manual suggests that the theoretical cyclic rate should be
many orders of magnitude faster.  I realize that the theoretical rate is
theoretical, but I would have hoped a cyclic task of 20Hz~200Hz to be
achievable with the generic NIC driver.

In short my application (after setting up the master and domain) is doing:

ecrt_master_receive
ecrt_domain_process
// read process data
// calculations
// write process data
ecrt_domain_queue
ecrt_master_send


So my question are:
Has anyone else seen similar problems with unmatched/skipped datagrams
even at very low cyclic task rates?
What sort of frequencies should I expect on a non rt-kernel, with a
userland app, and the generic NIC driver?
Does anything look obviously wrong with my attached code?  (Be gentle
I'm primarily a non real time Java programmer).

In case it helps my end goal is to replace the discontinued Spectracom
TSync PCIe PTP DIO card with a 'block' of Beckhoff modules that provide
the same input timestamping, and output match time functionality. I'm
currently working with an EK1100 (EtherCat coupler), EL1252 (24v input
w/time stamp), EL2252 (24v output w/time stamp), and an EL6688 (PTP
module).  When all done everything will be controlled by a userland app
running on a CentOS 7 system with standard RHEL/CentOS 7 kernel.  At
this point I'm still just trying to familiarize myself with the API and
get a basic proof of concept application running.

I have been partly successful reading the input states, and
rising/falling latch times from the EL1252.  I have not yet had success
with the output module EL2252.  I'll put out another email asking for
help with that one.  I haven't even tried to work with the EL6688 module.


Thanks in advance


--
-john

To be or not to be, that is the question
 2b || !2b
(0b10)*(0b1100010) || !(0b10)*(0b1100010)
 0b11000100 || !0b11000100
 0b11000100 ||  0b00111011
0b
255, that is the answer.



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Re: [etherlab-users] Ethercat master kernel module warnings

[Dr.-Ing. Wilhelm Hagemeister]

Ok, then have fun with EtherCat...

Regard Wilhelm.

Am 14.12.2015 um 18:29 schrieb John Hubbard:

Wilhelm,

Your comment "If you see skipped frames at regular time intervals there
is something wrong with your application" was spot on.  The problem was
with my application.  I was doing the ecrt_domain_queue and
ecrt_master_send twice per cyclic task. After removing the duplicate
queue/send the errors are gone.

Thanks a bunch.


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Re: [etherlab-users] Values from Simulink blocks are disappearing

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Victor,

any block output should be visible as signal at the place where it is
generated. For wires just crossing subsystem boundaries no signals are
generated by Simulink (this is different to dSpace).
If we want to display specific signals we use a vector concatenate in
the signal connection and set the Number of inputs to 1.

If you are missing signals at block outputs please post an minimal
example for investigation.

regards Wilhelm.

Am 17.12.2014 15:31, schrieb v.i.slui...@utwente.nl:
 Hello,
 
  
 
 We’re using EtherLAB2, and Matlab R2014b. We have a problem that after
 compiling and running code, some signals are not available in
 TestManager. We have some outputs of  calculation blocks (temperature,
 angle of encoder) that we’re not using in our control loop, but would
 like to monitor in TestManager. Can you suggest what we could do to get
 these variables in TestManager?
 
 We do see some parameters / channels in TestManager, but it appears that
 some are optimized away. What we have tried sofar:
 
 -  Add test point / log data property on signal wire
 
 -  Wire to “add” block - this works temporarily because you can
 see the output of the “add” block, but it gets optimized away after a
 few compiles (or so it seems)
 
 -  Make an atomic subblock and add something there.
 
 We’d like to have some way to ‘scope’ data that’s calculated in our
 application. Do you have suggestions for settings in Simulink or Etherlab?
 
  
 
 With kind regards,
 
 Victor
 
 
 
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Re: [etherlab-users] Ethercat Lenze 8400 Driver Interface... newer version...

[Dr.-Ing. Wilhelm Hagemeister]

Hallo,

most likely the content of the EEPROM is faulty or missing.
Please post the output of: ethercat -p 0 xml

If this is the case:
You have to contact Lenze because they have to fix this.

Meanwhile you can try to copy the EEPROM-content from the old module to 
the new module using ethercat ssi_read and ssi_write, but there is NO 
guaranty that this will work!


Regards Wilhelm.

Am 28.02.2014 11:41, schrieb pier:


Dear helper

We would like  to use last version of Lenze ethercat module for Servo Drives

We have tried the last 1.5.2  etherlab version but something is not
accessible when

setup is done...


This is the states when it works with previus version :
Here is the config for the one  that works (actually there 17 Lenze
servos and all work):
0  0:0   OP  +  Lenze 8400 Device
  1  0:1   OP  +  Lenze 8400 Device


With the newer :

Here is the configuration with the Lenze drive having the EtherCAT
module that does not work:
0  0:0  PREOP  E  0x003b:0x000cd156
1  0:1  OP +  EK1100 EtherCAT-Koppler (2A E-Bus)

  For this test I have only initialized ID 0, 1 . The unit at ID 0 has
an error because configuration failed. I have got the following
Warnings/Error for ID 0:
Feb 24 21:28:26 (none) kernel: [ 2251.893111] EtherCAT WARNING 0-0: PDOs
configured for SM2, but slave does not provide the sync manager information!
Feb 24 21:28:26 (none) kernel: [ 2251.893114] EtherCAT WARNING 0-0: PDOs
configured for SM3, but slave does not provide the sync manager information!
Feb 24 21:28:26 (none) kernel: [ 2251.893116] EtherCAT ERROR 0-0: Failed
to determine PDO sync manager for FMMU!


Any Idea what is possible to do ?


Best Regards

Pierfrancesco Tateo



--

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Sennereigasse 27
3900 Brig
Switzerland

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Re: [etherlab-users] Setting up EtherLab (Matlab/Simulink dependency) in RT-Preempt

[Dr.-Ing. Wilhelm Hagemeister]

Hello Ankit,

Am 30.05.2013 17:24, schrieb Ankit Goila:

Hi,

I am looking to set up the same system with Matlab/Simulink
functionality. For this, I need to install EtherLab on my machine.
However, its installation is somehow not compatible with RT-Preempt and
it always prompts for RTAI.


if you cloned the hg-repository you have to switch to the default branch.


Regards Wilhelm.
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Re: [etherlab-users] Simulink parameters in Testmanarger

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Lee,

Am 17.09.2012 22:57, schrieb Lee Magnusson:

Wilhelm,

Thank you, very helpful. Regarding aliases: Is there a way to get the alias to
show up in the channel/parameter list? Are there other ways in which the alias
is used, which I'm missing?


all attributes which come from the process are shown in the tree when 
you hover over a Parameter/Channelname.
In newer Testmangerversions you have to activate show long hints for 
this (right click in the tree). The alias which is defined in the 
(simulink)model is part of this attributes.




My versions are etherlab: stable-1.3, testmanager, 3.5.12

Regarding parameters, I now better understand how to store block parameters to
file, which should be fine for my needs. It also would be great if I could save
model parameters, and I'm wondering if that's possible. For example, I might
define a simulink parameter using model explorer in either the model or matlab
workspace. I can then use that parameter in a variety of blocks.


If you want do distribute Parameters to blocks in the whole model you 
can place a constblock connected to a goto somewhere on an higher 
level in your model and use

from blocks where you want to use this constblock parameter.

Regards Wilhelm.
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Re: [etherlab-users] EtherLAB packages ?, Re: alternatives to TestManager

[Dr.-Ing. Wilhelm Hagemeister]

Hello Yan,

 
 I am not sure now whether I properly understand how all EtherLAB
 packages work together...

... no I think it is not a stupid question. For us working with this
stuff every day of course everything is clear and we often forget that
it might not be obvious to others how everything works together. So with
your allowance I post this reply also to etherlab-users...


 We currently play with EtherCAT master, not using whole EtherLAB.  Do I
 understand properly, that the Testmaster and PdCom are clients for data
 provided by EtherLAB package ? If so though, what PdServ is for ?

Yes that is more or less right.
The EtherCAT-Master is the library to talk with EtherCAT-Slaves.
EtherLAB combines code generation by Simulink with hardware access to
EtherCAT slaves and the MSR-Library for network access to parameters and
channels(or signals) of the Simulink model.

See also the picture at: http://www.etherlab.org/en/what.php

Testmanger and DLS are (ready) clients using the MSR-Protocol for
connecting to the running EtherLab process.

PdCom is a protocol handler for writing your own C or C++ application
on the client side. It can handle various communication protocols but to
talk to EtherLAB-processes only the MSR-protocol is required (and
integrated).

If we write application specific clients we integrate PdCom and use
Qt as the application framework. QtPdwidgets know already about
PdCom so this library helps to write quick and easy nice clients in
C++ with Qt.

 
 I am asking because I wonder whether there would be any possibility to
 use Testmanager or PdCom or even DLS without necessity to use whole
 EtherLAB.

Yes it is...

PdServ is a protocol handler on the server (realtime process) side. It
enables your realtime program - written in C or C++ - to register your
variables either as parameters or channels(signals) and use
Testmanager,  DLS or PdCom to talk to your realtime program. It
also offers a task registration interface; see the README.

PdServ must be used in UserSpace context e.g. with a preempt kernel to
ensure realtime behaviour. It is also the communication library for the
new EtherLAB which runs in UserSpace and does NOT require RTAI any
more. This is currently under development and will be released soon.


So if you don't want to use Simulink for code generation but have a C
program you can use PdServ to talk with Testmanger or so to the process.

Last thing: if you have a process as kernel model under RTAI in C and
you want to use the MSR-protocol interface there is a implementation
in EtherLAB available. Look at the files in the directory capi.

I hope this was not to confusing

don't hesitate to ask if there are more questions...

regards

Wilhelm.


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Re: [etherlab-users] alternatives to TestManager

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Juri,

for more designing freedom you can write a C++-Programm and use pdcom
and Qtpdwidgets from etherlab.org.

By the way, what is not finished on testmanager and why is it not ready
to use?

What version are you working with?

Regards Wilhelm.

Am 22.02.2012 09:44, schrieb Juri Gerke:
 Hi,
 
  
 
  
 
 is there any  other operation and visualization software except
 TestManager? What  do the you use?
 
 I am looking for a software which is finished and ready to use and has
 more possibilities for adjustments then the Testmanager.
 
  
 
 Kind regards
 
  
 
 Juri
 
  
 
  
 
 
 
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Re: [etherlab-users] alternatives to TestManager

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Juri,

there is no real misunderstanding. We use C++ with the libraries pdcom 
and Qtpdwidgets if we need spezial frontends. The other and up until now 
only

alternative is the testmanager.

If you answer my questions (from my previous mail), I might be able to 
help you. Testmanger is under continuous development and if you request 
features we might be able to integrate them.


Regards Wilhelm.



Am 22.02.2012 12:13, schrieb Juri Gerke:

Hi Wilhelm,

sorry for the misunderstanding. What I mean is that the alternative programm 
should be finished and ready to use.
So I don't have to write something by my own.
r
Kind regards



Juri

-Ursprüngliche Nachricht-
Von: Dr.-Ing. Wilhelm Hagemeister [mailto:h...@igh-essen.com]
Gesendet: Mittwoch, 22. Februar 2012 10:02
An: Juri Gerke; etherlab-users@etherlab.org
Betreff: Re: [etherlab-users] alternatives to TestManager

Hallo Juri,

for more designing freedom you can write a C++-Programm and use pdcom and 
Qtpdwidgets from etherlab.org.

By the way, what is not finished on testmanager and why is it not ready to use?

What version are you working with?

Regards Wilhelm.

Am 22.02.2012 09:44, schrieb Juri Gerke:

Hi,





is there any  other operation and visualization software except
TestManager? What  do the you use?

I am looking for a software which is finished and ready to use and has
more possibilities for adjustments then the Testmanager.



Kind regards



Juri







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[etherlab-users] igb driver for EtherCat Master?

[Dr.-Ing. Wilhelm Hagemeister]

short question to the list:

is anybody working on a patch for the igb network driver for the
EtherCat Master?

With kind regards

Wilhelm Hagemeister.

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Re: [etherlab-users] Memory for kernel module

[Dr.-Ing. Wilhelm Hagemeister]

Hello Jasper,

please tell a bit more about your model. Do you use large matrices as
parameter (This is usually the problem)?

Regards Wilhelm.


Am 13.01.2011 14:08, schrieb Westpfahl Jasper:
 
 Dear Etherlab-friends,
 
 I've got a problem with memory allocation and I hope, somebody can help me...
 
 Building a kernel modul with rtai stack size (in simulink configuration 
 parameters / Etherlab C code generation options) works with values of 2 
 and 20. 
 When inserting the module with 2, it works fine, meaning that I get a 
 connection to the realtime-process, but the stack size is not big enough to 
 operate the model properly.
 When inserting the module with 20 (insmod tb_kmod.ko), I got the messsage
 
 insmod: error inserting 'tb_kmod.ko': -1 Cannot allocate memory
 
 Can anybody tell me, where and how to adjust the accepted Rtai stack size?
 
 /var/log/messages is attached.
 
 Thank You very much in advance!
 
 Jasper
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Re: [etherlab-users] Multirate system - Simulink fundamental sample time / Ethercat bus frequency

[Dr.-Ing. Wilhelm Hagemeister]

Hello Jasper,

if you change the sample time of the EtherLab blocks to a lower rate
than the rest of your model, it should be possible to run the IO slower
than the rest. Don't forget to set solver-tasking mode to multitasting
(I expect you did so). Anyway the sampling of all channels for data
transfer is done with the highest rate regardless in witch sample time
domain they exist (depending on decimation which can be adjusted).

To be exact, I have tried with models having different sample times (up
to 3) also with EtherCat-IO but I never had a model where the highest
sample rate has no IO but I would expect this should be no problem.

Please post a simple example...

regard Wilhelm.

Am 04.01.2011 16:25, schrieb Westpfahl Jasper:
 Hello Etherlab-Users,
 
 I'm using a slave with a minimal sample time of 125e-6 s but due to numerical 
 stability, I need to calculate some subsystems of the Simulink model more 
 often (have a lower sample time). These subsystems do not contain 
 Ethercat-component blocks. Has anybody experience with this?
 
 It seems that the models fundamental sample time always determines the 
 Ethercat bus cycle time. Is it possible to set the Ethercat cycle frequency 
 to a lower value than the fundamental sample frequency?
 
 Any idea or hint would be greatly appreciated.
 
 thanks for reading and a happy new year!
 Jasper Westpfahl
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Re: [etherlab-users] Corrupt mailbox response

[Dr.-Ing. Wilhelm Hagemeister]

Hallo takeshi ikeya,

the SSI-contents (EEPROM) is broken. We had that up until now with two
vendors.

 I saw other user's mail about YASKAWA SIGMA5, in which he said he couldn't
 even get vendor ID and product code.

Because of this we updated the Master Code. Now it is possible to read
the first mandatory 64 words from the EEPROM which also contain vendor
ID and product code. But the EtherLab-Master also needs at least the
sync-manager information from the EEPROM.

Please contact the vendor and point out, that there is a conformance
test tool from the EtherCat technology group available to check if the
slave meets the spezification. Every vendor shipping EtherCat slaves has
to check his slaves against this tool. Ask for the test report of this
tool for the particular slave you are using. This usually generates
enough pressure on the vendor to improve the slave...

Regards Wilhelm.
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Re: [etherlab-users] Build error in RTW: implicit declaration of function 'xxxxxxxxxxxxx'

[Dr.-Ing. Wilhelm Hagemeister]

Hello Alex,

please use a 1.3-EtherLab-Version, or a older Matlab.
Important: for Etherlab-1.3 you need a 1.5-EtherCatmaster.
you find both on the etherlab.org site.

Greetings Wilhelm.

Am 18.11.2010 19:12, schrieb Alex C. Marton:
 Hello!
 
 Thank you for answering! I really need your help on this one.
 My linux version is: openSUSE 11.2 Emerald - Kernel \r
 My RTAI version is 3.7.1
 Matlab is R2009b, Simulink version is: v 7.4 and RTW is: v 7.4
 
 Thank you!
 Alex
 
 
 *From:* Dr.-Ing. Wilhelm Hagemeister h...@igh-essen.com
 *To:* Alex C. Marton martona...@yahoo.com; etherlab-users@etherlab.org
 *Sent:* Thu, November 18, 2010 5:56:15 PM
 *Subject:* Re: [etherlab-users] Build error in RTW: implicit declaration
 of function 'x'
 
 Hallo Alex,
 
 please supply information over:
 
 LINUX-Version (which 2.6.xx)
 RTAI-Version
 Matlab/Simulink/RTW-Version
 
 Wilhelm.
 
 Am 18.11.2010 17:39, schrieb Alex C. Marton:
 Hi!
 First I want to say that I have already searched your mailing list for
 threads on my issue, but I did not find any.
 I am using etherlab 1.2-rc10 on linux kernel 2.6. I tried building a
 simple Simulink model from scratch like you instructed in the guide of
 Etherlab, here:
 http://etherlab.org/download/etherlab/etherlab-1.2.pdf
 http://etherlab.org/download/etherlab/etherlab-1.2.pdfI put in an
 EK1100 EtherCAT coupler block, an EL4132-AO block and a sine-wave into
 that (the EL4132). Nothing special here (exactly the same model as the
 right lower part of your standard example.mdl model that you show to
 users). I did the necessary configurations for the simulation and I
 clicked Ctrl+B.
 It started to build the RTW model and after countless compilation and
 build messages (nothing unusual, no warnings, no errors), at the end it
 says:

 test1.c: In function 'test1_output':
 test1.c:72: error: implicit declaration of function 'rtmIsMajorTimeStep'
 gmake: *** [test1.o] Error 1
 Real-Time Workshop build procedure for model: 'test1' aborted due to an
 error.

 Why is it doing that? How do I fix this error because I know I am not
 doing anything wrong. The standard example.mdl model gives me the same
 exact build output message when I try to build it.

 Thank you for your time and patience!
 Alex Marton




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Re: [etherlab-users] SII content correct, problems persist

[Dr.-Ing. Wilhelm Hagemeister]

Hello Oliver,

 Unfortunately that action doesn't solve the problem. I have compared 
 both SII contents; before and after... The only difference is that 
 the last 8 lines of 'F's were added to the SII content. But I am sure, 
 that wont fix the problem.
 Any other ideas?

Yes, it fixes the problem. FFF is the marker for End-of-EEprom.
Save the EEprom-contents from TwinCAT and write it with ethercat upload
to the slave.

Wilhelm.
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Re: [etherlab-users] Build error in RTW: implicit declaration of function 'xxxxxxxxxxxxx'

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Alex,

please supply information over:

LINUX-Version (which 2.6.xx)
RTAI-Version
Matlab/Simulink/RTW-Version

Wilhelm.

Am 18.11.2010 17:39, schrieb Alex C. Marton:
 Hi!
 First I want to say that I have already searched your mailing list for
 threads on my issue, but I did not find any.
 I am using etherlab 1.2-rc10 on linux kernel 2.6. I tried building a
 simple Simulink model from scratch like you instructed in the guide of
 Etherlab, here:
 http://etherlab.org/download/etherlab/etherlab-1.2.pdf
 http://etherlab.org/download/etherlab/etherlab-1.2.pdfI put in an
 EK1100 EtherCAT coupler block, an EL4132-AO block and a sine-wave into
 that (the EL4132). Nothing special here (exactly the same model as the
 right lower part of your standard example.mdl model that you show to
 users). I did the necessary configurations for the simulation and I
 clicked Ctrl+B. 
 It started to build the RTW model and after countless compilation and
 build messages (nothing unusual, no warnings, no errors), at the end it
 says:
 
 test1.c: In function 'test1_output':
 test1.c:72: error: implicit declaration of function 'rtmIsMajorTimeStep'
 gmake: *** [test1.o] Error 1
 Real-Time Workshop build procedure for model: 'test1' aborted due to an
 error.
 
 Why is it doing that? How do I fix this error because I know I am not
 doing anything wrong. The standard example.mdl model gives me the same
 exact build output message when I try to build it. 
 
 Thank you for your time and patience!
 Alex Marton
 
 
 
 
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Re: [etherlab-users] Fieldbus Safety

[Dr.-Ing. Wilhelm Hagemeister]

Hello Newell,

we are planing to integrate that feature into EtherLab because we need
that as well I the near future.

Regards Wilhelm.

Am 05.11.2010 17:31, schrieb Newell Jensen:
 Hello All,
 
 I am new to this list and was wondering if anyone knows if it is
 possible or has used Etherlab with Beckhoff's TwinSAFE PLC (EL6900).
  Basically, we would like to use Etherlab but we have to meet safety
 specifications (and don't want to have to re-spec any software etc.) so
 it would be great if anyone has any information on this.  Any questions
 are welcome.
 
 Thanks!
 
 -- 
 
 Newell
 
 
 
 
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Re: [etherlab-users] Fieldbus Safety

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Newell,

for the configuration of the safety components we want to use the
already existing software of the slave vendor (e.g. TwinCAT from
Beckhoff). The configuration is stored in the slaves so you only have to
do the configuration process ones.

The task of the ethercat master is to just copy the safety process
data from one slave to another slave.
This has nothing to do with SIL 3, because we do not rewrite the
configuration software.

This is not really difficult. But we integrate it as soon as we need it
for our projects.

I think this will be in the next 3-5 month.

Regards

Wilhelm.


Am 08.11.2010 18:09, schrieb Newell Jensen:
 Wilhelm,
 
 I also forgot to ask whether or not this new software would be SIL 3
 certified as well?
 
 Thanks,
 
 Newell
 
 On Mon, Nov 8, 2010 at 9:05 AM, Newell Jensen pillar2...@gmail.com wrote:
 
 Wilhelm,

 Do you have any projected dates or timelines that you guys are trying to
 meet?  If its something timely I might even be able to get my work to
 allocate me time to help you guys with the implementation.

 Thanks,

 Newell


 On Mon, Nov 8, 2010 at 12:45 AM, Dr.-Ing. Wilhelm Hagemeister 
 h...@igh-essen.com wrote:

 Hello Newell,

 we are planing to integrate that feature into EtherLab because we need
 that as well I the near future.

 Regards Wilhelm.

 Am 05.11.2010 17:31, schrieb Newell Jensen:
 Hello All,

 I am new to this list and was wondering if anyone knows if it is
 possible or has used Etherlab with Beckhoff's TwinSAFE PLC (EL6900).
  Basically, we would like to use Etherlab but we have to meet safety
 specifications (and don't want to have to re-spec any software etc.) so
 it would be great if anyone has any information on this.  Any questions
 are welcome.

 Thanks!

 --

 Newell




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Re: [etherlab-users] Using BK/KL instead of EK/EL

[Dr.-Ing. Wilhelm Hagemeister]

Hello Mr Haala,

it is right, alle the KL are mapped in the the BK1120. Are you using
handcoded C? Then a ethercat pdos should give you a list off all the
relevant PDO's, which you have to map in your code. If you are using
Matlab/Simulink generate a xml ethercat xml and use the generic slave
form the etherlab_lib.

Kind regards Wilhelm.

Am 19.10.2010 09:03, schrieb oliver.ha...@semikron.com:
 Hello,
 
 I would like to use Beckhoffs BusCoupler (BK1120) and several bus terminals 
 (KL). The problem is that the bus terminals are mapped inside the BusCoupler, 
 so they aren't addressable like slaves. There is just one BK-slave. 
 Unfortunately every example is using EK/EL. However is it possible to run the 
 fieldbus using EtherCat Master 1.5? Just in principle: How to change the 
 relevant code?
 
 Regards
 Oliver
 
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Re: [etherlab-users] SDO type size problem

[Dr.-Ing. Wilhelm Hagemeister]

Hello Mr Schnebeck,

usually this is a problem of the slaves firmware. The fact that things
are running with TwinCat does not mean it is a fault free slave.
Things like this happen quiet regularly.

If you can't solve the problem with HBM we can offer you to test the
device here in Essen with our master.

With kind regards

Wilhelm Hagemeister.

-- 


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wilhelm.hagemeis...@igh-essen.com
Tel.: +49 201 / 36014-20

Ingenieurgemeinschaft IgH
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Am 24.09.2010 09:01, schrieb Thorsten Schnebeck:
 Hi,
 
 we have here a problem to bring a HBM etherCAT measurement box into PREOP 
 state.
 The problem seems to be a SDO type size mishmash. Here is a part of the SDO 
 list:
 = Master 0, Slave 0 ===
 SDO 0x1000, Device type
   0x1000:00, r-r-r-, uint32, 32 bit, Device type
 SDO 0x1008, Device name
   0x1008:00, r-r-r-, string, 96 bit, Device name
 SDO 0x1009, Hardware version
   0x1009:00, r-r-r-, string, 56 bit, Hardware version
 SDO 0x100a, Software version
   0x100a:00, r-r-r-, string, 96 bit, Software version
 SDO 0x1018, Identity object
   0x1018:00, --, uint8, 16 bit, Number of entries
   0x1018:01, r-r-r-, uint32, 32 bit, Vendor id
   0x1018:02, r-r-r-, uint32, 32 bit, Product code
   0x1018:03, r-r-r-, uint32, 32 bit, Revision number
   0x1018:04, r-r-r-, uint32, 32 bit, Serial number
 SDO 0x1600, RxPDO1 Mapping
   0x1600:00, rwr-r-, uint8, 16 bit, Number of entries
   0x1600:01, rwr-r-, uint32, 32 bit, 
 SDO 0x1601, RxPDO2 Mapping
   0x1601:00, rwr-r-, uint8, 16 bit, Number of entries
   0x1601:01, rwr-r-, uint32, 32 bit, 
 SDO 0x1a00, TxPDO1 mapping 
   0x1a00:00, rwr-r-, uint8, 16 bit, Number of entries
   0x1a00:01, rwr-r-, uint32, 32 bit, 
   0x1a00:02, rwr-r-, uint32, 32 bit, 
 SDO 0x1a01, TxPDO2 mapping 
   0x1a01:00, rwr-r-, uint8, 16 bit, Number of entries
 
 You see, every  Number of entries is a 16bit uint8. That leeds to debug 
 messages of the etherCAT master like:
  EtherCAT 0: Scanning bus.
  EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 
 0x1C12:00.
  EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 
 0x1C13:00.
  EtherCAT ERROR 0-0: Invalid data size 2 returned when uploading SDO 
 0x1C14:00.
  EtherCAT ERROR 0: Buffer too small.
  EtherCAT ERROR 0: Buffer too small.
 
 These errors during INIT result to PREOP+ERROR as final state for this device.
 
 Side note: TwinCAT does not show these problems and brings the device up to 
 OP-mode.
 
 Is this a problem in the EtherCAT slave client firmware or can this be a 
 problem of the etherlab-master 1.5?
 
 Bye
 
   Thorsten
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Re: [etherlab-users] Data logging

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Julian,

Julian Stoev schrieb:
 Hello,
 
 Thanks for the help. My system now works quite decently and I will
 have to make some purely control related experiments with an
 experimental motor system. I will need to make sweep-sine tests for
 frequency response measurement. Next steps may be other methods for
 rudimentary system identification. All these will need a good grasp of
 the data logging tools provided with etherlab to get the data back in
 Matlab.
 
 I tested testmanager and it works immediately. Very nice and useful
 program, BTW. My initial thought was that I may be lucky if the
 testmanager programs provides some simple file output. But apparently
 there is none 

yes there is, just put a scope to your layout, record your data, stop 
recording, make a right click and export your measurement to matlab. In 
fact this exports your data to simple ascii files.

Anyway DLS is perfect for recording data with high sample rate over a 
long time period but you might not want this?

Wilhelm.
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Re: [etherlab-users] Default Trap Handler: vector 14: Suspend RT task

[Dr.-Ing. Wilhelm Hagemeister]

Hallo Mr. Kotlarski,

i have had Trap vector: 14 with a Simulink Modell ones when I tried to 
access a vector-variable out of it's bounds.  This can e.g. happen with 
the Simulink-Selector Block and external element indices.

Divison by zero usually gets handled by the generated code from RTW.

Kind regards,

Wilhelm Hagemeister.



Kotlarski, Jens schrieb:
 Hallo,
 
 Hallo,

 On Fri, Mar 06, 2009 at 10:01:34AM +0100, Kotlarski, Jens wrote:
 We are facing a problem concerning Rtai. Always when we load a kernel
 object and start the etherlab_buddy we get the following error (it
 occurs right after starting the buddy, insmod the kernel object works
 fine): Default Trap Handler: vector 14: Suspend RT task. Our system
 only works if we load very very simple kernel objects, i.e models
 consisting of a few Simulink blocks only.

 Maybe one of you had a similar problem and has some advice?!?

 By the way: we are using the Ethercat master 1.4 with Etherlab 1.2 on
 an Ubuntu 8.04 system with Rtai 3.6.
 what is the exact EtherLab version (1.2-rcX)?
 
 The exact version is 1.2-rc1. You think it is worth updating the system (by 
 the way: did you test the current versions with newer Matlab versions)?
 
 
 Best regards,
 
 Jens
 
 A trap handler is usually a segmentation fault in RT context.

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