Archived: please see ethercrab-rs/ethercrab instead
- Load ESI (EtherCAT Slave Information) XML file into runtime with https://docs.rs/ethercat-esi/0.2.0/ethercat_esi/.
Uses EtherCAT master from https://etherlab.org/en/ethercat/
Some decent EtherCAT setup docs at https://etherlab.org/download/ethercat/ethercat-1.5.2.pdf which is where most of the below instructions are from
git clone https://gitlab.com/etherlab.org/ethercat.git
# Use the 1.5 stable branch (commit 779437f)
git checkout stable-1.5
cd ethercat
./bootstrap
# Note: I previously added --disable-eoe here to squelch some annoying Cinnamon popups, but I ended
# up going into network settings and disabling autoconnection instead. Adding --disable-eoe gives an
# `Inappropriate ioctl for device` for some reason.
./configure --disable-8139too --enable-generic
make -j4
make modules -j4
sudo make install
sudo make modules_install
# MAC address of network interface to use
# You can also use `MASTER0_DEVICE="ff:ff:ff:ff:ff:ff"` if you just want the first device that can be found.
echo 'MASTER0_DEVICE="ab:cd:ef:ab:cd:ef"' | sudo tee -a /etc/ethercat.conf
# If this line is missing, the network device will never get hooked up to the ethercat stuff
echo 'DEVICE_MODULES="generic"' | sudo tee -a /etc/ethercat.conf
# Updates kernel module list
sudo depmod
# Allow non-root access to /dev/EtherCAT0
echo 'KERNEL=="EtherCAT[0-9]*", MODE="0664" GROUP="plugdev"' | sudo tee -a /etc/udev/rules.d/99-ethercat.rules
# Inserts ec_generic kernel module and makes /dev/EtherCAT0 available
# This must also be run if /etc/ethercat.conf is changed
sudo ethercatctl restartThe ethernet device should look like this:
4: enx00e1000003fb: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP mode DEFAULT group default qlen 1000
link/ether 00:e1:00:00:03:fb brd ff:ff:ff:ff:ff:ff
Run the Rust code:
ETHERCAT_PATH=/home/james/Repositories/ethercat-shit/ethercat-src cargo runNote that if ethercat-src was compiled with --disable-eoe, some bindings won't work as the symbols they're looking for no longer exist. I might PR a fix for this in the future as an optional feature, but it doesn't cause an issue with my stuff today.
Name from ip link list is enx00e1000003fb
MAC is 00:e1:00:00:03:fb
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TODO: Make module load on startup
-
It IS possible to use EtherCAT over your normal ethernet connection and get internet too
-
It IS possible to communicate through an ethernet switch - hooray for not needing multiple NICs.
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I got ethercat working over a USB GBE adaptor too
-
My
/etc/ethercat.conf:# MASTER0_DEVICE="ff:ff:ff:ff:ff:ff" # Mobo ethernet MASTER0_DEVICE="70:85:c2:8d:d3:c4" # USB ethernet # MASTER0_DEVICE="00:e1:00:00:03:fb" DEVICE_MODULES="generic" -
I did not use https://github.com/sittner/ec-debianize - maybe that's an easier way to go, but it is using the outdated Mercurial repo at time of writing. Note that this talks about
/etc/default/ethercata lot, which AFAICS is the same as/etc/ethercat.confbut automated. -
Gotta disable the network interface autoconfig or you'll get annoying config warnings
-
If EoE support is enabled, you get a network interface that looks like this:
28: eoe0s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UNKNOWN mode DEFAULT group default qlen 1000 link/ether 00:11:22:33:44:1c brd ff:ff:ff:ff:ff:ff
EtherCAT stuff specific to the drive is here https://www.kollmorgen.com/sites/default/files/public_downloads/903-200005-00%20AKD%20EtherCAT%20Communications%20Manual%20EN%20REV%20U.pdf
Note that the ethercat-esi dependency is aliased to a local path, the repo of which points to https://github.com/jamwaffles/ethercat-esi/tree/fixes-for-akd which has some un-PRed fixes in it at time of writing.
ethercat xml gives this:
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 0 -->
<Vendor>
<Id>106</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x00414b44" RevisionNo="#x00000002">AKD</Type>
<Name><![CDATA[AKD EtherCAT Drive (CoE)]]></Name>
<Sm Enable="1" StartAddress="#x1800" ControlByte="#x26" DefaultSize="1024" />
<Sm Enable="1" StartAddress="#x1c00" ControlByte="#x22" DefaultSize="1024" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x24" DefaultSize="0" />
<Sm Enable="1" StartAddress="#x1140" ControlByte="#x20" DefaultSize="0" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name></Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1601</Index>
<Name></Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1602</Index>
<Name></Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x607a</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1603</Index>
<Name></Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x60ff</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name></Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name></Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name></Name>
<DataType>UINT8</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a02</Index>
<Name></Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a03</Index>
<Name></Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name></Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x606c</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name></Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>Must connect over Service/HMI interface - connecting over EtherCAT bus never works lmao. Connect the HMI port to the local network as a normal device.
Kollmorgen Workbench works in VirtualBox, but the network interface must be set to "bridged" mode. I turned promiscuous mode to "all" but maybe that's not necessary, idk.
Simple Open EtherCAT Master/Slave
https://openethercatsociety.github.io/doc/soes/index.html
https://openethercatsociety.github.io/doc/soem/index.html
C tutorial: https://openethercatsociety.github.io/doc/soem/tutorial_8txt.html
Also this one which seems newer https://crates.io/crates/ethercat-soem but incomplete.
neotech PDO is hardware registers mapped, SDO is software registers, that can float SDO's are usually set on boot, as part of configuration PDO is where shit actually happens PDO's can be interupt read, SDO's cannot
jamwaffles Right I see So I'd set e.g. encoder counts per rev in an SDO, but set velocity/read position from PDO
neotech yeap https://www.can-cia.org/fileadmin/resources/documents/proceedings/2005_rostan.pdf your servo most likely implements this
jamwaffles It does indeed
neotech in some shape or another at least so reading up on the OpenCAN over ethercat standard is prob. a good starting point i think it was called CIA 4 or something like that