Ethercat HAL configuration for Beckhoff EL7041 without encoder

Hello Allan,

thank you - this was helpful indeed.

My EL7041 appearently used the external encoder.
I changed the settings now to internal encoder, but still the same issue.
Can you give me more details about your hardware(which EL7041 Version), setup, hal-file, xml-file, (...)

Best Regards,
Hawkeye

Hello Hawkeye

Firstly, I have a few confessions to make:

I do not have a working machine, only four motors on a desktop connected to a line of EtherCAT terminals.
And the configuration files I am using are blatant copies of Koppi's Machinekit machine

I am using EL7041-1000 terminals.

I have attached a copy of the my current .xml file - there are four EL7041-1000 terminals; two will be used to drive a gantry.

Koppi's machine has a number of HAL files breaking the HAL configuration into functional units. I have attached my slightly
modified koppi-cnc.io.hal file since this handles the bulk of the connections to the EtherCAT terminals. All of Koppi's files
are available that the above link.

Hoping this helps.

Allan

Hello Allan,

first of all, sorry for delay..

What I did in the meantime is that I reviewed the Beckhoff document you provided.
I checked mainly the parts beginning page 196 up to page 221.
This seems to contain all data objects relevant for EL7041.

What I found was a bit surprising to me, as I did not expect that Beckhoff stores
basic configurations on each terminal... Anyway, I hat a look at the encoder setup and in fact it was
configured to operate with external encoders. After I did some try and error download/upload operations,
I decided to do a factory reset of the sessings. I hope that this way, beckhoff did all basic settings for their customers,
so they get a running product, no matter which kind of motor, encoder, ... they are connecting to the terminal.

Now, it feels like the terminal is ready to operate with my motor..
And yes, it just feels like this, because the motor did not any movement yet.
So far, I had a look at the following configuration areas:
- basic motor settings = looks ok: encoder is now internal
- pos settings = looks ok to me
- stm input ch1 = looks ok, no error, no warning, status is now "ready"
- pos input ch1 = looks ok, When I try to move the motor, an error flag will be raised at 6020:03 (BOOL) ??reason??
- a010 stm diag data ch1 = looks ok, no over temperature, voltage ok, no short circuit at A or B

Do you know how I can try to move the motor without linuxcnc?

//edit:
Do you think it would be worth to have a look at complex configuration in stead of simple configuration?
As far as I know, I have to create an XML-File using Beckhoff EthercatConfiguration Tool and have to load it somewhere into the
driver area of linuxcnc. I havn't done this and have not seen a step by step guide on how to do it yet.


Best Regards,
Hawkeye

for easy testing, download Beckhoff Twincat V2.xx, install the 30 days trial Version.

launch System Manager, ADD an ethercat Master, patch your network Kard, scan configuration and boxes, add an
ptp axis, patch it tho the EL7041, . launch the configuration and you can control the cards....

there exists quick start pdfs.

Hello db1981,

thank you for your help, but I am still struggeling with Twincat V2.xx.
I had now a look at it and it seems like I am too stupid to understand where to find the patch für my network card.
Maybe this is also related to the fact, that I am using Win10 x64?


My plan is to review the documentation and all pdo definitions of EL7041 and compare them to EL7041-1000.
Is there no way to get this thing running with a simple script or command ?

Does someone know where to buy EL7041-1000 in central europe for a good price?

Best Regards,
Hawkeye

Hello Hawkeye

I am sorry to learn that you are still having problems. I bought my EL7041-1000 terminals from eBay (Germany and USA) and from online suppliers,

There are some on eBay at the moment:

eBay 7041-1000

A supplier with good prices is:

ANERTKOM Industrieelektronik

The other supplier I have a link to has no stock at the moment. I bought mine over several months waiting for 'Scottish' prices!

I remember someone trying the 7041 on the forum a while ago. Perhaps we should have a search? The forum member might be contactable to ask whether they managed to get it running.

I also found the Beckhoff software difficult to understand - is it compatible with Windows 10?

Are you sure you want to give up on trying your 7041? Do you have more than one 7041? If so are they all giving the same warning?

Allan