EtherCAT - how to read digital inputs value
19 Jun 2018 10:10 #112571
by jmiceli
EtherCAT - how to read digital inputs value was created by jmiceli
Hi all,
Disclaimer: I'm a beginner in the CN/EtherCAT/LinuxCNC world.
As an introduction, I get a Beckoff "module" with digitals inputs/outpus which I'd like to control.
This "module" has the following components:
Using halrun, I loaded LCEC components, created a thread. What I saw:
How can I change slaves states ?
How can I read the inputs ?
Thanks for your help
J-P
HAL commands:
The xml file:
Disclaimer: I'm a beginner in the CN/EtherCAT/LinuxCNC world.
As an introduction, I get a Beckoff "module" with digitals inputs/outpus which I'd like to control.
This "module" has the following components:
- EK1100 (coupler) - supported by LCEC HAL component
- EL1252 (2x digital inputs) - supported by LCEC HAL component
- EL2252 (2x digital outputs) - NOT supported by LCEC HAL component. I will have to write some code later
Using halrun, I loaded LCEC components, created a thread. What I saw:
- All PINs DIR is OUT
- The slaves states are PRE-OP
- The lece.0.1.din-x PINs value never change
How can I change slaves states ?
How can I read the inputs ?
Thanks for your help
J-P
HAL commands:
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt threads name1=test-thread period1=1000000
addf lcec.0.read read-thread
startThe xml file:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL1252"/>
</master>
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20 Jun 2018 10:18 #112613
by ReneCNC
Replied by ReneCNC on topic EtherCAT - how to read digital inputs value
Hello jmicell,
Maybe I had the same problem, but it works now.
Do you have the right slave idx in the .xml?
What does ethercat slaves show when you type it in terminal?
regards Rene
Maybe I had the same problem, but it works now.
Do you have the right slave idx in the .xml?
What does ethercat slaves show when you type it in terminal?
regards Rene
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21 Jun 2018 06:47 #112701
by jmiceli
Replied by jmiceli on topic EtherCAT - how to read digital inputs value
Hi Rene,
Thanks for your help.
I found a way to make it work: I used lcec.read-all and lcec.write-all (instead of lcec.0.read alone). This way, the slaves goes in OP state and I was able to read the inputs from el1252.
regards
J-P
Thanks for your help.
I found a way to make it work: I used lcec.read-all and lcec.write-all (instead of lcec.0.read alone). This way, the slaves goes in OP state and I was able to read the inputs from el1252.
regards
J-P
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