New ethercat / probe basic control for minimonster

Yes, I only shared the main hal file.
You need to run Ethercat slaves -v and get the vid and pid for your drive.
the main registers will be in the cia402.comp example. Mainly the registers with the 0x6000 addresses
The 2000's are vendor specific. So do the basics, then add in the vendor specific ones you need from your drive manual.

Note my drives have 4000 encoder counts per rev and on a 5mm pitch balls screw gives a scale of 800 per mm

note the byte data is in lo high format  so 0x0102 will be formatted as 02 01 when setting SDOs

so vid is vendior id and pid is product?

== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000083
Product code: 0x00000006
Revision number: 0x00020001
Serial number: 0x1001007d
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 3318981850 0 0
1 MII up open yes 1 3318984170 2320 560
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1800/256, TX: 0x1c00/256
Supported protocols: CoE
General:
Group:
Image name:
Order number: R88D-KN02H-ECT
Device name: R88D-KN02H-ECT G5 Series ServoDrive/Motor
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: yes
Flags:
Enable SafeOp: yes
Enable notLRW: no
Current consumption: 0 mA

yeh these
Vendor Id: 0x00000083
Product code: 0x00000006

cool entered those. no change. (which i assume is expected)

I am looking at these hex things. where do i find the values? in the drive manual it lists them and then says the range.

eample:

<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>

 

controlword and statusword are part of the cia402 standard. We write to control word and read the results in status word. Just look at the examples and make sure you have the ones that connect to cia402.comp.

Use AI to get a tutorial on cia402 state machine. your manual is saying there is a 32 bit value (2 x 16 bit values) and it rx (receives a value) so it is an S32 in pin in hal
 

ugh. haha

if i know it was gonna be this disorganised i would have not bothered. I though there was a pretty clear instruction path.