EtherCAT HAL EL2521

04 Dec 2019 10:59 - 04 Dec 2019 11:02 #151970 by udoS
EtherCAT HAL EL2521 was created by udoS
Hallo to All

I opened this topic because I could not find anything about Beckhoff EL2521usage.

My set up is quite simple:

Intel i5 42xxU Fanless with 128G SSD, 8GB Ram, Dual Ethernet + Wifi
Intalled Linux Kernel 4.9.0-8-rt-amd64
Debian 4.9.110-3+deb9u6 (2018-10-08)
LinuxCNC 2.9 latest
ec-debianize / Thanks Mr Sittner
LinuxCNC-ethercatmaster / Thanks Mr Sittner ( again....mmmmhhh)
LinuxCNC Gantry_mm

Now EtherCAT eth0 at boot-up OK
EtherCAT-master 0 in terminal OK
EtherCAT slaves (in terminal) EK1100; 4x EL2521 Puls-Train; 2xEL1859 (8digIN/8digOUT)

In Hal:
D1 EK1100
D2 EL2521
D3 EL2521
D4 EL2521;

In the HAL I have lcec.0.D1.xxxx to lcec.0.D4.xxxx

Now my problem: How do I connect joints or axis to the lcec.0.D2.stp-enable and lcec.0.D2.stp-velo-cmd
Has anyone done this before and could provide a setup instruction ( Hal or ini )
any help would be nice.
Last edit: 04 Dec 2019 11:02 by udoS. Reason: new attachment

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