Ethercat HAL driver

@ Chimeno

The EL5101 driver created by linuxcnc-ethercat does not work with the pulse signals A, B, C directly from the device but a counter is created by software,

Yes, the encoder is updated at a much faster rate internally. By scaling the frequency appropriately, velocity in rpm or rev/s can be calculated quite easily...or at least close enough for the spindle. I was all messed up in the scaling :silly:




This satisfies the first requirement for coordinated motion, linuxcnc.org/docs/2.8/html/examples/spin..._synchronized_motion .

Chimeno, you are a very skilled wizard that knows what he is doing, I do not. So at this point, I am not sure if I am willing to risk bricking the terminal by rewriting the eprom. I'm going to see if I can figure out how to satisfy . with the currently available pdo's. I'm probably just not understanding some detail.
Will keep you posted.

As always thanks for you generous help!

Kind regards,
Dan

@ Chimeno

Sorry, my mistake there are three parts to satisfying coordinated motion. Spindle speed in rpm and rev/sec can be calculated from the frequency, as described earlier. It is this part that I don't understand . Perhaps this is where I will have to rewrite the eprom? Again, I will keep working on it and let you know.

Kind regards,
Dan

Hello @sqmathlete

Chimeno, you are a very skilled wizard that knows what he is doing, I do not. So at this point, I am not sure if I am willing to risk bricking the terminal by rewriting the eprom. I'm going to see if I can figure out how to satisfy

I think I was wrong in my last post, the EEPROM topic is for the user @bkt, you don't have to reprogram the eeprom for that.

Greeting
Chimeno

Hello @MRBaird

I am trying to get a EL3054 to work. I am completely new to Linux so everything is a bit challenging. Do I just modify a similar .H and .C file and add in lcec.conf? Does it compile when its run for the first time or do i have to compile myself?

every time you modify a file you have to compile it again and install it.
the files you have to modify for an existing device.
the files you have to modify to add a new controller
Greeting
Chimeno

Hello @sqmathlete

Way back in April 2020 there was some discussion about the EL5101 incremental encoder. I have finally got around to hooking mine up and I am happy to say that it worked perfectly out of the box. However, I am running the encoder on the spindle of the lathe and I need to be able to monitor the index pulse in order for linuxcnc to synchronise motion while threading.

According to the manual (pg 144) the status of A,B and C inputs can be monitored via 0x6010:09, 0x6010:0A, and 0 x 6010:0B . Is it possible to add these pdo's either by twincat or by modifying the el5101 source file?

If possible and easy enough to do, you can do it in generic mode.

Greeting
Chimeno

I've got EK1100 to test with. Looks like it should be rather quick to try with the ISO posted earlier.

A tutorial was posted some time ago showing how to generate XML for the generic driver from the XML supplied by the device manufacturer. To my understanding basically any Ethercat device could work that way. Is that true?