Ethercat HAL driver

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21 Jun 2021 15:55 #212556 by db1981
Replied by db1981 on topic Ethercat HAL driver
hi,

hal looks good now....

you can get rid of your convert and scale modules like so:

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="s32"/>

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="0.0001"/>


<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="s32"/>

<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="10000"/>
The following user(s) said Thank You: jc2ktr

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21 Jun 2021 16:02 #212557 by jc2ktr
Replied by jc2ktr on topic Ethercat HAL driver

hi,

hal looks good now....

you can get rid of your convert and scale modules like so:

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="s32"/>

<pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="0.0001"/>


<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="s32"/>

<pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="10000"/>


Thanks. i´ll try it these days :)

Thanks for your help :)
The following user(s) said Thank You: TheRoslyak

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23 Jun 2021 15:46 #212755 by andypugh
Replied by andypugh on topic Ethercat HAL driver
Just found looking for an answer to a forum question:

www.crowdsupply.com/harmonic-bionics/ease

Useful?

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23 Jun 2021 21:06 #212767 by tommylight
Replied by tommylight on topic Ethercat HAL driver
Damn i just saw the price, dayumnnnn! :)
I'll have a Mesa 7i92 please !

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28 Jun 2021 06:46 #213094 by thomaseg
Replied by thomaseg on topic Ethercat HAL driver

Just found looking for an answer to a forum question:

www.crowdsupply.com/harmonic-bionics/ease

Useful?

Actually, i bought one last week and it arrived friday, but i haven't had the time to tinker with it yet. My plan was to use it for I/O for the control-panel. Instead of using loads of rather expensive Beckhoff modules.... An arduino can handle most(all?) the inputs and handle outputs such as powergraph for the spindle etc...

/Thomas

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04 Jul 2021 14:57 #213694 by besriworld

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07 Jul 2021 15:10 - 07 Jul 2021 15:11 #213976 by TheRoslyak
Replied by TheRoslyak on topic Ethercat HAL driver
Hi evereone
How can I configure only One bit of register.
1
<pdoEntry idx="60FD" subIdx="00" bitLen="17" halPin="DigitalInputs" halType="bit"/>
2
<pdoEntry idx="60FD" subIdx="00" bitLen="17" halType="complex">
...
<complexEntry bitLen="1" halPin="DigitalInput" halType="bit"/>
</pdoEntry>
In this case I create superfluous bit DigitalInput0-DigitalInput15?If there is another way?
 
Last edit: 07 Jul 2021 15:11 by TheRoslyak.

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18 Aug 2021 08:27 #218048 by juniorfi
Replied by juniorfi on topic Ethercat HAL driver
Hi,

I have question regarding EL6900 with TwinSAFE configuration:

Are you using the *-project.xlm and TwinSAFE.tsm ?

I'm using TwinCAT 3 for the project and I saw on internet that the .tsm file can be created from TwinCAT 2.
Do you have any idea on this to use the fsoe from TwinCAT 3 project?

I attached my actual config in case someone want to have a look.
 

File Attachment:

File Name: ethercat-conf.xml
File Size:1 KB




Regards
Attachments:

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18 Aug 2021 08:57 #218050 by db1981
Replied by db1981 on topic Ethercat HAL driver
Hi,

*-project.xlm and TwinSAFE.tsm are not so important, you have to download and activate the twinsafe project in the el6900. 
 

Your ethercat_conf looks ok, but you need to add the control inputs for the twinsafe group (enable, reset).  for this you have to link them in twincat to another variable (dummy, etc ....) The el6900 then maps this group input to one of the standart-inputs pdos. But here is the trick:
the order, how the group inputs are mapped to the input pdos is not fix. It depends on the order how you created the links in twincat, if you first linked the reset, reset would be on standart-in 0. 
For diag and error reset management, you will also have to do the same for linking saftygroup outs to the standart-out pdos . 

attachached an example.
 

File Attachment:

File Name: ethercat-c...8-18.xml
File Size:2 KB


if you can upload your twincat project, i can explain it on your case....
 
Attachments:

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18 Aug 2021 09:34 - 18 Aug 2021 09:41 #218059 by juniorfi
Replied by juniorfi on topic Ethercat HAL driver

Hi,

*-project.xlm and TwinSAFE.tsm are not so important, you have to download and activate the twinsafe project in the el6900. 
 

Your ethercat_conf looks ok, but you need to add the control inputs for the twinsafe group (enable, reset).  for this you have to link them in twincat to another variable (dummy, etc ....) The el6900 then maps this group input to one of the standart-inputs pdos. But here is the trick:
the order, how the group inputs are mapped to the input pdos is not fix. It depends on the order how you created the links in twincat, if you first linked the reset, reset would be on standart-in 0. 
For diag and error reset management, you will also have to do the same for linking saftygroup outs to the standart-out pdos . 

attachached an example.
 

File Attachment:

File Name: ethercat-c...8-18.xml
File Size:2 KB


if you can upload your twincat project, i can explain it on your case....
 
 
Hello @db1981, thanks for help and explanation.

So I don't really need to add those files to use the fsoe config? That's great!.

I've been trying for days to find a way to get fsoe to work
Here goes a few of the TwinSAFE files I got. I hope this is what you needI hope this is what you needI hope is what you need.
Sorry, I can't send here the hole project (In case some students can get access to it in a future). Not for secrets.
I can send you privately if you agree.


Regards

 

Hello @db1981, thanks for help and explanation.

So I don't really need to add those files to use the fsoe config? That's great!.

I've been trying for days to find a way to get fsoe to work.

Here goes a few of the TwinSAFE files I got. I hope this is what you need.

Sorry, I can't send here the hole project (In case some students can get access to it in a future). Not for secrets.
I can send you privately if you agree.


Regards
Attachments:
Last edit: 18 Aug 2021 09:41 by juniorfi. Reason: Text issues fixed.

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