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"/>

db1981 wrote:

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

andypugh wrote:

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

Did you see this link : www.bausano.net/en/hardware/ethercat-e-arduino/easycat.html

Hi evereone
How can I configure only One bit of register.In this case I create superfluous bit DigitalInput0-DigitalInput15?If there is another way?
 

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.
 



Regards

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.
 

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

db1981 wrote:

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