Ethercat HAL driver

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10 years 4 months ago #76845 by sirop
Replied by sirop on topic Ethercat HAL driver
Something else just came to my mind as I was reading this old message lists.etherlab.org/pipermail/etherlab-users/2010/001071.html about YASKAWA slave:

2.) In addition to getting newer firmware you must declare a domain for
the Output and a second one for the Input
since Yaskawa sets notLRW = yes.


You can check if your Arduino Slave supports LRW with
Code:
ethercat slaves -v
The following user(s) said Thank You: highbiker

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10 years 4 months ago - 10 years 4 months ago #76884 by highbiker
Replied by highbiker on topic Ethercat HAL driver
Hi sirop,

thank you very much for your help :) You were right: I hadn't installed the newest ethercat master. I didn't know the ec-debianize git. I reinstalled my system and used that git, but it didn't solve the problem.

sirop wrote: This Arduino slave has no DC functionality,

The EasyCAT-Shield uses a LAN9252 chip (with µC SPI-Interface), which supports distributed clocks. The output of ethercat slaves -v is: "[...]Distributed clocks: yes, 64 bit[...]".


I tried a lot and finally I figured out a solution. I don't know if it's the best way, but it works. And sorry that I didn't write earlier :blush:

In the original ESI-File of the EasyCAT-Shield ( www.bausano.net/images/arduino-easycat/EasyCAT.xml ) the index and subindices of the pdoEntries of the outputs and inputs are equal. So the outputs and inputs are only kept apart by the configured channels.
This shouldn't be a problem!!! But for a try I changed the pdoEntry Index of the Inputs in the ESI-File to another value (e.g. #x0006) and wrote it onto the Slave-EEPROM of the EasyCAT-Shield. Of course I also changed the entries in the ethercat-conf.xml and now it works.

My ESI-File
Warning: Spoiler!


There shouldn't be any problems with equal pdoEntry Indices on generic slaves on different channels - but unfortunately there might be some.

Best regards and thanks for your help!

P.S.:
I don't know if "channel" is the correct term. In my post "channel" means the PDO-Groups which are defned with indices in the RxPdo or TxPdo tag. For Example
Code:
[...] <RxPdo [...]> <Index>[Channelindex]</Index> [...]
In the EasyCAT case the index of the "output-channel" is #x1600 and of the "input-channel" #x1A00.
Last edit: 10 years 4 months ago by highbiker.
The following user(s) said Thank You: sirop, Nico2017

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10 years 3 months ago #77016 by DaPeace
Replied by DaPeace on topic Ethercat HAL driver
Hey Guys, short question, is it possible to use the EL7041 Stepper Driver with the Ethercat HAL-Driver without bigger installationissues?

Regards, Jan

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10 years 3 months ago #77018 by Allan
Replied by Allan on topic Ethercat HAL driver
Hello Jan

The EL7041-1000 is supported and has been tested:

wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver

Even I managed to get it moving. Here's a machine,
tutorial and videos (in German) that uses the EL7041-1000:

github.com/koppi/mk/blob/daa3fd64a0b2b61...mai-Thinkpad-X200.md

Allan

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10 years 3 months ago #77019 by DaPeace
Replied by DaPeace on topic Ethercat HAL driver
Hello Allan,
Im asking because a can get a EL7041 (without the -1000) really cheap and i want to make some tests if those drivers are usable for my mill.
But if i see how complex that stuff could be i would prefer something thats working out of the box..

Im not really sure whats the difference between EL7041 and EL7041-1000 except there is a little change in pinout of the clamp.

Jan

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10 years 3 months ago - 10 years 3 months ago #77021 by Allan
Replied by Allan on topic Ethercat HAL driver
Hello Jan

Reading this post:

forum.linuxcnc.org/forum/24-hal-componen...iver?start=230#68369

from CGC is appears that the 7041 runs.

Hopefully someone can clarify this for you?

I took the easy route and bought EL7041-1000s.
I am really new to this and know that I would
struggle (fail) if I had to deviate from the instructions
available on the forum.
It might be possible to use the generic driver if you
are able to understand it - I have looked at the
generic driver a few times and just cannot understand
despite looking at the examples on here. I am just
too stupid!

Good luck!

Allan

PS Just noticed that user Markux reported that he could
drive his motor using the 7041:

forum.linuxcnc.org/forum/24-hal-componen...hal-driver?start=240
Last edit: 10 years 3 months ago by Allan. Reason: Update

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