Ethercat HAL driver

chimeno
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Elite Member

7 years 1 week ago #148614 by chimeno

Replied by chimeno on topic Ethercat HAL driver AKD

Hi fabsilva,
I have never used that configuration with the DDT component and the targetvel signal, I will try to investigate a bit, if there is another forum partner that manages that signal can help you.
Regards
Chimeno

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fabsilva
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7 years 1 week ago #148680 by fabsilva

Replied by fabsilva on topic Ethercat HAL driver AKD

thank you so much.
I'd like to move AKMs even without DDT components. I would like to move it controlling in velocity mode but I wouldn't know how to link pins and signals to the AKD driver. May be there are also some enable signal or opmode signal that i 'm not able to set correctly.
Regards
Fabsilva

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chimeno
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7 years 6 days ago #148819 by chimeno

Replied by chimeno on topic Ethercat HAL driver AKD

Hello fabsilva,
if you have it properly configured and the engine is running, placing this signal you have to roll,
setp lcec.0.0.poscommand 100
if it works then you would have to look at the PID component for speed control,
linuxcnc.org/docs/html/man/man9/pid.9.html

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JimPanski
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7 years 3 days ago - 7 years 3 days ago #149031 by JimPanski

Replied by JimPanski on topic Ethercat HAL driver

Hi,

can anyone say how to read error messages from the beckhoff EL modules? In my first real world setup for my lathe i now got one of the three EL5101 get sometimes out of function. when i check with ethercat slaves in the terminal i can see that this module goes safeop+error. its really frustration that i dont know what is going on. sadly this is the newest one of all 5101 of this setup, so i cant imagine this one is defective.
thank you for your help!

Regards
Conny

Edit:

Code:

usr@we80-cnc:~$ ethercat slaves
0:0   OP            +  EK1100 EtherCAT-Koppler (2A E-Bus)
0:1   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:2   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:3   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:4   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:5   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:6   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:7   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:8   OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:9   OP            +  EL1004 4Ch. Dig. Input 24V, 3ms
0:10  OP            +  EL1004 4K. Dig. Eingang 24V, 3ms
0:11  OP            +  EL2008 8K. Dig. Ausgang 24V, 0.5A
0:12  OP            +  EL2008 8K. Dig. Ausgang 24V, 0.5A
0:13  OP            +  EL2024 4K. Dig. Ausgang 24V, 2A
0:14  OP            +  EL5101 1K. Inc. Encoder 5V
0:15  SAFEOP+ERROR  E  EL5101 1K. Encoder 5V
0:16  OP            +  EL5101 1K. Inc. Encoder 5V
0:17  OP            +  EL4034 4K. Ana. Ausgang +/-10V, 12bit

Last edit: 7 years 3 days ago by JimPanski.

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sqmathlete
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7 years 3 days ago #149045 by sqmathlete

Replied by sqmathlete on topic Ethercat HAL driver

@ Conny,

I wouldn't make any assumptions. Run the terminals through twincat and see if you still get an error.

Kind regards,
Dan

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JimPanski
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7 years 3 days ago #149046 by JimPanski

Replied by JimPanski on topic Ethercat HAL driver

Hi Dan,

thank you for your reply. Is the only chance to read the error with getting a win pc here with twincat running or is there a chance to do this from my debian pc at the machine?

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