Ethercat HAL driver

Hi @papagno-source,

Complile it on debian whhezy rtai.

Currently the new version of ec-debianize does not work for systems with rtai kernel, it can work in rtai but my experience in ethercat is that you would have to change to rt-preempt kernel.

here I leave you the link of how it is installed
forum.linuxcnc.org/27-driver-boards/3559...w-to-install?start=0
regards
Chimeno

Hello ALL,

I am hoping someone here has dealt with Beckhoff EL5151 and EL5152 terminals, as I cannot get mine working.

Last year I finally got my Hurco mill running again using EtherCAT with Beckhoff terminals. I have all of the them working correctly except for the EL5151 and EL5152 encoder terminals. I have several of these and I cannot get them working with LinuxCNC. I have looked at the pins through HAL meter and cannot see any change, so I temporarily fixed my problem last year with adding a parallel port with the encoders fed back through to LCNC. Speed is the issue and I want to get the EL515x's working. I am sure that there is a parameter that needs to be set or something to get them working. Just baffling there is no change in HAL meter when rotating the encoder. Nothing under any other pin.

I have tried using Beckhoff TwinCAT in the past, but my trial has expired plus I never could link the PC to a EK1100 coupler so that I could change things in CONFIG mode.

So I have been trying to upload through C prompt to re-set the encoder modules back to factory settings so that I can hopefully get them working. I looked up some of the configuration data on Beckhoff's website and then tried different arguments with no avail. I am not verse in this so, I have been throwing darts hoping to get close. I know there have been some others here on the forum under a different thread that have done this approach to set a EL7041 stepper terminal with encoder input, and change the encoder from external to internal. So I assume I can do this same type of process to re-set the EL515x's or get them into the correct mode.


I tried:
ethercat -p 3 upload --type uint8 0x6C6F6164
and got a 'upload' takes 2 arguments
then this
ethercat -p 3 upload --type uint8 0x6C6F6164 0x11
then
ethercat -p 3 upload --type uint8 0x7000:0 0x11

then tried:
ethercat upload -p 3 -t uint8 1011:0 0x01
got this back:
SDO transfer aborted with code 0x0602000: This object does not exist
in the object directory

then tried:
ethercat upload -p 3 -t uint8 0x6C6F6164 1011:0
got this back:
Invalid SDO index '0x6C6F6164'


What I am trying to do is simply reset the terminals back to where they are in regular encoder mode. Any help will be greatly appreciated. This is practically my last problem to get working.

Here is some links to Beckhoff where I was getting the info:
infosys.beckhoff.com/english.php?content....html#1523863051&id=
infosys.beckhoff.com/english.php?content...=3718412388311428681
infosys.beckhoff.com/english.php?content...=4909407311023276355


Thanks,
Robert

Hello @CORBETT
I don't have the device but if I can help you, to restore the device try this command
then examine the device to see what model it is using the command to see if the model corresponds to the device.
then examine that the default PDOs, using the command. SM2
0x1601
SM3
0x1A01
0x1A02

if all this is correct we start linuxcnc-ethercat and check the status of the device
if it is OP then we can start to configure the device but it would have to work with the basic configuration

regards
Chimeno

Awesome, super thanks. I will try this later today when I get finished with work.

Thanks for responding, you have helped me in the past and I greatly appreciate it..

Robert

Hi,

I'm trying to connect an incremental encoder and a MPG wheel that use 5V which are original to the machine. Is there anyone that uses an EL5101 for this purpose?

Kind regards,
Dan

Dan,

I have a 5101, but have never hooked it up. If it is anything like the 5151 or 5152, you will need pull up resistors to get it working. I used a EL9505 after the EL5151 to get the 5V that I needed for the encoder and then when fed back to the EL5151, I put the pull up resistor in. You will see the top LED's on the terminal flash when rotating the encoder. That is how far I have gotten, as I cannot get any output from the terminal in Halmeter or Halscope. I believe there is a setting that needs to be configured on mine and I am not verse with TwinCAT. Plus my TwinCAT 30 day trial has expired. I have several EL5151's and one 5152, but I find it odd that there is no output in HAL when looking at the pins. Makes me concerned that I may have a bunch of bad terminals, even thought some of them were suppose to be "New".

Robert