Ethercat HAL driver

Hi @theshade,

Is that the xml file I need?(attached)

No, that is the description file for TWINCAT3 to recognize it, you must put that file , the .xml file that you need you have to generate with TWINCAT3, this is the easiest way if you don't have much knowledge.

¿Conoces más herramientas, códigos, documentos o ejemplos de un paso a paso más similar que pueda usar como punto de partida?

Here you have different examples
If you do not know programming, the easiest way is to use the generic mode, I will attach an example, it would be from line 18.
Greeting
Chimeno

Hi @chimeno,

Thank you again for your help.

Yes I did put the .xml in TWINCAT 3 already here and it works, I was able to make an axis in the twincat and I have an "offline" drive. (see screenshot)

I will receive the ECT60 drives next week and I am not in a rush, but how and where do I export the .xml from twincat3 or do I need to I need to do anything else in it like configure drives parameters or such?

All the parameters or config files I can export from a simulated axis are exporting as ".lis" ,".xti", ".csi" ..but I couldn't find where to export an .xml.
Which menu should I use or what do I need to export?

The ethercat-conf.xml I use in linux CNC looks currently like this and it works in linuxCNC for the Beckhoff modules, I understand I will need to add the 4x ECT60 to it with SDOs and PDOs definitions

And yes I can code in C if needed, (I find my way in most languages from assembly, C, matlab, python and even R when needed) but for a first shot I'd rather do the generic xml to get things done and understand my way around.

Greetings.

Hi @theshade

I will receive the ECT60 drives next week and I am not in a rush, but how and where do I export the .xml from twincat3 or do I need to I need to do anything else in it like configure drives parameters or such?

you have to add to the "startup" tab the configuration that changes from the default, then export the .xml file description, attached a couple of images to guide you.

The ethercat-conf.xml I use in linux CNC looks currently like this and it works in linuxCNC for the Beckhoff modules, I understand I will need to add the 4x ECT60 to it with SDOs and PDOs definitions

I am attaching a screenshot of where the PDOs are located and I am also attaching a new general configuration file for linuxcnc-ethercat, things are missing so you can fill it yourself.

resguard
Chimeno

Thank you Chimeno for your example and time,

I think I understand,
the .xml will setup the registers at startup (steps, modes, etc..) and also define the "PDO telegram"
Now I know how to start experimenting...

Thank you again,
Cheers

@Chimeno
@sqmathlete
and anyone else

Albert and Dan,
Ok, I have been reading and learning TC3 and can hook up my EK1100 with EL5152 terminal, then in config mode go online, and do a Scan, and under the IO tab pull up the EK1100 & EL5152.

I have been able to set up a virtual PLC and then in ladder programming build a simple motor contactor with a start push button and stop push button. Also have been learning to link a few things together in Structured Text programming, but still have a lot to learn.

The main goal is to get my EL5152 commissioned so that I can see the encoder counts and make sure all of my EL5151’s and the 5152 are good and not junk terminals. I simply believe all of them have been setup in another type of mode and that is why I cannot get any of them working in LinuxCNC.

What I thought to do in TC3 was to setup a Virtual PLC and build a simple conveyor program in ladder logic so that I could simulate the conveyor movement when turning the encoder shaft.

BUT this sounds like a lot of work as compared to simply building one NC PTP axis under the MOTION tab to link the encoder and see the counts this way. I am not sure what is the best approach so if you guy’s have a better idea, then please let me know your thoughts.

Albert, I haven’t flashed the EPROM yet as I would like to learn how to configure the EL515x terminal so that I can “SEE” the encoder working in TwinCAT. As Dan said in the past, you need TwinCAT to be able to fix or tweak any of the terminals and I would like to figure this all out for future problems even though this is really the only terminal that I am having problems with. Beckhoff seems to have done a really good job with TC3, it is much better to get working than TC2 in my opinion.

Thanks,
Robert

Hi @CORBETT
I think you don't need to do all that to know if it works correctly, which would be to reset the factory settings, since linuxcnc-ethercat uses the default function, then you see if the device has the correct name, it is in OP mode and what if You connect an encoder to it, count the values, I hope you are lucky.

reguard
Chimeno