Beckhoff ethercat 64 with bit linuxcnc, How to install.

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21 Nov 2022 19:15 #257247 by Sviper
I don't used the xml from Twincat für the ep's.
You have only to type in your console:

ethercat pdos

then you have the Information for the EL or EP Module.
I think for the AX5205 you need the configuration for the PDO.
I had configured my JAT servo amplifiers first and then created the XML afterwards. Find attached my configuration.

Can you send us the console output for ethercat pdos like

ethercat pdos >> pdo.list 

 

File Attachment:

File Name: ethercat-c...1-21.xml
File Size:3 KB


 
Attachments:

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22 Nov 2022 17:37 #257350 by boyzo
ethercat slave
0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL1809 16K. Dig. Eingang 24V, 3ms
2  0:2  PREOP  +  EL2809 16K. Dig. Ausgang 24V, 0.5A
3  0:3  PREOP  +  AX5203-0000-0203 EtherCAT Drive (SoE, 2 Ch.)


Attachment is my pdos output

Maybe you can help me also with .hal file to get basic things there? Do you use some configuration utility like pncconf?

regards
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22 Nov 2022 18:46 #257353 by Sviper
Hello
think we can do it.
Please make a new Twincat Projekt.
Scan the Ethercat and Save the Projekt.
The please send us the Projekt File as ZIP.
So I can open it and search for a couple of Information.

THX

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22 Nov 2022 18:58 - 22 Nov 2022 18:58 #257356 by Sviper
The EL1809 is the same like EP1819 you can use my xml.
You have to chance the pid=".. for the EL1809.

Make a new config with pnconf for LPT Port or so. Then start with basic ethercat impementation.
Last edit: 22 Nov 2022 18:58 by Sviper.

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22 Nov 2022 20:01 - 22 Nov 2022 20:03 #257369 by rodw

The EL1809 is the same like EP1819 you can use my xml.
You have to chance the pid=".. for the EL1809.

Make a new config with pnconf for LPT Port or so. Then start with basic ethercat impementation.

 
What he means is to type ethercat slaves --verbose which reports the vendor id (vid) and the product Id (pid). The XML vid should not change as they are both Beckhoff devices but you need to change the pid to what is reported.

Building digital io xml files is very straight forward. Here is one (slave 2) we built recently that has 8 bit values for a block of inputs or outputs when you have a series if single bits github.com/rodw-au/linuxcnc-cia402/blob/...ercat-conf-diewu.xml

Where your pdos say:
SM0: PhysAddr 0x1000, DefaultSize 2, ControlRegister 0x00, Enable 1
TxPDO 0x1a00 "Channel 1"
PDO entry 0x6000:01, 1 bit, "Input"
you end up with something like:
<pdo idx="1a00">            
   <!-- Digtial Outputs (DIEWU_EtherCAT_DIO_16)-->
   <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Input-01" halType="bit">

where the hal pin name is arbitrary
Last edit: 22 Nov 2022 20:03 by rodw.

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22 Nov 2022 23:19 #257395 by boyzo
Thank you all. It seems it is doable.

Easy question:
When I create all .xml files, do I merge them all to an single ethercat.xml? Or I can include them from 'global' one? Or I can use several loadusr command to read them one by one?

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22 Nov 2022 23:36 #257402 by rodw
All the examples Ive seen just show one xml file'. Sometimes its useful to reduce the number of devices on the bus to get something going with a shorter xml file, then merge together later
 

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23 Nov 2022 05:09 - 23 Nov 2022 05:10 #257426 by Sviper
Hello boyzo,

I will send you my Example Ethercat Maschine tonight.
Then you can start with your ethercat xml.
1. Only EK1100 --> start LCNC and watch in Hal monitor . When lcec is in OP then you can go head.
2. EK1100 + EL1809 (Copy the XML part from EP1819, change the <slave idx="2" to "1" and change the pid to x071b3052 and change Name EP..to EL. When lcec is in OP then you can go head.
Last edit: 23 Nov 2022 05:10 by Sviper.
The following user(s) said Thank You: tommylight

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23 Nov 2022 13:23 #257469 by boyzo

Hello
think we can do it.
Please make a new Twincat Projekt.
Scan the Ethercat and Save the Projekt.
The please send us the Projekt File as ZIP.
So I can open it and search for a couple of Information.

THX
 

Hello,

I am attaching the project in Twincat2 format.
Thank you for help

 

File Attachment:

File Name: TCProj_202...23-3.zip
File Size:42 KB
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23 Nov 2022 14:59 #257477 by db1981
Hello,

please notice that : EL1809 / EL1819 is already nativly implemented in the lcec-ethercat driver.

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