Beckhoff ethercat 64 with bit linuxcnc, How to install.

Sviper wrote:

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

 

Hello,

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

my ethercat test maschine

Sviper wrote:

my ethercat test maschine
 

This is how I changed your .xml file:
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
<slave idx="0" type="EK1100" name="EK1100"/>
<slave idx="1" type="EL1809" name="EL1809"/>
<slave idx="2" type="EL2809" name="EL2809"/>
<slave idx="3" type="generic" vid="00000002" pid="14536012" configPdos="true">
<syncManager idx="0" dir="out"> </syncManager>
<syncManager idx="1" dir="in"> </syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="03" bitLen="64" halType="complex">
<complexEntry bitLen="1" halPin="X-cmd-SwitchOn" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-EnableVoltage" halType="bit"/>
<complexEntry bitLen="1" halPin="X-cmd-/QuickStop" halType="bit"/>

based on pdos output:

=== Master 0, Slave 3 ===
SM0: PhysAddr 0x1800, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1a00, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1000, DefaultSize    0, ControlRegister 0x24, Enable 1
 RxPDO 0x0018 "MDT 1"
   PDO entry 0x0086:00, 16 bit, "Master control word"
   PDO entry 0x002f:00, 32 bit, "Position command value"
 RxPDO 0x1018 "MDT 2"
   PDO entry 0x0086:00, 16 bit, "Master control word"
   PDO entry 0x002f:00, 32 bit, "Position command value"
SM3: PhysAddr 0x1100, DefaultSize    0, ControlRegister 0x22, Enable 1
 TxPDO 0x0010 "AT 1"
   PDO entry 0x0087:00, 16 bit, "Drive status word"
   PDO entry 0x0033:00, 32 bit, "Position feedback 1 value"
   PDO entry 0x00bd:00, 32 bit, "Following distance"
 TxPDO 0x1010 "AT 2"
   PDO entry 0x0087:00, 16 bit, "Drive status word"
   PDO entry 0x0033:00, 32 bit, "Position feedback 1 value"
   PDO entry 0x00bd:00, 32 bit, "Following distance"

I know it is not correct, but I don't find documentation on relationship between pdos output and definition.

Is there any good documentation I can use?

i have very less time at the moment.....

getting an ax5xxx running with the generic driver will get an very heavy task.

This is an SOE (Sercos) Drive, the drives stores no config data inside.
You have to complete config the drive with initcmds.( drive setup, motor data, pdo config etc.) every time you start lcnc.

the easiest way is to create an working drive config with Twincat, and then export the config data to get an initcmds.xml for the drive setup.
there are native drivers in lcnc-ethercat for the AX5xxx, for velocity control mode.

There are many threads with AX5XXX around here, where i have explained everything in detail....
there are also examples in linuxcnc-ethercat github.

db1981 wrote:

the easiest way is to create an working drive config with Twincat, and then export the config data to get an initcmds.xml for the drive setup.
there are native drivers in lcnc-ethercat for the AX5xxx, for velocity control mode.

There are many threads with AX5XXX around here, where i have explained everything in detail....
there are also examples in linuxcnc-ethercat github.
 

I did export config from TC2 and edit .xml . I use linuxcnc-ethercat / examples / initcmds /AX5206-AM8032-async.xml as example. Then I create ethercat.xml, but I do not understand several tags and values there.
Can you please explain, what this statements represent and where I can get values from?