Beckhoff ethercat 64 with bit linuxcnc, How to install.

oh, the example is very old...

We have done an native AX Driver in the meantime.
this is all needed for AX Drive.

the dcConf line tells the master the DC Parameters for the Slave (get it from AX manual or device description xml)
the other lines from the example are for setting up an AX with the generic driver

db1981 wrote:

oh, the example is very old...

We have done an native AX Driver in the meantime.

Code:

this is all needed for AX Drive.

 

Very interesting. What motors would you pair with a AX2506?

db1981 wrote:

oh, the example is very old...

We have done an native AX Driver in the meantime.

Code:

<slave idx="3" type="AX5206" >   <initCmds filename="AX5206-AM8032-async.xml"/>   <!--     IMPORTANT: in this case (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)    -->    <dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="50000" sync1Cycle="750000" sync1Shift="250000"/> </slave> this is all needed for AX Drive.

 

Super, thank you.
Should I include my generated   without any changes or I need to modify something?

Code:

Very interesting. What motors would you pair with a AX2506?

I will use Beckhoff AM8541-1D10 2,37 Nm

you have to use our AX5203.xml . Initcmds looks ok.
Seems that there is one </initcmds> to much at the end of the file.

db1981 wrote:

you have to use our AX5203.xml . Initcmds looks ok.
Seems that there is one </initcmds> to much at the end of the file.

I downloaded AX configuration from sittner/ethercat/etc/xml/Beckhoff AX5xxx/Beckhoff AX5203-xxxx-0203 Dict.xml.
More I dive deep into, more questions I have.

How do I define hal I/O bits and other values I want to use, as example from AX5203.xml I want to use position feedback value 1 

            <Object>
                <Index>51</Index>
                <!-- S-0-0051 -->
                <Name LcId="1033"><![CDATA[Position feedback value 1 (motor feedback)]]></Name>
                <Comment LcId="1033"><![CDATA[The position feedback value 1 (motor feedback) displays the actual position of the motor feedback.]]></Comment>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                    <PdoMapping>T</PdoMapping>
                    <Attribute>#x70220001</Attribute>
                </Flags>
                <Properties>
                    <Property>
                        <Name>UnitName</Name>
                        <Desc LcId="1033"><![CDATA[inc]]></Desc>
                    </Property>
                    <Property>
                        <Name>PROP_GROUP</Name>
                        <Value>6</Value>
                    </Property>
                    <Property>
                        <Name>PossibleListMemberOf</Name>
                        <Value>903</Value>
                    </Property>
                </Properties>
            </Object>

How do I use some other functions like DriveEnable? How do I find and define correct bit in my xml file?

Is internal communication between lcnc and drive done through ethercat telegram?

As I see, you put enormous amount of work in lclc ethercat project, but what I can not find is some documentation that I can use and find most of this answers by myself, not bother you every day.

Many thanks