Ethercat with EL6751 CanOpen Master and JAT Servo Drives

Hi @purged

Hi Guys, I am stuck in a similar situation, may I chime in?

Of course you can intervene, there are several people from the forum also caught in this module, I do not have EL6751 and it is difficult for me to help, if you are lucky and find a solution.
Greeting
Chimeno

@purged I've the same problems with Twincat3 and scanning Canopen drives. My Nanotec Drives (SMCI_36 or PD6N) cannot scanned by Twincat3. But if I add the Nodes manually, the communication between both works. I talked yesterday with Beckhoff support and they said this is normal, because the Canopen Protocol can be different. You must do it manually.

I configure in my Drivesmapping-/configurationTool an easy Status- and Controlword mapping. Then I add a new node with the NodeID and add the same PDOS in Twincat3. If your setup is online... click on the refresh button in Twincat3 and check if your EL6751 is green(StateOP) and your Statusword must have any online Value.

If the Err LED is blink' red 1Hz... the NodeID is wrong or start with your Hardware or: You need a realtime capable Networkcard from Beckhoff or the network chip must be one of the supported chips from this Beckhoff site:
Beckhoff Link
I've this one:
Amazon Link

Another communication problem was:
Your EL6751 has an Hardware Version and a Firmware Version. Try to update this to the newest supported FirmwareVersion over Beckhoff Support. I find out... a lot of drives don't communicate under El6751 0000 0017 FW Version.

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Creating the EtherCatXML for Linux is a nightmare, because I don't know how I can debug this. If SOMEONE has Tips for me give mee feedback. I'll create a new Post for my Problems with this XML Config file!!!

I wrote a dirty Lua Tool for that. You can find it in the attachments. Start it with Zerobrain

Have Fun Patis :woohoo:

Just a quick follow-up to my attempt at controlling ESTUN servo drives via CANopen:
I think it's not possible with LinuxCNC and Beckhoff EL6751. The drives have volatile parameters like mode of operation. I would have to configure it to 'position mode' at every start. That'd be done via SDO which Beckhoff only allows via their proprietary AoE mailbox system, which is not implemented in etherlabmaster. So next I'll probably try and talk to the drives directly with a CAN transceiver. Beaglebone Black has 2 of those on board. I don't think there's a hal driver / component for such a setup tho, so it might be too much work for me at the moment. Back to good ol' step / direction :pinch: :pinch:

Hi guys,

it has been a while since I could go on try an error this neverending story.
Has anyone else come further with his setup?
I couldn´t get my EL6751 to OP in linux. In Twincat3 everything is functional so far.

Also I wanted to try settings like in this document (page16 -mdp mapping) EL6751_Configuration.pdf
But the thing is: as soon as I scan boxes in TC the "ethercat" tab on the CANopen device goes away. So I am not sure if this is the right direction


At the moment I tried even an empty config with no luck (see attachments) This works in TC3 with the EL6751 in OP

For all who may were interested in this topic: it works now!

It is really important to have at least FW13 on your EL6751 device, so that you can use the mdp settings like in the pdf mentioned last post!
Thank you so much plopes for helping me out whith that! Also much thanks to chimeno!

Greetz
Conny

Hello Conny,

thank you for discussion this topic! I'm very interested in your procedure to use LinuxCNC with an EL6751 to drive CANopen Servo Drives.

Are you german?

Greetings
Columbo