✅ (Solved) LinuxCNC + TwinSAFE | EL6900 information

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08 Oct 2021 08:48 #222531 by db1981
oh, is working :-)

as i wrote above :
Look again in the Twincat Tree   Devices- Ethercat - EL6900
after the Twinsafe Connection Inputs/Outputs you will find the StandardInputs and
StandardOutputs. They are mapped from top to bottom to the correspondening  
std-in-0(..7) and std-out-0(..7) Pins of the EL6900.

 

In your case: (your TC Variable names are a little misleading...)

lcec.0.10.std-out-0  = b_ComErr
lcec.0.10.std-out-1  = b_Enable
lcec.0.10.std-out-2  = b_EstopError

lcec.0.10.std-in-0  = bErrAck
lcec.0.10.std-in-1  = b_EStopReset


Your TC Variables start with the index 5, that is a little misleading . But from top to bottom they are mapped 1:1 to lcnc std-in and out.
 
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08 Oct 2021 09:15 #222533 by juniorfi
Thanks again for everything.

I will be back here when I have done that documentation, to release that for a future people that want to work with LCEC + TwinSAFE.

Thanks and regards!

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08 Oct 2021 10:23 #222538 by db1981
nice :-)

I am coder, not writer ... So the docu site is a bit lag.

in the meanwhile we have reworked lots of the safty stuff, to get the new Beckhoff devices working. I think "public" release will be in the next month.
With this update you can define the std-in and out of the safty plc in the config.xml, so you will get comfortably name for working in hal.

example:
<modParam name="stdInName" value="ErrAck"/> will create you the pin lcec.master.EL6900.ErrAck ....

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