Ethercat - Rtelligent ECR60 + outputs

Hey,

I build a linuxcnc setup using the ECR60 drives which was quite easy, thanks to rodw exemplary configuration files.
However I struggle to get the outputs working. 

The xml file for my drives is ECR60 V202 and I found the following objects which are involved in the output functionality:

0x2005:(01-02) -> setup the output function. When I use an SDO request and set this to "Output drive in place signal (value = 3)", the Outputs gets triggered.
For custom functionality I selected value 0 ("Custom output")

Next object: 
0x2006 "When set as a custom output, the state of the port can be controlled by the polarity setting of 0x2006."
I tired using this in the process data but couldn't set the outputs 

0x204A "Output level" According to the manual this is a read only object. However in the example this is used to set the outputs which didn't work for me. 

In the xml file of the driver another object is of interest:
0x60fe "Digital outputs" where subindex 1 should be "Physical Outputs"
This entry is not described in the manual. However I found in manuals from other suppliers that this is the usual parameter fro outputs of servo drives. 

 My questions is: Was anyone successful setting up the outputs of the ECR60 drives?

Best wishes

David




 

I have not used the outputs, but you can try this on the linuxcnc ethercat master.
ethercat slaves # Get slave number
ethercat sdos -p slaveno # List sdos, you'll find 0x60fe there with three subindexs
ethercat upload -p slaveno 0x60fe 0 # Upload the sdos values from the drive
ethercat upload -p slaveno 0x60fe 1
ethercat upload -p slaveno 0x60fe 2

You might want to try to set a value, no idea if it actually works. I can set the value in my drive but don't know if the output opens.
ethercat download -p slaveno 0x60fe 1 1

I google it and found a manual that mention 0x60fe
www.szruitech.com/upload/wenjian/%E9%94%...%8B%E5%86%8CV202.pdf

Here is says that 0x60fe:01 bit 16 and 17 are for the output value 1/0 and the bitmask 0x60fe:02 bit 16 and 17 are for enable/disable the output OUT1 resp OUT2.

Could use google translate with the camera on the screen, but unsucessful to translate the whole document.

Its been a while since I played with these, but they definitely work. I did not pull out the manual but it seems only 2 are available.
I set them up here github.com/rodw-au/linuxcnc-cia402/blob/...thercat-conf.xml#L23
Remember, the outputs are NPN style so your relay needs to be connected between the output and 0 volts.

Hakan wrote:

I google it and found a manual that mention 0x60fehttp://www.szruitech.com/upload/wenjian/锐特技术ECR60X2产品用户手册V202.pdf 

Rtelligent share their English manuals and some other resources via Google Drive, You should fond the link on their web site.
I have it in my drive but can't share it as I am not the owner.
Try this drive.google.com/drive/u/0/folders/1qOJO...NZzp8GTTFI2qtsHrmLaM

What I have seen so far it that Bocnc's observation that the 0x60fe entry is not described in any of the English manuals, is correct. The only source so far is the Chinese manual for the erc60x2 drive. And I consider myself to be a black belt googler but hey I never know what I don't find.
They say bit 16 and 17 and if I remember right there is byte-swapping going on as well, so it might need some trial and error before being able to set bit 16 and 17.

I did try to set but 16/17 of subindex 01 but not of the subindex 02. if this is the output activate bit it might do the trick.
I will be able to try this tomorrow, at least on Monday.

Thank you for your effort and fast help!

And yes I couldn’t find any information in the englisch manuals. Just came across the object on the XML file.

2005:01, 2005:02 sets the output type Set to 0 for general output
2006 bit 0 and 1 sets if its normally open or normally closed. It does not trigger anything
204A is the output pins as per my XML

You probably want to set one output to be Alarm and connect it to joint.n.amp-fault-in

Here is the translated description. The first line is ....  obviously wrong?

Sadly didn´t work for me. I set the 2005 register to 0 but nevertheless I can´t set the output state. I tried register 204A as well as 60FE (01:02). I tried bits 1-2 as well as 16-17 of reg. 60FE. No success. Any more ideas would be great.