Ethercat - Rtelligent ECR60 + outputs
30 Oct 2023 20:51 #284146
by Bocnc
Replied by Bocnc on topic Ethercat - Rtelligent ECR60 + outputs
Got it, thanks to some help;)
So for others:
Set set outputs to custom control:
SDO: 2005:01/02 to 00 00
Set the output bitmask:
SDO: 60FE:2 to 00 00 03 00
And then control the state of the output by:
PDO: 60FE:01
Where the fist 16 bits are meaningless, followed by two bits for output 1/2 respectively, followed by another 14 bits.
As mentioned by Hakan before, the online version of the manual ist not up to date.
So for others:
Set set outputs to custom control:
SDO: 2005:01/02 to 00 00
Set the output bitmask:
SDO: 60FE:2 to 00 00 03 00
And then control the state of the output by:
PDO: 60FE:01
Where the fist 16 bits are meaningless, followed by two bits for output 1/2 respectively, followed by another 14 bits.
As mentioned by Hakan before, the online version of the manual ist not up to date.
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31 Oct 2023 10:29 #284169
by rodw
Replied by rodw on topic Ethercat - Rtelligent ECR60 + outputs
if 60FE is the correct location, I think it would look like
<pdoEntry idx="60FE" subIdx="1" bitLen="32" halType="complex">
<complexEntry bitLen="16"/>
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
<pdoEntry idx="60FE" subIdx="2" bitLen="32" halType="complex">
<complexEntry bitLen="16"/>
<complexEntry bitLen="1" halPin="out-1-enable" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2-enable" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
You would need to setp the enables
<pdoEntry idx="60FE" subIdx="1" bitLen="32" halType="complex">
<complexEntry bitLen="16"/>
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
<pdoEntry idx="60FE" subIdx="2" bitLen="32" halType="complex">
<complexEntry bitLen="16"/>
<complexEntry bitLen="1" halPin="out-1-enable" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2-enable" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>
You would need to setp the enables
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