Ethercat, EL6751 and CANOpen

I will create non legacy mapping and update them here... It should be problem with my mapping shape .. I will load them to el6731 and double check  them with my stuff

regards

endian wrote:

I will create non legacy mapping and update them here... It should be problem with my mapping shape .. I will load them to el6731 and double check  them with my stuff
 
regards

here is the non legacy stuff for single axis for DC sync ... as profibus for s600 and for s300 same, I tested them on my stuff and it should work for you too, I HOPE

if not dmesg me the output and I will check it asap

REGARDS

After a long break, I am trying to get the EL6751 up and running. However, I am already failing to get the terminal into the Run status without a bus error.
I have currently tried to configure the terminal with Twincat (the terminal is running in Twincat).
Saving the configuration in the terminal and starting lcnc without initcmds leads to status OP but BusOff. Mapping the first PDO (1600) EL6751 is stuck in Preop.
Starting with exported initcmds lead to the status Preop. It seems that the SDO download is not possible for reasons unknown to me.

Does anyone have an idea how I can solve this problem?

I made some progress since yesterday but currently it is not working.

• countless tries editing the initcmd file to get EL6751 up and running did not succeed i ended up with dmesg output "invalid input configuration" but i have no idea how to debug/fix the wrong config (Preop).
• switching the ethernet cable on the fly from twincat to lcnc lead to OP-State (only PDOs are configured in lcnc, no initcmds or SDOs).
  • with "ethercat pdos" i can see the list of PDO entrys configured in twincat.
  • but some parameters like baudrate are set to 500 kbit/s instead of 1Mbit/s
  • changing only the baudrate parameter with initcmds sends EL6751 to Preop.

Does anyone know how to store the parameters from twincat in the backupstorage of EL6751 to avoid using the initcmds?
I thought the button in the screenshot does this but after power up the unit has a totaly different konfiguration.

Thanks you in advance.

Hi,

I did everything in the twincat 3 from the beginning... All stuff have to be visible and workable via local PDO setup... then I active configuration on the local PC with right scan time... for us should be a 1ms which U have to define in the PLC tasks...then rebuild them and active configuration but you have to upload PDOs configuration in the Process datas section... if is everything green means OK and you should disconnect it from the Twincat3 PC and plug it to the debian ethercat master rj45 socket.... then command
and you have to see active configuration in the EL6751 master ...

take care about the shape of the PDOs because they are different from the shape of twinCAT3 PDO configuration then you have to export startup in the Startup section .. export them to excel as .csv and then copy paste it in to the ethercat-conf.xml file with "complete" config definition just copy paste them in front of SM managers and if you have luck and no syntax issues you made everything should work from first shot... I do not experiment with different setup and legacy setup, it is there because of very old stuff which should use little bit different shape of communication datas or protocol..check files in the attachements for a hint 

if nothing helps you should run commandwhich will create you a working PDOs config of your acual stuff in the el6xxx master

I will check your file tomorrow because I am currently busy with my configuration too..

regards...

That´s the best instruction i´ve seen so far!
following your steps:
- Configuring everything in twincat and make it OP
- Switching to lcnc running "ethercat pdos" and map everything
- exporting SDOs
-> everything works - thank you so much, i´ll share my config when it´s finished!

Send me .esi files for canOpen devices from your config... there are not supported startup SDO and it can not be generated automaticly ...

regards