Ethercat, EL6751 and CANOpen

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 command which 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

Greetings from the Czech Republic!

I'm working on a spindle (IMT 40kRPM) and the drive only has CAN, so I decided to use the EL6751, because everything else on my machine is on Ethercat. That's the problem.

There is a possibility that the CAN is running from TwinCAT and I can spin motor, etc. If I then connect the EK1100 to the LinuxCNC network, both cards start up (OP), but the CAN is red (flashing in the attached configuration, otherwise still red). Any idea what's wrong with that? Did I miss something?

Thank you. Best regards,
Pavel. 

1. Turn off AoE
2. Timing ... 4ms your config != 1ms is your lcec master
3. Refclock cycles has to be something negative as "-1"

Here is working config of the sewlteb from my machine...

 

Thanks. It works now.

However I have spindle.0 and spindle.1 and as soon as I added spindle.1, spindle0 stopped working (Linuxcnc - Qtdragon only sends the setpoint.0 value and no enable signal). Strange.