EtherCat - CATIO module Help

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09 Jul 2024 09:04 #304736 by onceloved
I have the same io card. I have configured digital input and output, analog input and output, counter input and pwm output. Now the only thing left is the encoder. The encoder of this io card outputs the count value without abz phase. How to convert the count value to abz phase?

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09 Jul 2024 21:04 #304773 by Pro_El
Replied by Pro_El on topic EtherCat - CATIO module Help
I have the same card, can you share your xml for testing??

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09 Jul 2024 23:27 #304776 by rodw
Replied by rodw on topic EtherCat - CATIO module Help

I have the same io card. I have configured digital input and output, analog input and output, counter input and pwm output. Now the only thing left is the encoder. The encoder of this io card outputs the count value without abz phase. How to convert the count value to abz phase?

That does not appear possible. Just scale the count back into counts per mm 
You could toggle bits 8 & 9 of 0x2040 to zero the count

The manual was a nice find.
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10 Jul 2024 02:05 #304782 by onceloved
<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
<slave idx="0" type="generic" vid="00090588" pid="00109252" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="2300" subIdx="00" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-00" halType="bit" />
<complexEntry bitLen="1" halPin="out-01" halType="bit" />
<complexEntry bitLen="1" halPin="out-02" halType="bit" />
<complexEntry bitLen="1" halPin="out-03" halType="bit" />
<complexEntry bitLen="1" halPin="out-04" halType="bit" />
<complexEntry bitLen="1" halPin="out-05" halType="bit" />
<complexEntry bitLen="1" halPin="out-06" halType="bit" />
<complexEntry bitLen="1" halPin="out-07" halType="bit" />
<complexEntry bitLen="1" halPin="out-08" halType="bit" />
<complexEntry bitLen="1" halPin="out-09" halType="bit" />
<complexEntry bitLen="1" halPin="out-10" halType="bit" />
<complexEntry bitLen="1" halPin="out-11" halType="bit" />
<complexEntry bitLen="1" halPin="out-12" halType="bit" />
<complexEntry bitLen="1" halPin="out-13" halType="bit" />
<complexEntry bitLen="1" halPin="out-14" halType="bit" />
<complexEntry bitLen="1" halPin="out-15" halType="bit" />
</pdoEntry>
<!--模拟量转电压关系为 DA=V*4096/10 DA为模拟量数值 V为电压-->
<pdoEntry idx="2310" subIdx="00" bitLen="16" halPin="Analog-Output-0" halType="u32" /> <!-- 第一路模拟量输出-->
<pdoEntry idx="2311" subIdx="01" bitLen="16" halPin="Analog-Output-1" halType="u32" /> <!-- 第二路模拟量输出-->
<!--PWM输出频率要乘65536 例如要输出10HZ 设定为10×65536=655360-->
<pdoEntry idx="2320" subIdx="00" bitLen="32" halPin="PWM-OUT-0" halType="u32" />        <!-- 第一路PWM输出-->
<pdoEntry idx="2321" subIdx="01" bitLen="32" halPin="PWM-OUT-1" halType="u32" />        <!-- 第二路PWM输出-->
<!--占空比范围0-1 例如要输出占空比50% 设定为0.5×65536=32768-->
<pdoEntry idx="2330" subIdx="00" bitLen="16" halPin="占空比-OUT-0" halType="u32" />      <!-- 第一路占空比输出-->
<pdoEntry idx="2331" subIdx="01" bitLen="16" halPin="占空比-OUT-1" halType="u32" />      <!-- 第二路占空比输出-->
                    <pdoEntry idx="2400" subIdx="00" bitLen="16" halPin="清零" halType="u32" />               <!-- 没搞定-->
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="2000" subIdx="00" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="in-00" halType="bit" />
<complexEntry bitLen="1" halPin="in-01" halType="bit" />
<complexEntry bitLen="1" halPin="in-02" halType="bit" />
<complexEntry bitLen="1" halPin="in-03" halType="bit" />
<complexEntry bitLen="1" halPin="in-04" halType="bit" />
<complexEntry bitLen="1" halPin="in-05" halType="bit" />
<complexEntry bitLen="1" halPin="in-06" halType="bit" />
<complexEntry bitLen="1" halPin="in-07" halType="bit" />
<complexEntry bitLen="1" halPin="in-08" halType="bit" />
<complexEntry bitLen="1" halPin="in-09" halType="bit" />
<complexEntry bitLen="1" halPin="in-10" halType="bit" />
<complexEntry bitLen="1" halPin="in-11" halType="bit" />
<complexEntry bitLen="1" halPin="in-12" halType="bit" />
<complexEntry bitLen="1" halPin="in-13" halType="bit" />
<complexEntry bitLen="1" halPin="in-14" halType="bit" />
<complexEntry bitLen="1" halPin="in-15" halType="bit" />
</pdoEntry>
<!--电压转模拟量关系为 V=AD*10/4096 AD为模拟量数值 V为电压-->
<pdoEntry idx="2010" subIdx="00" bitLen="16" halPin="Analog-Input-1" halType="u32" />  <!-- 第一路模拟量输入-->
<pdoEntry idx="2011" subIdx="01" bitLen="16" halPin="Analog-Input-2" halType="u32" />  <!-- 第二路模拟量输入-->
<!--编码器-->
<pdoEntry idx="2020" subIdx="00" bitLen="32" halPin="Encoder-Input" halType="s32" />   <!-- 编码器输入-->
<!--计数器-->
<pdoEntry idx="2030" subIdx="00" bitLen="32" halPin="计数器输入-0" halType="u32" />       <!-- 第一路模计数器输入-->
<pdoEntry idx="2031" subIdx="01" bitLen="32" halPin="计数器输入-1" halType="u32" />       <!-- 第二路模计数器输入-->
<!--设置PWM 计数器极性和计数器方向-->
<pdoEntry idx="2401" subIdx="00" bitLen="16" halPin="计数器方向" halType="u32" />         <!-- 没搞定-->
</pdo>
</syncManager>
</slave>
</master>
</masters>
The following user(s) said Thank You: Pro_El

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10 Jul 2024 02:06 #304783 by onceloved
Setting the PWM counter polarity and counter direction and clearing the encoder counter are not done yet. Everything else is basically done.

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10 Jul 2024 19:54 #304843 by rodw
Replied by rodw on topic EtherCat - CATIO module Help
Good work. When I had a quick look at the document, I thought that clearing the encoder might need to be done in a custom component becasue there is a sequence of bits that needed to be set in a specific order.

The PWM settings should just be setting SDOs Good luck!
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