EtherCat - CATIO module Help

rodw
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2 years 4 months ago #303344 by rodw

Replied by rodw on topic EtherCat - CATIO module Help

Start by typing ethercat pdos. That will list all of the possible PDOs you can create.
Share it here in a spoiler and we'll have a look.

THis has quite a few other features than the Deiwu so it will be a bit more complex.

There are plenty of clues in their listing. Use Google Lens on your phone to translate the CHinese

The following user(s) said Thank You: DPFlex, BHar

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BHar
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2 years 4 months ago #303993 by BHar

Replied by BHar on topic EtherCat - CATIO module Help

Thanks RodW

I did find the manual and translate, it's attached here for anyone else who might come across this device.

Here is the pdos output:

Warning: Spoiler!

SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize 0, ControlRegister 0x64, Enable 1
RxPDO 0x1600 "RxPDO-Map"
PDO entry 0x2300:00, 16 bit, "Digital Outputs"
PDO entry 0x2310:00, 16 bit, "Analog Output"
PDO entry 0x2311:00, 16 bit, "Analog Output"
PDO entry 0x2320:00, 32 bit, "PWM Freq Output"
PDO entry 0x2321:00, 32 bit, "PWM Freq Output"
PDO entry 0x2330:00, 16 bit, "PWM prop Output"
PDO entry 0x2331:00, 16 bit, "PWM prop Output"
RxPDO 0x1601 "RxPDO-Map"
PDO entry 0x2602:01, 32 bit, "SubIndex 001"
PDO entry 0x2602:02, 32 bit, "SubIndex 002"
PDO entry 0x2602:03, 32 bit, "SubIndex 003"
PDO entry 0x2602:04, 32 bit, "SubIndex 004"
PDO entry 0x2602:05, 32 bit, "SubIndex 005"
PDO entry 0x2602:06, 32 bit, "SubIndex 006"
PDO entry 0x2602:07, 32 bit, "SubIndex 007"
PDO entry 0x2602:08, 32 bit, "SubIndex 008"
RxPDO 0x1602 "RxPDO-Map"
PDO entry 0x2600:01, 16 bit, ""
PDO entry 0x2600:03, 16 bit, ""
PDO entry 0x2600:04, 16 bit, ""
PDO entry 0x2601:02, 16 bit, ""
SM3: PhysAddr 0x1400, DefaultSize 0, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 "TxPDO-Map"
PDO entry 0x2000:00, 16 bit, "Digital Inputs"
PDO entry 0x2010:00, 16 bit, "Analog Input"
PDO entry 0x2011:00, 16 bit, "Analog Input"
PDO entry 0x2020:00, 32 bit, "Encoder Inputs"
PDO entry 0x2030:00, 32 bit, "Counter Input"
PDO entry 0x2031:00, 32 bit, "Counter Input"
TxPDO 0x1a01 "TxPDO-Map"
PDO entry 0x2603:01, 32 bit, "SubIndex 001"
PDO entry 0x2603:02, 32 bit, "SubIndex 002"
PDO entry 0x2603:03, 32 bit, "SubIndex 003"
PDO entry 0x2603:04, 32 bit, "SubIndex 004"
PDO entry 0x2603:05, 32 bit, "SubIndex 005"
PDO entry 0x2603:06, 32 bit, "SubIndex 006"
PDO entry 0x2603:07, 32 bit, "SubIndex 007"
PDO entry 0x2603:08, 32 bit, "SubIndex 008"
TxPDO 0x1a02 "TxPDO-Map"
PDO entry 0x3000:01, 16 bit, "SubIndex 001"
PDO entry 0x3001:01, 16 bit, "SubIndex 001"
PDO entry 0x3002:01, 16 bit, "SubIndex 001"
PDO entry 0x3003:01, 16 bit, "SubIndex 001"
PDO entry 0x3004:01, 16 bit, "SubIndex 001"
PDO entry 0x3005:01, 16 bit, "SubIndex 001"
PDO entry 0x3006:01, 16 bit, "SubIndex 001"
PDO entry 0x3007:01, 16 bit, "SubIndex 001"
TxPDO 0x1a03 "TxPDO-Map"
PDO entry 0x3020:01, 16 bit, "SubIndex 001"
PDO entry 0x3021:01, 16 bit, "SubIndex 001"
PDO entry 0x3022:01, 16 bit, "SubIndex 001"
PDO entry 0x3023:01, 16 bit, "SubIndex 001"
PDO entry 0x3024:01, 16 bit, "SubIndex 001"
PDO entry 0x3025:01, 16 bit, "SubIndex 001"
PDO entry 0x3026:01, 16 bit, "SubIndex 001"
PDO entry 0x3027:01, 16 bit, "SubIndex 001"
TxPDO 0x1a04 "TxPDO-Map"
PDO entry 0x2600:02, 16 bit, "
PDO entry 0x2601:01, 16 bit, "SubIndex 001"
PDO entry 0x2601:03, 16 bit, "
PDO entry 0x2601:04, 16 bit, ""

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BHar
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2 years 4 months ago #304000 by BHar

Replied by BHar on topic EtherCat - CATIO module Help

So I guess this is what I get from diving into EtherCat without already being super comfortable with LinuxCNC. I had seen it mentioned on the forum that it's a big task to work them both out at once and I have made it more complex by doing it on an RPI.

Seems my issue was while manipulating ethercat-conf.xml I was seeing seemingly good data appear in the lcec pins area of halshow, I was unable to manipulate them due to not having included the following in my Ini file.
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

Seems that it's not a servo thread but an overall thread for all IO (including servos) that these lines are referring to.

So, seems that I can operate all the digital outputs for this controller. I will continue to work on the other IO.

Thanks for the pointers on this everyone.

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pippin88
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2 years 4 months ago #304002 by pippin88

Replied by pippin88 on topic EtherCat - CATIO module Help

linuxcnc.org/docs/html/hal/basic-hal.html#sub:hal-addf

The addf command adds a function to a real-time thread

Addf
Then the function
Then the thread the function is assigned to

Lcec is linuxcnc ethercat

Linuxcnc has has long-standing terminology of:
Servo thread - thread/loop where position, IO etc are read / updated
Base thread - used for software step generation. Not used in setups with hardware step generation (e.g. Mesa) or ethercat
(Documentation about the real time threads is a bit poor compared to most other linuxcnc docs)

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onceloved
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2 years 3 months ago #304736 by onceloved

Replied by onceloved 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?

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