Stepperonline A6 Ethercat - Digital IO [SOLVED]

spumco
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5 months 1 week ago #346608 by spumco

Replied by spumco on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

Got the inputs figured out.

1. Program drive so all inputs are 'no function assigned'

2. Change xml input address HAL name:

Code:

<pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digitalinputs" halType="u32"/>

3. Add bitslice to HAL, using the bit chart from the servo manual:

Code:

loadrt bitslice count=1 personality=32
addf    bitslice.0              servo-thread    #DRIVE IO

net DI-X-IN     <=  lcec.0.A6.digitalinputs
net DI-X-IN     =>  bitslice.0.in

net DI-X-IN-16  <=  bitslice.0.out-16
net DI-X-IN-17  <=  bitslice.0.out-17
net DI-X-IN-18  <=  bitslice.0.out-18
net DI-X-IN-19  <=  bitslice.0.out-19
net DI-X-IN-20  <=  bitslice.0.out-20

Now I can press buttons connected to the drive and all five inputs react in halshow. Rather exciting...

Next step is to see if I can fumble through changing the PDOs to 'fixed' and somehow map the outputs.

Anyone have a clue what 'sub-index 1' means?

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rodw
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5 months 1 week ago #346626 by rodw

Replied by rodw on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

You don't need bitslice, just do it in the xml

Code:

<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            <complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-home" halType="bit"/>
            <complexEntry bitLen="13"/>
            <complexEntry bitLen="1" halPin="in-1" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-2" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-3" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-4" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-5" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-6" halType="bit"/>
            <complexEntry bitLen="10"/>
          </pdoEntry>       

NOte there are some unused bits in this example

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spumco
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5 months 6 days ago #346628 by spumco

Replied by spumco on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

Thanks Rod, I found another example - which pointed me to your GH example. I've now got the XML and HAL configured like your example, and evern figured out how to use the "sub-index" stuff.

Remaining problem is that the manual is missing the bit values for digital outputs.

There's no corresponding chart or description for index 60FE like there is for the inputs.

I can 'talk' to the 60FEh address and write values - and see them change in the tuning software - but I've no idea what values turn on/off the outputs.

Based on the two output-related sub-indexes I'm also wondering if there's some requirement to first enable the outputs, then activate them.

I checked the OEM servo manufacturer's manual and no luck (JSS servos - JSS715N).

I tried bits 1 & 2, as well as bits 16 & 17 - based on the now-obsolete T7/leadshine servos. Wild chance, but no dice.

Also tried turning both sub-indexes on, still no joy.

I've emailed Stepperonline, no response yet.

Anyone have a suggestion?

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rodw
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5 months 6 days ago - 5 months 6 days ago #346629 by rodw

Replied by rodw on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

type:
ethercat pdos > pdos.txt
ethercat sdos > sdos.txt
and share the output here.

Probably something like

Code:

<pdoEntry idx="60FE" subIdx="1" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-1" halType="bit"/>
<complexEntry bitLen="1" halPin="out-2" halType="bit"/>
<complexEntry bitLen="14"/>
</pdoEntry>


also adapted from my GitHub example
 

Last edit: 5 months 6 days ago by rodw.

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spumco
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5 months 6 days ago #346631 by spumco

Replied by spumco on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

no sdos.txt was created.

pdos.txt below:

Code:

M0: PhysAddr 0x1000, DefaultSize  256, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  256, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize   12, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x60fe:01, 32 bit, ""
    PDO entry 0x60fe:02, 32 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize   28, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60bc:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""

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rodw
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5 months 6 days ago #346633 by rodw

Replied by rodw on topic Stepperonline A6 Ethercat - Digital IO [SOLVED]

ok, seems its like

Code:

<syncManager idx="3" dir="in">
        <pdo idx="1a00">
        .......
          <pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            <complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-home" halType="bit"/>
            <complexEntry bitLen="13"/>
            <complexEntry bitLen="1" halPin="in-1" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-2" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-3" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-4" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-5" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-6" halType="bit"/>
            <complexEntry bitLen="10"/>
          </pdoEntry>          
        </pdo>

Keep the rest of the entries there. Things like status words are important
Also make sure the total bits adds up to 32, pad out unused ones

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Stepperonline A6 Ethercat - Digital IO [SOLVED]