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Hello guys,

Here is a little update. Since my last post, I had a detailed look at my picture gallery, specifically at the pictures of an EL5021 terminal I bought and disassembled back in early 2025. The original plan back then was to add an axial resistor in order to get it to read 11µA encoder signals. I quickly realized that wouldn't work, took some pictures, reassembled it, and returned it to the seller.

Last weekend, I took another detailed look at the PCB of the EL5021 and recognized the interpolator IC Beckhoff is using: an iC-Haus iC-NQI. For my own interpolator solution, I had actually copied the typical application circuit straight from that datasheet. That's why I immediately reordered an EL5021 terminal off eBay, opened it up, and properly reverse-engineered it today.
Beckhoff is actually following this required application circuit almost exactly ( Datasheet iC-NQI, Page 24, Figure 30 ). They are also using 4.7k Ohm resistors for RS1 and RS2. Those have to be swapped for 50k Ohm ones (I will test if these are too big; possibly 43k or 47k are better suited), and lastly the 120 Ohm resistors need to be removed. This way, the EL5021 terminal should be able to read 11µA sensors. By adding a 120 Ohm axial resistor across each input channel (A & /A, B & /B, and C & /C), the EL5021 can again be used for 1V signals. In theory, it would also support TTL signals, but that is outside the scope of this test.

Other than that, I vibe-coded a CiA402 dashboard tab for LinuxCNC to be able to see any problems with the Danfoss VFD directly in one place, without needing to decode the status word or the command word. The Danfoss VFD is now also able to read the frequency of an inductive sensor, internally calculates the motor speed, and reports that speed back via a PDO as feedback speed.

Additionally, the decision was made not to keep the original relay-based DC gearmotor solution, but to switch to two Beckhoff EL7332 terminals. Details about that coming soon™.

I'll test the functionality of the modified EL5021 terminal and keep you posted Wishing you all a great weekend!

Does a shutdown hal file only run on exiting out of Linuxcnc, or would it run when ever the machine is disabled to the machine off (F2) state? That sounds like the simplest way if it the shutdown hal is exicuted when ever the machine is put to the off state.

Will the on_abort.ngc work without remap? I'm assuming that the file should not have any motion causing codes in it. Are there any restrictions as to what commands can be executed in it? If I can execute some custom M-codes in it, that should be good enough for my purposes.

It sounds like the maybe Ethernet on the host has power management or enabled or something similar

what does:

ethtool --show-eee [ethernet device name]

report?

[ethernet device name] is the name of the Ethernet device connected to the 7I76E,
something like eth0 or eno1. You can get the device name from a the results of
the command

ip a



 

This problem has always been there, it is a new build I just completed last week and I have gotten this error from the start.

How do I read this variable the pictures attac

OK, the /INIT LED is illuminated on the 7I76E which means this is not a 7I76E power issue
but either a host or 7I76E network issue. (The /INIT LED indicates a watchdog bite)

Is this a new problems or has it always been there?

Gibt es so eine Lösung evtl. auch gleich mit mehreren Kanälen?
Da kommen ja doch einige Module zusammen bei 3 oder 4 Achsen...

Jupp,
txd = transmid Data
rxd = receive data

du willst ja nur Senden, also txd
Board ist eigentlich egal, z.b. das hier:
Amazon

Ah ok, vielen lieben Dank!
Das sind dann die Konverter mit dem MAX490, und hier dann nur TXD, Y und Z (Senden) anschließen, richtig?

Just checking back here - any progress or example of using an Ethercat drive with carousel.comp?

Thank you MrRodW, I've followed your install and as mentioned this only happens when the upgrade is initiated. I did try the spoiler route even though the secure boot is disabled with no luck as far as a different result.
Again I am able to get it all installed and recognizing my machine Master and Ethercat Slaves. I'll try and proceed without the upgrades see if I can get to some motion.
I am building a PM940 conversion using Rtelligent devices RS 750E for XY & hopefully A and RS1000E w/brake for the Z.
Thanks again all assistance is greatly appreciated,
Samuel

rodw wrote:

Great you worked it out. But normally, there will also be settings to tell the type of input. eg, GPIO, Max Limit, Min Limit, Estop (disable drive),
Did you work that out too? eg If you want to use as GPIO, you need to set the type to be GPIO for a specific pin for internnalhoming, you need to set homing.

Yes, I worked that out, too.  I'd already set the DIO appropriately before starting this thread.

Unlike the missing output information, the manual is explicit on DIO function configuration:

• Via parameters:
  • DI - C04.00-C04.12
  • DO - C04.30-C04.35
• Via Ethercat:
  • 2004, sub-index 01 through 36

As I stated in my first post, this was a only basic bench test to explore the drive's IO with some buttons and LED's.

HI all
Does anyone have a copy of the above software? 
Used to configure Bosch Servodyn-D  servo drives

Thanks
Henk

du brauchst ein TTL zu RS422 Konverter.
Da gibt es jede Menge bei Amazon

Great! Thank you very much!