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Indeed, the old config.
You remember there is a procedure around that.
Copy xml file to config\io\ethercat somewhere (similar)
restart twincat to have it read in new config, scan for devices,
free run mode on, program eeprom, remove device, scan for devices
and with some luck the new config is there. Something like that.
I had it in one if my first youtube videos about ethercat.

Edit.
Upload xml file to C:\TwinCAT\3.1\Config\Io\EtherCAT and restart TwinCAT
 

Jump to 10:04 and follow the steps


 

net joint.X.amp-fault-in whatever_input_pin
That is all you need to add to hal file for each joint.

thanks a lot i can try this tomorrow

I see you got replys already, while preparing this.  My idea to solve that, by adding the gap value for tool 4 to 6. Extend the ini entry for [TOOL_SLOT_DELTA] by y_gap, then apply that value for tool 4 to 6


in o<rack_change> sub



    
in .ini



 


Edit:

AS the 'tool_slot_delta' is always added, the 'y_gap' should be reduced by 111 to 206

I think I need (joint.X.amp-fault-in) but not sure correct spot to insert.

thanks Rodw, I can try ``it in the air'' but that would also be ok if I get a change for slot 4, but since slot 5 and 6 are also bigger than GT3, then I will get some other distance for 5 and 6, unless I make additional lines again, ``if GT4`` is bigger than 4, then again only delta y will work, which is 111mm?

The distance between 3&4 = 317 and its therefore 206mm  more than the delta. (111_206 - 306)
I think I would save this gap in the ini file as a seperate variable and calculate the tool position and do something like
#tool_pos = #<_current_tool> * #<_ini[tool_slot_delta]y>]
if #<current_tool GT 3>
  #tool_pos = #tool_pos + 206  
G53 G0 Y [#<_ini[change_position]y> + #tool_pos X [#<_ini[change_position]x>]

I'll leave it to you to sort out the syntax as gcode is not my strong point. We have postprocessors for that!

Thank you,
some little progress made, everything compile, run LED is blinking in the LAN9252 board, but I-m not in OP mode yet:
What worries me is that I can still see the original configuration with available switches in Twincat
This means the EEPROM is not flashed correctly I guess?

I want over to etherlab's gitlab to request EoE could be disabled in the Ethercat.conf file but I then found that this was already a bug scheduled to be fixed in their next release (1.7) Issues 176 and 157 refer with the latter referring to linuxcnc and this exact drive.

gitlab.com/etherlab.org/ethercat/-/issue...MTY3MDcyMTkwfQ%3D%3D 

It still seems wrong to me that disabling a feature requires recompiling...

I might start a separate thread for the project of writing up a complete reusable custom single axis hal component. I think it would have a lot of uses.

At the moment I am preparing to drive Y axis up/down with the footpedal. This is what I've been able to learn so far:

1: The proportional valve sets the tonnage, and also provides the open-center? flow from the fixed displacement pump back to the tank. If there was any tonnage feedback originally, it had to be measured from the coil's armature position by analyzing the a.c. component of the coil drive pwm, I think. I see no other electronic connection to that hydraulic circuit. If I end up needing tonnage feedback, I will use a pressure sensor.

2: The servo valves provide directional variable speed control of the left and right side independently

3: 4.0 and 5.0 are labeled 'servo valve', 8.4 is labeled 'proportional valve' The valve bank also has 6 spool valves (listed in the order shown in the manual.  They are only numbered but appear to be common spool valves with 24VDC coils.) I label the servo valves with polarity markings. The book displays up and down pointers instead, so I'm guessing at polarity.

They operate in combinations to produce these hydraulic 'modes':

| Motion                   | Valves Active                                  |
|-|-|
| high speed down   | 9.1, 10.1, 6.1, 7.1, -4.0, -5.0           |
| press speed down | 8.5, 8.1, 8.4, -4.0, -5.0                    |
| pressure holding   | 8.5, 8.1, 8.4, -4.0, +4.0, -5.0, +5.0 |
| pressure relief       | 8.1, +4.0, +5.0                               |
| creep up                | 8.1, 8.4, +4.0, +5.0                        |
| high speed up       | 9.1, 10.1, 8.4, +4.0, +5.0               |

I see I do not need to individually power every single solenoid; some are connected to the same control relays; I list only the 24VDC solenoids here with their relays; the pwm controlled valves do not have relays, they have a power disconnect (e-stop circuit) contactor right after the 24VDC power supply unit:

| Relay | Solenoids |
|-|-|
| 200   | 9.1, 10.1  |
| 201   | 6.1, 7.1    |
| 202   | 8.5           |
| 203   | 8.1           |

For the pwm driving the coils, after some studying, it appears all three need essentially the same kind of power to activate them. (except the proportional is not reversible) PWM is listed as 300HZ, but from what I found so far, higher is totally fine. The important gotcha is for accurate control, it needs to dither by nn% at maybe 30Hz. So I think instead of superimposing a slow pwm on the fast hardware pwmgens, I will use a software siggen running at 30HZ and the offset component to superimpose dither upon my hardware pwmgen.value command.

I tried it just now, sorry for the late response, now there are no errors, however, whichever scale I put, both do not work smoothly, only on 4 sections in terms of feed type, it goes 30,60,90,120%

Just got back to it, have screen shots showing HLFB input pins inactive and active with machine enable ( think I did this correct) Two things only have the x axis active everything else commented out. Wasn't sure how to configure the output portion at the moment i have one output to enable the drives and the second thing was should the x axis fault with this config when i disconnect it at the moment it does not.

Thank you for this answer , that means i can use the 7i97t and connect as much cards that i need together or does something like limit exist for this combination ? Or is it better to wait for the 7i77 to get available ?

if someone know to edit ini and rack_change.ngc files according to my y positions for tool 4,5,6 here are my files.thank you


 

I tested with gmoccapy and dragon.

The MOV doesn't work. The spindle and the normal feed work with enc3.

# ---Überschreibung von Signalen zum Mesa-Geber - mpg (feed override signals to mesa encoder - mpg)---

net fo-count <= [HMOT](CARD0).7i73.0.0.enc1.count

# Vorschub-Override-Schritte verbinden - MPG (connect feed override increments - MPG)

setp halui.feed-override.direct-value false
setp halui.feed-override.scale .01
setp halui.feed-override.count-enable true
net fo-count => halui.feed-override.counts

# ---max Geschwindigkeit Neufestsetzungs-Signale an Mesa Encoder - mpg (max velocity override signals to mesa encoder - mpg)---

net mvo-count <= [HMOT](CARD0).7i73.0.0.enc3.count

# verbinde max Geschwindigkeit Neufestetzung Inkrement - MPG (connect max velocity override increments - MPG)

setp halui.max-velocity.direct-value false
setp halui.max-velocity.scale 0.666667
setp halui.max-velocity.count-enable true
net mvo-count => halui.max-velocity.counts