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and2.n should be ranged from 0, not from 3, so
and2.0
and2.1
and2.2
and2.3

made the changes but errors

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'and2.4' not found
./custom.hal:5: addf failed
18633
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

 

Hakan wrote:

I looked at that and unfortunately it is code sprinkled around everywhere.
So it will be a bit of surgery in the etherlab code I am afraid.
 

I don't think EoE is normally a problem, perhaps just for this drive. Now they know a bug is there it will get fixed but I doubt you'll see it for a while.

The buttons are momentary.

It would be much easier if you know how much IO you need, even a rough estimate will do.

Buttons, are they momentary or on/off ?

Just tried out my 7i54 pwm output for the first time. Something's not right somewhere. Encoders are correctly counting on each axis when I nudge them. The motor power connector gets 24VDC, but the pwm outputs to the 3 valve coils remain at 0V.

This is using my custom firmware PIN_SV10_7I36_7I54_NWE_72.vhd on a 7i80hdt. PCW helped me a bit with that.

I have yet to determine whether the problem is with my hal config or the firmware. Everything on the 7i36 seems to just work.

LED CR5 illuminates when motor power is applied, and CR2 is illuminated while P5 receives 5V power.

7i54 Jumpers
W4 is down to select external 5V power
W1,2,3,6,8,10,11,12,13,15,17,19 are up to select current mode
W5,7,9,14,16,18 are down to select 1 amp max output per motor
W21,22,24,25,27,28,30,31,33,34,36,37 are to the right to select differential encoder input
W20,23,26,29,32,35 are to the left to select single ended encoder input.
Checked again, I think I got them all straight. Everything is backwards because the location in the cabinet wanted the board upside down.

The servo valve for Y1 is connected to 7i54 connector P4 pins 18, 19 (Motor0) The coil is rated /-15V 0-300mA and measures 30 ohms
The servo valve for Y2 is connected to 7i54 connector P4 pins 22, 23 (Motor1) The coil is rated /-15V 0-300mA and measures 30 ohms
The above two solenoids actually consist of two 60 ohm coils each that can be wired series/parallel. The above numbers are with the original configuration of parallel connection.
The proportional valve for Y is connected to 7i54 connector P3 pins 18, 19 (Motor2) The coil is rated 24V 0-700mA and measures 22 ohms

I am attaching some hal dumps with everything energized expecting output on the pwm.

net joint.X.amp-fault-in hm2_7i76e.0.7i76.0.0.input-16-not
etc...

Do U replace this section
# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not 
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

With net joint.X.amp-fault-in whatever_input_pin

? Thanks 

I looked at that and unfortunately it is code sprinkled around everywhere.
So it will be a bit of surgery in the etherlab code I am afraid.
Besides, it seems eoe does work, it is just it doesn't work with lcec.
There should be some calls in lcec to process eoe frames that isn't there.
So one can always argue where the problem is. I know I can only fix
it on a PowerPoint level, not in code.
 

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.