1. Forum
  3. Search

Advanced Search

Search Results (Searched for: )

  • PedPEx
  • PedPEx
22 Jun 2025 16:09
Problems switching PDO assignments (EP5101-0011) was created by PedPEx

Problems switching PDO assignments (EP5101-0011)

Category: EtherCAT

Hello all :D

i'm trying to implement a Beckhoff EP5101-0011 incremental encoder input into LinuxCNC with its 32bit counter. I need to read glass scale inputs with around 520 mm in length and a resolution of 1 µm. For that i need atleast 19 bit, and its standard PDO assignment with the "compact" 16bit encoder-value doesn't cut it. 

I can easily change the PDO assignment in the EtherCAT-Configurator application and the EP5101 activates the 32bit counter, after reconnecting the LinuxCNC machine it is also able to use the bigger counter, but after power cycling the device, it defaults back to the 16bit counter. So i tried to set the correct PDO assignments via SDO uploads, but that did also not work, it doesn't want to change in the "big counter mode" via LinuxCNC. 

It also complained about the other SDO uploads (settings), but that's a problem for later.
What exactly do i have to change, to initialize the encoder input to its 32bit PDO setting?

Thank you in advance for your help :)
<!-- EP5101 - Incr. Encoder Input -->
        <slave idx="9" type="generic" vid="0x00000002" pid="0x13ed4052" name="0571_EP5101">
            <!-- configure counter for 32bit -->
                <sdoConfig idx="1C12" subIdx="1"><sdoDataRaw data ="00 16"/></sdoConfig>  <!-- switch to 32bit RxPDO assign-->
                <sdoConfig idx="1C13" subIdx="1"><sdoDataRaw data ="00 1A"/></sdoConfig>  <!-- switch to 32bit TxPDO assign-->
            <!-- overall configuration -->
                <!-- Enable C reset -->
                <sdoConfig idx="8000" subIdx="01"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Enable extern reset -->
                <sdoConfig idx="8000" subIdx="02"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Enable up/down counter -->
                <sdoConfig idx="8000" subIdx="03"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Gate polarity -->
                <sdoConfig idx="8000" subIdx="04"><sdoDataRaw data ="01 00 00 00"/></sdoConfig>
                <!-- Disable filter -->
                <sdoConfig idx="8000" subIdx="08"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Enable micro increments -->
                <sdoConfig idx="8000" subIdx="0A"><sdoDataRaw data ="00"/></sdoConfig>
                <!-- Open cicruit detection A -->
                <sdoConfig idx="8000" subIdx="0B"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Open cicruit detection B -->
                <sdoConfig idx="8000" subIdx="0C"><sdoDataRaw data ="01"/></sdoConfig>
                <!-- Open cicruit detection C -->
                <sdoConfig idx="8000" subIdx="0D"><sdoDataRaw data ="00"/></sdoConfig>
                <!-- Reversion of rotation -->
                <sdoConfig idx="8000" subIdx="0E"><sdoDataRaw data ="00"/></sdoConfig>
                <!-- Extern reset polarity -->
                <sdoConfig idx="8000" subIdx="10"><sdoDataRaw data ="01 00 00 00"/></sdoConfig>
                <!-- Frequency window -->
                <sdoConfig idx="8000" subIdx="11"><sdoDataRaw data ="10 27"/></sdoConfig>
                <!-- Frequency scaling -->
                <sdoConfig idx="8000" subIdx="13"><sdoDataRaw data ="64 00 00 00"/></sdoConfig>
                <!-- Period scaling -->
                <sdoConfig idx="8000" subIdx="14"><sdoDataRaw data ="64 00 00 00"/></sdoConfig>
                <!-- Frequency resolution -->
                <sdoConfig idx="8000" subIdx="15"><sdoDataRaw data ="64 00 00 00"/></sdoConfig>
                <!-- Period resolution -->
                <sdoConfig idx="8000" subIdx="16"><sdoDataRaw data ="64 00 00 00"/></sdoConfig>
                <!-- Frequency wait time -->
                <sdoConfig idx="8000" subIdx="17"><sdoDataRaw data ="40 06"/></sdoConfig>
            <!-- configure SyncManagers -->
            <syncManager idx="0" dir="in"/>
            <syncManager idx="1" dir="out"/>
            <syncManager idx="2" dir="out">
                <!-- ENC RxPDO-Map Control -->
                <pdo idx="1601">
                    <!-- Enable latch C -->
                    <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="enable-latch-C" halType="bit"/>
                    <!-- Enable latch extern on positive edge -->
                    <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="ena-latch-ext-on-pos_edge" halType="bit"/>
                    <!-- Set counter -->
                    <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="set-counter" halType="bit"/>
                    <!-- Enable latch extern on negative edge -->
                    <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="ena-latch-ext-on-neg_edge" halType="bit"/>
                    <!-- Set counter value -->
                    <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="set-counter_value" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <!-- ENC TxPDO-Map Status -->
                <pdo idx="1a01">
                    <!-- Latch C valid -->
                    <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="latch-c-valid" halType="bit"/>
                    <!-- Latch extern valid -->
                    <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="latch-extern-valid" halType="bit"/>
                    <!-- Set counter done -->
                    <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="set-counter-done" halType="bit"/>
                    <!-- Counter underflow -->
                    <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="counter-underflow" halType="bit"/>
                    <!-- Counter overflow -->
                    <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="counter-overflow" halType="bit"/>
                    <!-- Status of input status -->
                    <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="status-of-input-status" halType="bit"/>
                    <!-- Open circuit -->
                    <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="open-circuit" halType="bit"/>
                    <!-- Extrapolation stall -->
                    <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="extrapolation-stall" halType="bit"/>
                    <!-- Status of input A -->
                    <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="status-A" halType="bit"/>
                    <!-- Status of input B -->
                    <pdoEntry idx="6000" subIdx="0a" bitLen="1" halPin="status-B" halType="bit"/>
                    <!-- Status of input C -->
                    <pdoEntry idx="6000" subIdx="0b" bitLen="1" halPin="status-C" halType="bit"/>
                    <!-- Status of input gate -->
                    <pdoEntry idx="6000" subIdx="0c" bitLen="1" halPin="status-gate" halType="bit"/>
                    <!-- Status of extern latch -->
                    <pdoEntry idx="6000" subIdx="0d" bitLen="1" halPin="status-ext_latch" halType="bit"/>
                    <!-- Sync error -->
                    <pdoEntry idx="1c32" subIdx="20" bitLen="1" halPin="sync-error" halType="bit"/>
                    <!-- TxPDO State -->
                    <pdoEntry idx="1800" subIdx="07" bitLen="1" halPin="TxPDO-state" halType="bit"/>
                    <!-- TxPDO Toggle -->
                    <pdoEntry idx="1800" subIdx="09" bitLen="1" halPin="TxPDO-toggle" halType="bit"/>
                    <!-- Counter value -->
                    <pdoEntry idx="6000" subIdx="11" bitLen="32" halPin="counter_value" halType="u32"/>
                    <!-- Latch value -->
                    <pdoEntry idx="6000" subIdx="12" bitLen="32" halPin="latch_value" halType="u32"/>
                </pdo>
            </syncManager>
        </slave>
  • Johnnysacalu
  • Johnnysacalu
22 Jun 2025 16:01 - 22 Jun 2025 16:41
Replied by Johnnysacalu on topic Como conectar mesa 7i96s

Como conectar mesa 7i96s

Category: Driver Boards

  Creo hacer visto en algún hilo que se necesita también un diodo fly back para un rele ssr pero no veo claro como hay que conectarlo no se si esta es la forma corecta.
  • PedPEx
  • PedPEx
22 Jun 2025 15:52
Replied by PedPEx on topic JMC Servo in PP mode

JMC Servo in PP mode

Category: EtherCAT

Servus Uwe,

at the moment i'm dedicated to learning for my exams next month, unfortunately i don't have the time right now, to revisit that topic. Eventually i will test that in august.

Personaly i would guess, the encoder has a resolution of 0.1 degree, so the pos-scale variable is just the maximum value, the encoder can reach.

For the second question, i'm not using the standard CiA402 XML-mapping, but i use the exact same syntax for all variables. I'm not entirely sure, why i went with that solution back in the day (i suspect, because i wanted to map the inputs/outputs of the drive too, which is not possible with the basic_402 defintion) and i do also not know, whether the basic_402 part of the XML file worked. As i said, eventually i will revisit that topic in late july or august.

Best Regards
Patrick
Displaying 14881 - 14883 out of 14883 results.
  1. Forum
  3. Search
Time to create page: 2.658 seconds
Powered by Kunena Forum