Category: EtherCAT
lcec_configgen resulted in a fairly similar output to what I had already configured.
From that additional post you linked, they found the config files for what seems to be a very similar IO board/device to mine, but the ESI (xml file) seems to be rather... convoluted?
I have attached it, but unfortunately didnt' reveal enough information for me to figure out anything new - and thus i'm still stuck on PREOP E.
I'm also not sure how TwinCAT is supposed to work - but i'll keep playing with that and hopefully have some luck. maybe you could suggest which package I need?
Here's my whole ethercat-conf.xml as a side note, in case you see something wrong with it:
[code]<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
<slave idx="0" type="generic" vid="00000A88" pid="0a880013" configPdos="true">
<!-- Joint 0 -->
<syncManager idx="0" dir="out">
</syncManager>
<syncManager idx="1" dir="out">
</syncManager>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32" />
<pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
<pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobefunction0" halType="bit"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
<pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="target-accel" halType="u32" />
<pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="target-decel" halType="u32" />
<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="bit" />
<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32" />
<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32" />
<pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="touchprobestat" halType="bit"/>
<pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="touchprobe1pos" halType="s32"/>
<pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digitalinputs" halType="s32"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
</pdo>
</syncManager>
<dcConf assignActivate="300" sync0Cycle="1000000"/>
</slave>
<slave idx="1" type="generic" vid="0x00090588" pid="0x00109252" configPdos="false">
<!--IMC IO MODEL with EtherCAT-->
<syncManager idx="0" dir="out"/>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="01" bitLen="8" halPin="imcio-do0" halType="bit"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="01" bitLen="8" halPin="imcio-di0" halType="bit"/>
</pdo>
<dcConf assignActivate="300" sync0Cycle="0"/>
</slave>
</master>
</masters>
[/code]
