EtherCAT HAL EL2521

Hallo to All

I opened this topic because I could not find anything about Beckhoff EL2521usage.

My set up is quite simple:

Intel i5 42xxU Fanless with 128G SSD, 8GB Ram, Dual Ethernet + Wifi
Intalled Linux Kernel 4.9.0-8-rt-amd64
Debian 4.9.110-3+deb9u6 (2018-10-08)
LinuxCNC 2.9 latest
ec-debianize / Thanks Mr Sittner
LinuxCNC-ethercatmaster / Thanks Mr Sittner ( again....mmmmhhh)
LinuxCNC Gantry_mm

Now EtherCAT eth0 at boot-up OK
EtherCAT-master 0 in terminal OK
EtherCAT slaves (in terminal) EK1100; 4x EL2521 Puls-Train; 2xEL1859 (8digIN/8digOUT)

In Hal:
D1 EK1100
D2 EL2521
D3 EL2521
D4 EL2521;

In the HAL I have lcec.0.D1.xxxx to lcec.0.D4.xxxx

Now my problem: How do I connect joints or axis to the lcec.0.D2.stp-enable and lcec.0.D2.stp-velo-cmd
Has anyone done this before and could provide a setup instruction ( Hal or ini )
any help would be nice.

hello,

I start with linuxcnc ethercat, I have an identical configuration with EL2521.
but I don't know how to start the config file.
Did you get your config to work?
would it be possible to share your .hall and .ini files?

regards
Laurent

laurent38

thanks for your interest;

I have to look it up; long time ago;  
Are you using RPI or x86-64;
Is Your EtherCAT-Master running; what is your output;
In terminal just type>     ethercat master

Off Topic:
I'm using an industrial Software-PLC with EtherCAT-Master by now to tap into LinuxCNC;
Have a look here:
forum.linuxcnc.org/ethercat/49457-etherc...rvos?start=10#279295

In LinuxCNC my setup is gantry.mm sample. No changes at all;

For more information you can contact me by email or WhatsApp:
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@laurent38

This goes into your .hal

loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
#before doing all your stuff
addf lcec.read-all servo-thread #servo
.
.
.
.
#after doing all your stuff
addf lcec.write-all servo-thread


Your Ethercat config file should look like:
<masters>
<master idx="0" appTimePeriod="30000" refClockSyncCycles="5">
<slave idx="0" type="EK1100"/>
<slave idx="1" type="EL2521"/>
<slave idx="2" type="EL2521"/>
.
.
.
</master>
</masters>

 

I was able to see your assembly, if I'm not mistaken, you used epocat FR1000/4000
I also looked at this solution (I would have liked to do the same), but for the moment, it is impossible to buy cards (out of stock). So, unfortunately, I have to fall back on el2510 for example...


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there is no mapping to identify which el2521 for which x, y, z axis ?
 

Please make screen-shot of:
> etherCAT master
> ethercat slaves

start your Linuxcnc (axis,gmoccapy... or any other)
open the HAL UI
expand components and let's see what's in there

please attach:
.ini
.hal
ethercat-conf.xml