Ethercat HAL driver

hello,

sorry i am out of time the next few days.
working with the xml files is a time consumption task, it is a lot easier to work with an twincat project, because you can get the neccesary informations within a few mouse clicks...
I will create an example config, with an fb-estop like in your pdf, and do an descritpion how to get this work in lcec on this example.
unfortunaly i am out of office till wednesday....

Hello don't worry. Thanks anyways for your time.

I have been trying to get that working my own but I haven't get FSOE working.

Regards.

Hello,

Does anyone have an EL6900 working with TwinSAFE just to have a look at .hal and .xml to get ideas and try to get mine working.

I have right now the following configuration:

EK1100  | EtherCAT Coupler
EL1008  |   8-channel digital input terminal 24 V DC, 3 ms
EL1008  |   8-channel digital input terminal 24 V DC, 3 ms
EL1008  |   8-channel digital input terminal 24 V DC, 3 ms
EL1008  |   8-channel digital input terminal 24 V DC, 3 ms
EL2008  |  8-channel digital output terminal 24 V DC, 0.5 A
EL2008  |  8-channel digital output terminal 24 V DC, 0.5 A
EL2008  |  8-channel digital output terminal 24 V DC, 0.5 A
EL7342  |  2-channel DC motor terminal, 48 V DC, 3.5 A
EL7342  |  2-channel DC motor terminal, 48 V DC, 3.5 A
EL9576  |  Brake chopper terminal
EL6900  |  TwinSAFE Logic
EL1904  |  4-channel digital input terminal, TwinSAFE, 24 V DC
EL2904  |  4-channel digital output terminal, TwinSAFE, 24 V DC
EL9505  |  Power supply terminal 5 V DC


Regards.

i already took a look on your twincat project, i hope that i have time over the weekend for writing an long answer.....

in the meantime: we have put an working fsoe example in the examples folder of linuxcnc-ethercat on github

Thank you that will be amazing.

I will check that example in linuxcnc-ethercat.

Regards.

Hallo To the etherCAT's

May I point your attention to a "commercial" product.
That's a Software-plc with an ethercat-master ( beside others )  running on linux with preempt on an OSADL kernel.
I use it with Debian 10  with kernel 4.19 PREEMPT and OSADL 5.0.21-rt16
Same thing like loading the ESI file and you are good to go.

Best rgds 

Hi udoS,

I think will be better for me right now to use open source software at University.

But will be nice to know if you have experience with LinuxCNC and TwinSAFE.
Because is undocumented right now and I guess just few knows how to get that working (I haven't yet, unfortunately).


Regards.

@juniorfi
Sorry, no I do have not. I left the etherlab-ethercat some time back. No TwinSAFE.
And no Docu is one of the major problems in Linuxcnc. 
I use a soft-plc with an etherCAT Master and a shared memory to connect to Lcnc.
I'm working on a nml interface but not ready yet.
Every thing regarding etherCAT is done in the plc.

Best regds
Udo

Hi.
I am looking for setting up a raspberry pi 4 as ethercat slave to send image position to a ethercat Master to a PC with preemt rt with linuxcnc-ethercat and LCNC 2.8 almost all show how setting raspberry pi like Master but never show how setting one like slave.
Thanks.

@yrodriguez

This board makes the RPi3/4 a slave. Works great. Easy to setup.
Gives you a max of 128 Bytes Space.
Best thing: Great support ! "Andrea Bausano"
www.bausano.net/en/hardware/ethercat-e-a...t-and-raspberry.html

Best regds.  udo