Ethercat protocol not responding

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module

Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...

By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:

Example for Kollmorgen AKD with IgH EtherCAT Master library

I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.

I will keep you guys posted...

fdarling wrote:

I just purchased some used Beckhoff EtherCAT devices:

• Beckhoff EK1100: EtherCAT to E-bus adapter
• Beckhoff EL1904: 4 "safe" input TwinSAFE E-bus module
• Beckhoff EL2904: 4 "safe" output TwinSAFE E-bus module
  
  
  Once I receive these devices, I will verify that my changes don't break FSoE (Function Safety over EtherCAT). After that, I will work on a pull request to get my changes mainlined...
  
  By the way, the code that guided me on how to get proof-of-concept communication with a Yaskawa servo drive was found here:
  
  Example for Kollmorgen AKD with IgH EtherCAT Master library
  
  I then changed it to work with my Yaskawa drive, the modified code is attached as a tarball. The code is messy as it was for learning purposes only, and all that it is really doing is printing the servo's position to the console. If you rotate the shaft manually you can see it the printed position change, and therefore know that EtherCAT communication is working.
  
  I will keep you guys posted...

Hello, would you mind putting your comments and code changes about the yaskawa stuff in here linuxcnc-ethercat
Maybe we can get this also to work in the future.

hi  fdarling ,
Could you share the driver or your modifications to lcec to make a Yaskawa Sigma7 EtherCAT drive to work?
I could get the c file in your tar to compile and I could get the actual position display from a Yaskawa Sigma7 drive on the screen.
The question I have it how to integrate the two domain requirement into the lcec_main.c component.
Hope you can guide me on this.
Thanks,
-automata

HI Fdarling,
I actually tried to modify lcec to work with Yaskawa Sigma7 EtherCAT drive looking at the C program you have shared. I have had a little success.
I added a second domain (domain2) into lcec master but at the same time removed the write Pdos (status, actual_pos) from the lcec XML file. So the domain2 is empty pdos.
After doing this, I could enable the drive using drivecontrol regs. Although I cannot read anything from the drive (ofcourse).
Now the next step is to figure out how to add which domain to use information in the pdo configuration. I am going to try to make it backwards compatible.
I am open to all suggestions and any assistance on how to go about this task.
-automata