EasyCAT Arduino shield

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2 years 6 months ago #297473 by zmrdko
Replied by zmrdko on topic EasyCAT Arduino shield

since i don't want to open a new thread, i'll just ask here:

I have now received my Ethercat Click and I am wondering
if it is possible to control several motors with one EtherCat client ?
 
Can you specify in more detail, what is your controller and what kind of motors you want to control?
When you decide to use EtherCAT, you will use EtherCAT servo/stepper drives.
 

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2 years 6 months ago #297489 by meister
Replied by meister on topic EasyCAT Arduino shield
i only ever see controls for one stepper per esc and wonder whether it would be possible to control several motors with, for example, an arduino with a lan9252, purely in terms of the protocol

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2 years 6 months ago #297490 by pippin88
Replied by pippin88 on topic EasyCAT Arduino shield
There are ethercat slaves for two steppers and more.

Examples:
EL7062 2-channel EtherCAT Terminal
Rovix ESD-A6 6-axis EtherCAT stepper drive

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2 years 6 months ago #297491 by meister
Replied by meister on topic EasyCAT Arduino shield
ahh, great, thank you very much.
somehow the topic of ethercat is a bit of a challenge for me,
but it will get better :)

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2 years 6 months ago #297534 by jjdege
Replied by jjdege on topic EasyCAT Arduino shield

i only ever see controls for one stepper per esc and wonder whether it would be possible to control several motors with, for example, an arduino with a lan9252, purely in terms of the protocol

 
the FR400 is a slave that manages 5 open loop steppers with I/O, which can be implemented, to manage a CNC.
Thanks to him the fantastic world of LCNC opened up to me
[img

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1 year 4 months ago #330557 by meister
Replied by meister on topic EasyCAT Arduino shield
wow, I've had the EtherCat click board lying around for over a year :)

My problem the whole time was that I didn't have Windows and didn't want to use one.

Now I have found a way to do everything under Linux, i.e. create EEProm from the XML and also flash it via EtherCat, all without TwinCat.

In the meantime I can put my desired config on the LAN9252 and read and write all values via lowlevel spi driver.

only one step is missing to adapt the RIO interface over EtherCat :)

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1 year 4 months ago #330560 by Hakan
Replied by Hakan on topic EasyCAT Arduino shield
Can you share how to create the eeprom content from an XML file?

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1 year 4 months ago #330562 by meister
Replied by meister on topic EasyCAT Arduino shield
what will you pay me for it ?

;P

Converter:
github.com/synapticon/siitool

eepromtool (write flash):
github.com/OpenEtherCATsociety/SOEM/blob...romtool/eepromtool.c

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1 year 4 months ago #330563 by meister
Replied by meister on topic EasyCAT Arduino shield
create:
Code:
$ siitool -m  -c -o eeprom.bin esi.xml  = eeprom.bin generated

check:
Code:
$ siitool -p eeprom.bin  Error, SII probably malformed. No 0xffff at the end found First print preamble and config Preamble: PDI Control: ................ 0x0c80 PDI Config: ................. 0xee42 Sync Impulse Length: ........ 2000 ns (raw: 0x00c8) PDI Config 2: ............... 0x0000 Configured Station Alias: ... 0x0000 Checksum of Preamble: ....... 0x003c (ok) Identity:   Vendor ID: ................ 0x00400000   Product ID: ............... 0x00000715   Revision ID: .............. 0x00002ef8   Serial Number: ............ 0x00000000 Default mailbox settings:   Bootstrap Mailbox:   Received Mailbox Offset: .. 0x0000   Received Mailbox Size: .... 0   Send Mailbox Offset: ...... 0x0000 ....................       Entry 8:       Entry Index: .............. 0x60fd       Subindex: ................. 0x00       String Index: ............. 64 (Digital inputs)       Data Type: ................ 0x07 (Index in CoE Object Dictionary)       Bitlength: ................ 32

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1 year 4 months ago #330565 by Hakan
Replied by Hakan on topic EasyCAT Arduino shield
Ok, I have seen those.
When you write an eeprom this way and then list the pdos with "ethercat pdos", do you see the ones you expect to see?
 

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