Hi,
We bought various Beckoff modules for Digital in , Digital out, Analogue in and
Stepper Motor control.
I am able to communicate with with the digital I/O and analogue input slave
modules from Ethercat master IGH 1.5.2 without problems, but the stepper motor
controller (EL7031) is more complicated.
Below is a list of the PDO entries for the motor controller retrieved from the
Ethercat bus using the command line tool with the cstruct option.
I am only able to set the velocity and then set the enable bit to start the
motor running. I have no idea how to command the motor to just turn a certain
amount of steps and change direction etc. I have tried to set a counter value
but it doesn't make a difference. Also, if I set the bits to move positive or
move negative, it doesn't change direction as I would expect. I can't seem to
find any documentation or examples on how to control motors with this module
EL7031. If anyone has any information or knowledge , I would really appreciate
your help. Thanks
ec_pdo_entry_info_t slave_6_pdo_entries[] ={ {0x0000, 0x00, 1}, /* Gap */
{0x7000, 0x02, 1}, /* Enable latch extern on positive edge */ {0x7000, 0x03,
1}, /* Set counter */ {0x7000, 0x04, 1}, /* Enable latch extern on negative
edge */ {0x0000, 0x00, 4}, /* Gap */ {0x0000, 0x00, 8}, /* Gap */
{0x7000, 0x11, 16}, /* Set counter value */ {0x7010, 0x01, 1}, /* Enable */
{0x7010, 0x02, 1}, /* Reset */ {0x7010, 0x03, 1}, /* Reduce torque */
{0x0000, 0x00, 5}, /* Gap */ {0x0000, 0x00, 8}, /* Gap */ {0x7010, 0x21,
16}, /* Velocity */ {0x0000, 0x00, 1}, /* Gap */ {0x6000, 0x02, 1}, /*
Latch extern valid */ {0x6000, 0x03, 1}, /* Set counter done */ {0x6000,
0x04, 1}, /* Counter underflow */ {0x6000, 0x05, 1}, /* Counter overflow */
{0x0000, 0x00, 3}, /* Gap */ {0x0000, 0x00, 4}, /* Gap */ {0x6000,
0x0d, 1}, /* Status of extern latch */ {0x6000, 0x0e, 1}, /* Sync error */
{0x0000, 0x00, 1}, /* Gap */ {0x6000, 0x10, 1}, /* TxPDO Toggle */
{0x6000, 0x11, 16}, /* Counter value */ {0x6000, 0x12, 16}, /* Latch value
*/ {0x6010, 0x01, 1}, /* Ready to enable */ {0x6010, 0x02, 1}, /* Ready
*/ {0x6010, 0x03, 1}, /* Warning */ {0x6010, 0x04, 1}, /* Error */
{0x6010, 0x05, 1}, /* Moving positive */ {0x6010, 0x06, 1}, /* Moving
negative */ {0x6010, 0x07, 1}, /* Torque reduced */ {0x0000, 0x00, 1}, /*
Gap */ {0x0000, 0x00, 3}, /* Gap */ {0x6010, 0x0c, 1}, /* Digital input 1
*/ {0x6010, 0x0d, 1}, /* Digital input 2 */ {0x6010, 0x0e, 1}, /* Sync
error */ {0x0000, 0x00, 1}, /* Gap */ {0x6010, 0x10, 1}, /* TxPDO Toggle
*/};_______________________________________________
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