Hi, (Formatting was wrong on previous post)
We bought variousBeckoff modules for Digital in , Digital out, Analogue in and
Stepper Motorcontrol.
I am able to communicatewith with the digital I/O and analogue input slave
modules from Ethercat masterIGH 1.5.2 without problems, but the stepper motor
controller (EL7031) is morecomplicated.
Below is a list of thePDO entries for the motor controller retrieved from the
Ethercat bus using thecommand line tool with the cstruct option.
I am only able to setthe velocity and then set the enable bit to start the
motor running. I have noidea how to command the motor to just turn a certain
amount of steps and changedirection etc. I have tried to set a counter value
but it doesn't make adifference. Also, if I set the bits to move positive or
move negative, itdoesn't change direction as I would expect. I can't seem to
find anydocumentation or examples on how to control motors with this module
EL7031. Ifanyone has any information or knowledge , I would really appreciate
your help.Thanks
ec_pdo_entry_info_tslave_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 */
};
_______________________________________________
etherlab-users mailing list
etherlab-users@etherlab.org
http://lists.etherlab.org/mailman/listinfo/etherlab-users
